WO2019198916A1

WO2019198916A1 - System for inspecting surface of hole in rock capable of measuring ground bearing capacity

Info

Publication number: WO2019198916A1
Application number: PCT/KR2019/000766
Authority: WO
Inventors: 이민희
Original assignee: 이민희
Priority date: 2018-04-12
Filing date: 2019-01-18
Publication date: 2019-10-17

Abstract

The present invention relates to a system for inspecting the surface of a hole in a rock, wherein the system can be inserted into a hole in a rock to measure the surface roughness precisely and swiftly, and ensures that measurement of the ground bearing capacity at the leading edge of a hole in a rock bored underwater is achieved smoothly. This system is characterized by comprising a loading device which is provided with a loading actuator installed vertically downward in a measurement module so as to be capable of advancing and retreating, and with a loading plate attached to an end of an operation part of the loading actuator to contact the leading edge of a hole in a rock, and which measures the ground bearing capacity at the leading edge of the hole in the rock.

Description

Rock hole surface inspection system capable of measuring soil bearing capacity

The present invention relates to a rock hole surface inspection system, and in particular, the rock hole that is inserted into the rock hole can accurately and quickly measure the surface roughness, as well as the ground support capacity of the rock hole hole tip perforated underwater can be made smoothly A surface inspection system.

Civil works, for example bridges, are laid on the bottom of the ocean, river or river for its foundation. Typically, the foundation construction penetrates the cover layer and drills holes until the rock appears and additionally forms rock holes in the rock. At this time, the depth is about 100 to 200 meters, in order to prevent the penetration of water is inserted into the pipe on the surface of the water, and after completion of the drilling is generally installed in the rock hole to install the foundation pier.

At this time, the foundation pier has a characteristic that the stronger the binding force between the cast concrete and the rock hole is stronger, the support force increases, and the coupling characteristics of the rock hole and the concrete show a tendency to vary according to the surface characteristics of the rock hole. In addition, when the surface of the rock hole is implemented with an appropriate roughness, the bonding force is increased due to the increase in the area to be combined with the concrete.

Therefore, the surface layer state of the drilled hole after drilling the rock hole plays a very important role in the rigidity of the structure, so the technique of examining the rock hole surface is also one of the very important factors.

A variety of devices for inspecting the surface of a specific material have been proposed, but a method of inspecting the surface of a large object in a non-destructive manner may be a method using ultrasonic waves. For example, Japanese Patent Laid-Open No. 2008-111630 discloses a method for exploring cracks generated in concrete walls using ultrasonic waves. In the present invention, it is an example of a typical ultrasonic method by detecting the depth of crack generated by contacting the ultrasonic probe with the corresponding wall surface.

In addition, Korean Patent Laid-Open Publication No. 2009-22295 discloses a method of inspecting a defect of a coupling portion of a secondary barrier using ultrasonic waves. In the present invention, a method of detecting a defect of a cargo (cargo) applied to the LNG carrier may be an example of a representative non-destructive inspection method.

However, the above methods are usually inspection methods performed in an external ground state, and separate apparatuses are required to be applied to inspection of a rock hole surface formed at several tens of meters.

The simplest method is to attach an ultrasonic sensor to the end of a single lynch and inspect the surface of the rock hole by adjusting the lynch length.

However, this method has the advantage of being relatively simple, but if the length is increased or the diameter is large, it is difficult to maintain a constant distance from the surface of the sensor and the rock hole, and the surface position of the rock rock is not known exactly. There was no ability to identify bearing characteristics. In addition, there was no function to measure the depth of slime remaining on the bottom of the rock hole.

Accordingly, the present invention has been proposed to solve the conventional problems as described above, the object of the present invention is to insert a rock hole to accurately and quickly measure the surface roughness, as well as the end of the rock hole hole perforated underwater The present invention provides a rock hole surface inspection system for smooth soil measurement.

In order to achieve the above object, the rock hole surface inspection system according to the technical concept of the present invention includes a moving part for moving along a pipe inserted into a rock hole which is perforated underwater, and connecting the moving part with a cable from the ground. And a remote unit for controlling the position and operation of the moving unit and receiving the information collected by the moving unit while supporting the elevating unit, wherein the moving unit is fixed to the inner circumferential surface of the pipe or the wall surface of the rock hole while lifting by the cable. Fixed module and; A measurement module coupled to the lower side of the fixed module to measure a surface roughness of the rock hole; The measuring module includes a loading actuator vertically installed downward to enable the retreat and a loading plate attached to the end of the operating portion of the loading actuator to contact the rock hole tip, thereby supporting ground support of the rock hole tip. It is characterized by the technical configuration that the loading device further measures.

Here, the loading device may be installed in pairs at the center of the lower end of the measuring module and at a point spaced from the center point, respectively, to measure the ground bearing force along the circumferential direction of the rock hole tip. have.

In addition, the measuring module is further provided with a slime measuring device for measuring the slime thickness remaining at the tip of the rock hole, the slime measuring device, the main body fixed to the lower end of the measuring module, the slime while descending from the main body It is made up of the lifting portion to reach the end of the rock hole through the through, to determine whether to penetrate the slime by measuring the resistance while the lifting portion descends, the resistance