KR20180069648A - Measurement system of joints characteristics for rock slope based on arduino using drone - Google Patents

Abstract

The present invention relates to a measurement system based on arduino, connecting software and hardware based on arduino to lower gas of a drone to easily measure a slope direction and a slop angle of a rock slope so as to analyze stability of the rock slope. Therefore, the system can increase reliability of joint characteristics results of the rock slope, increase cost efficiency in terms of measuring costs, store measurement data in real-time to increase efficiency of maintenance, and enable measurement even in a place in which a worker is unable to approach.

Description

[0001] The present invention relates to a measurement system for determining the joint characteristics of a rock slope based on arduino using drone,

The present invention establishes a system for measuring the inclination angle and the inclination direction of a rock slope joint using the Arduino-based software and hardware for measuring inclination angle and inclination of a rock slope joint using a drone.

Due to the nature of geology in Korea, the mountain area is about 70%, so it is easy to find rocks in construction sites such as roads and tunnels. However, in this rock, discontinuities (collectively, all soft surfaces appearing on rocks) are included.

The stability analysis for the rock slope is performed by measuring and analyzing the incidence and inclination (or slope direction and slope) of the discontinuity obtained from the field geological survey and determining the decay slope by the Stereographic Projection Method, And the range of expected failure is selected, and the possibility of collapse and the safety factor by the limit equilibrium analysis method are obtained.

In general, the types of failure of the slope are circular failure, plane failure, wedge failure and topping failure.

Plane failure is the simplest form of failure that occurs when a fracture block slides along one active face. Basically, in order for planar fracture to occur, the following four conditions must be satisfied.

1) Free surface condition

Both sides of the fracture block shall be open or separated so that the independent fracture block slides along one active face.

2) Streak condition

The slope of the active surface (joint surface) where slippage occurs should be parallel to the slope of the slope or within ± 20 degrees. However, this condition is based on experience and it can be classified as plane fracture such as one - side wedge fracture sliding along one joint plane of wedge fracture, and proposal of angle can be applied flexibly according to field conditions.

3) Inclination angle condition 1

The slope angle of the active surface shall be smaller than the slope angle of the slope. It corresponds to the geometric condition for the formation of the fracture block.

4) Tilt angle condition 2

The inclination angle of the active surface should be greater than the friction angle, which is the strength characteristic of the active surface. In other words, it means that the slipping down force is greater than the resisting force which is sustained by the friction angle (shear strength).

The wedge failure is classified as a two - plane wedge fracture which is formed by two discontinuities and a one - plane wedge fracture which is separated by a discontinuity plane and slides along the other plane. Basically, in order for wedge failure to occur, the following three conditions must be met.

1) The intersection line inclination of two discontinuities shall be greater than the internal friction angle of the joint plane. That is, the force of slipping downward is greater than the shear strength of the joint surface, and fracture occurs.

2) The intersection line slope of two discontinuities shall be smaller than the slope slope.

3) The intersection of two discontinuities must intersect the slope parallel to the slope of the slope or within ± 20 ° of the slope.

Conduction failure occurs mainly when the slope in the same direction as the slope incline and slope incline in the opposite direction to the slope incline are developed at a high frequency.

Conduction failure is accompanied by rotation and slip along the center of gravity of the fracture block, so the safety factor can not be calculated solely by the force and resistance to the slip direction.

The safety factor of the slope by the limit equilibrium theory can be expressed as the ratio of the resistance to the active force as follows. 1 as a stable and unstable state.

The most important factors in calculating the safety factor are the size of the fracture block and the strength characteristics of the joint surface, such as joint slope and tensile crack location. In addition, groundwater, presence of fillers, and overburden load are important factors affecting the safety factor.

The clinometer, which can measure the inclination, inclination and inclination of rock slope, is essential for the measurement of geological structures (stratum, foliation, folds, joints and faults) developed in various outcrops in geological survey and related industries It belongs to indispensable portable equipment.

1) Measuring method

A) Attach the long side of the clinometer to the surface of the stratum to be measured and level it with the leveling instrument.

B) The needle is positioned in the E or W direction with respect to the N in the direction of the inside of the clinometer. At this time, read the number (angle) and direction in which the needle (pointed hand or pointed hand) points to the outer scale.

If the needle is between N and E and points to 30 °, the diversion is N30 ° E

If the needle is between N and W and points to 30 °, the diversion is N30 ° W

If the needle coincides with N and S, the diversion is NS

If the stitches match the EW, the strike is EW

2) Slope measurement method

A) The angle of inclination is the angle between the straight line and the horizontal plane perpendicular to the line where the stratum planes meet the horizontal plane (that is, the intersection of the longitudinal direction of the clinometer). To measure the tilt angle, position the clinometer in the direction perpendicular to the tilt and read the inner scale indicated by the tilt angle measuring needle.

B) After measuring the tilt angle, determine the tilt direction. However, the slope direction is unknown in the clinometer. The direction of the slope should be determined by the measurer taking into account the bearing itself, the actual tilted direction of the strata.

C) After measuring the tilt angle and tilt direction, the tilt angle shall be recorded in front of the tilt direction, such as 30 ° SE. As a result, when the incline and inclination are measured, the direction of the incline and the inclination are always perpendicular.

In order to analyze the stability of the rock slope, it is necessary to measure the slope direction and the slope angle of the rock slope. Currently, many people take a long time to measure the slope angle and the slope angle of the rock slope as the limited area. In this study, the stability of the rock slope is investigated and the total area of the rock slope is investigated. For this purpose, the rock slope stability analysis It is necessary to develop a basic data acquisition measurement system.

The components of the drone can be roughly classified into eight categories. It is equipped with sensors such as motors that make the drones frame and battery to power, propellers that hover the drones, electronic gearbox that precisely adjusts the rotational speed of the motor, gyro, , A radio receiver to receive the radio signal transmitted by the radio remote controller to the flight control unit, a radio remote control radio transmitter, and a battery to operate the drones.

Rising and falling: Raising the rotational speed of (1) - (4) equally increases the gas, and if the rotational speed is lowered equally, the gas falls.

Front and rear: When the speed of (3) is raised, the gas leans forward and advances. When only the speed of (1) is raised, the gas tilts backward to backward.

Left and right: If you raise only the speed of (2), the gas tilts to the left and moves to the left. If you increase only the speed of (4), the gas tilts to the right and moves.

Rotation: If you increase the speeds of (1) and (3) equally, if the anti-torque balance of the gas is broken and the rear of the airframe turns to the left and the speed of (2) and (4) increases equally, .

It is easy to access the rock slope using the drone and it is possible to obtain the data of rock slope joint characteristics effectively by constructing a new measurement system without using the existing clinometer. And a system using hardware and software.

Arduino is an open source based H / W platform that provides easy development environment, easy development tool, USB-based connection interface, low cost of H / W, open architecture, have. In particular, Arduino accepts values from many switches and sensors and provides interactivity with the surrounding environment by controlling electrical devices such as LEDs and motors.

One of the great advantages of this Arduino is that it makes it easy to operate the microcontroller. In general, AVR programming can be compiled with WinAVR and uploaded via an ISP device, which is a cumbersome process, whereas Arduino can be easily compiled and uploaded via USB. In addition, Arduino is relatively inexpensive compared with other modules, and supports OS such as Windows, Mac OSX and Linux, and Arduino's circuit diagram is released according to CCL, so anyone can directly create and modify board .

The construction of a system for measuring the inclination angle and the inclination direction of the rock slope using the above-mentioned Arduino is an effective method for obtaining a large number of reliable data at a low cost.

1) Survey scope

It is important to select the size of the survey window. However, it is easy to lose objectivity in determining the interval and frequency between the survey windows. In the process of performing the interval, a significant geological structure line between the survey windows may be omitted.

2) Investigators

In order to analyze the stability of the rock slope, it is necessary to measure the slope direction and the slope angle of the rock slope. Currently, the slope direction and the slope angle of the rock slope are measured as the irradiation area of the rock slope with a limited number of people.

3) Survey reliability

The stability evaluation is performed by measuring the directionality (slope direction / slope) of the discontinuity in the rock exposed by hand using the clinometer during the irradiation of the existing rock slope. However, considering that most collapse accidents occur at the upper part of the slope, It is difficult to conduct an effective discontinuity survey and thus the reliability thereof is lowered.

4) Economy

There is a problem that it takes a lot of time and cost to establish a countermeasure against the accident of a worker in the investigation of rock slope and there is a problem that the occurrence of an accident can not be prevented at all due to the delay in the establishment of the measure.

5) Safety

In the case of rock slope surveys, it is difficult for the operator to investigate the cliffs or the slope of the sandy slopes, or to use the inspection equipment.

      6) Survey measurement time

      In the case of measuring a large number of joint characteristics, it takes much time to process the result of the data in the manual operation using the clinometer.

The drones are designed to fly at a constant height by calculating the distance between the frame, the motor provided in the frame, the propeller and frame rotating by the motor, the ultrasonic sensor or the infrared sensor at the lower end of the motor, And a judging section for judging the moving direction and controlling the moving direction to fly.

On the other hand, the judging unit includes a communication unit that measures the distance reflected by the arduino, maintains a certain distance from the object, and sends and receives a flight instruction to the frame. Lt; / RTI >

A protective cover for protecting the frame and the propeller from being exposed to the outside, and the protective cover may include an upper cover for protecting the upper surface of the frame and a lower cover for protecting the lower surface of the frame.

And a resultant value of the tilt sensor, the 9-axis motion sensor, the Xbee sensor, and the ultrasonic sensor mounted on the Arduino can be transmitted to the receiver and confirmed by the receiver.

The Arduino is equipped with a 9-axis motion sensor that receives attitude information, a tilt sensor, an Xbee sensor that sends and receives, an ultrasonic sensor, and a battery that supplies electricity to measure the inclination angle and tilt angle of the rock slope.

The ultrasonic sensor is a sensor that generates a sound wave to hit the rocky slope joint, and measures the distance by calculating the reflection time.

The Xbee sensor is a transceiver sensor that transmits the measured value from Arduino to the receiver through the Xbee sensor.

The tilt sensor is a sensor that can measure the tilt value of the dron because the dron does not always measure the distance of the rock slope joints horizontally.

The battery is a device that powers the sensors connected to the adapter.

The 9-axis motion sensor measures the altitude and slope direction of rock slope joints.

In the measurement of the inclination direction and inclination angle of rock slope, the measurement using the existing clinometer was limited to the total area of the rock slope and many people took a long time to measure it. However, when using the drones and the arduino, It is possible to investigate the whole area, shorten the field measurement work time, and extract a lot of survey data in real time. Therefore, it is possible to improve the reliability of the stability analysis result of rock slope than the existing method, The cost of manpower input and inspection costs is reduced and the economic efficiency is improved. In addition, since the investigator does not need to directly access the rock slope, it is possible to prevent safety accidents. The joint characteristic data of the rock slope after the survey is completed is stored in the memory, and is used as maintenance data in the investigation of the joint characteristics of the same rock slope And it can track the joint characteristics of rock slope according to time history.

FIG. 1 (a) is an exemplary view showing the measurement of the inclination with a conventional clinometer, and FIG. 1 (b) is an exemplary view showing measuring a inclination with a conventional clinometer.
Fig. 2 is a view showing the combination of the drones and the arduino.
3 is a flight state diagram of the dron combined with the drones and the arduino.
4 is a view showing a state in which the inclination angle and the inclination angle are measured using the drones and the arduino.
5 is a bottom view of the drones.
6 is a view showing an adonyno board coupled with a drone.
Figure 7 is a view of a nine axis sensor motion shield coupled to an adonyno board
Figure 8 is a diagram of a wireless SD shield coupled to an adonyno board;
Figure 9 is a view of a protoshield coupled to an adinino board.
10 is a view showing a case of an adunion board.

Fig. 1 (a) is an exemplary view showing a measurement of a bow (N15 ° E) with a conventional clinometer, and Fig. 1 (b) is an example showing measuring a tilt (40 ° SE) with a conventional clinometer.

Referring to FIG. 1 (a), in order to measure the inclination using the clinometer, the longitudinal measurement surface of the clinometer is brought into close contact with the rock slope to be measured, and then the clinometer is placed side by side with the horizontal plane. Here, the horizontal plane is the virtual sea level, the plane of gravity and vertical direction. After placing the measuring surface closely against the rock slope and aligning it with the horizontal plane, read the value of the direction of the needle point of the clinometer. Unlike the compass, the clinometer has 'W' on the right side and 'E' on the left side based on 'N'. The inclination is the angle measured by the direction of the line connecting the slope of the rock slope with the horizontal plane based on the true north. When the measuring surface of the clinometer is brought into close contact with the rock slope, the 'N' of the clinometer is placed in a direction parallel to the direction of the slope. Then, when the needle point is pointing to the north, the difference between 'N' and the needle-like portion becomes the angle of the diversion. At this time, 'W' and 'E' are reversed in contrast to the ordinary compass in order to be able to read the direction of the needle point of the clinometer.

Referring to FIG. 1 (b), in the method of measuring the inclination, the clinometer is set up in the oblique direction so as to be brought into close contact with the rock slope, and then the value indicating the additional weight of the inclination measuring unit can be read. When the clinometer is set in the oblique direction, the gravity point will point to the vertical direction on the horizontal line due to gravity, and the clinometer itself will be inclined in the direction parallel to the slope.

FIG. 2 is a diagram illustrating a combined arduino 200 of a drones 100 according to one embodiment of the present invention.

As shown in FIG. 2, the Arduino 200 according to the embodiment of the present invention is configured to wirelessly transmit a measured result, and receives a wirelessly transmitted result value from the Arduino 200 A monitor for displaying is provided. In addition, a 3-axis acceleration sensor and a 3-axis gyro sensor, which detect the rotational angular velocity during flight, are incorporated in the drones that combine the Arduino to recognize the horizontal and tilt angles by feedbacking the angular velocity values on the X, Y and Z axes in real time It is possible to fly stable.

FIG. 3 is a view showing a state in which flying with an adunino 200 combined with a drone 100 is performed.

4 is a view showing a state in which the arduino 200 coupled with the drone 100 measures an inclination angle and an inclination direction on a rock joint slope.

5 is a view showing a fixing hole Hs2 in which an aluminum case 250 can be fixed to a lower portion of a dron according to an embodiment of the present invention.

5, the lower portion of the drone according to an embodiment of the present invention is formed with a fixing hole Hs2 through which a fixing screw Hs2, which can be connected to the arcuate case 250, As shown in FIG.

6 is a block diagram illustrating a main part of an Arduino main board 200 according to the present invention. The Arduino main board 200 includes a communication port for communication with an external device such as a sensor communication port 220 and a USB communication port 230, a memory for storing data, (210) and a central processing unit for controlling the respective components.

The sensor communication port 220 is an interface device for connecting and receiving data by connecting various sensors. The USB communication port 230 is an interface device connected to various control devices supporting USB communication to transmit and receive data.

Figure 7 is a diagram of an Arduino 9-axis motion sensor 222 coupled to an Arduino board.

The 9-axis motion sensor 222 is a sensor for measuring an altitude value of a dron and an inclination direction of a rock slope joint.

8 is a diagram illustrating a wireless SD shield 221 and an Xbee sensor 225 coupled to an adonyno board.

The wireless SD shield 221 is a device that enables wireless communication of the Xbee sensor 225.

The Xbee sensor 225 is a sensor for transmitting the result measured at the Arduino to the receiver through the Xbee sensor 225 as a transmission / reception sensor.

9 is a view showing an adinino shield 223 coupled to the adonaboard 200. FIG.

The tilt sensor 224 for measuring the tilt value of the arduino and the ultrasonic sensor 226 for measuring the horizontal distance information are mounted on the arcuino shield 223.

The ultrasonic sensor unit 226 is a means for sensing a distance to a target object.

The ultrasonic sensor 226 is a sensor using a characteristic of an ultrasonic wave having a high frequency (about 20 KHz or more) that can not be heard by the human ear. When a ultrasonic wave of 40 KHz is transmitted, a reception signal reflected from the object is collected by a receiver, And the principle of measuring the distance from the object as velocity. When such an ultrasonic sensor is applied to the system of this embodiment, the distance from the rock slope can be accurately measured.

10 is a view showing the inkino case 250. FIG.

As shown in FIG. 10, a fixing hole Hs3 is formed through the upper part of the case, and the screw is inserted by the screw Hs1 inserted into the fixing hole Hs3.

Device number
100: Drones
200: Arduino board
210: DC power supply
220: Sensor communication port
221: Wireless Shield
222: 9 Axis Motion Sensor Shield
223: Protoshield
224: tilt sensor
225: Xbee sensor
226: Ultrasonic sensor
227: 9V power supply
230: USB communication port
240: Microcontroller
250: Arduino case
300: Receiver computer
400: Display
500: camera
Hs1: Arduino case screw
Hs2: Lower drones
Hs3: Case upper fixing hole
Method number
S100: Transmission unit communication setting step
S110: Receiver communication setting step
S120: Ultrasonic sensor moving step
S130: Horizontal distance information reception step
S140: Receiving the oblique direction information
S150: Conversion step to the inclination angle
S160: Slope direction, inclination angle display step

Claims (1)

In order to analyze the stability of a rock slope, an apparatus for easily measuring an inclined direction and an inclination angle of a rock slope by connecting an udino to a lower portion of a dron,
Establishing communication by combining the sensor module and the add-on board;
Establishing communication by connecting an XBee sensor module to an adonyno board in a receiver computer;
Flying the drone to approach the ultrasonic sensor part to the slope of the rock within a certain distance;
Transmitting information of the horizontal distance to the rock slope detected by the ultrasonic sensor to the receiver through the Xbee sensor module;
Transmitting the altitude information and the slope direction information of the rock slope detected by the 9 axis motion sensor to the receiver through the Xbee sensor module;
Receiving horizontal distance information and oblique direction information transmitted from the Arduino, and verifying the measured horizontal distance information and oblique direction information with a receiver;
Converting the horizontal distance information to an inclination angle using software;
Displaying the altitude information and the oblique direction received by the tilt angle and the 9-axis motion sensor to the user;

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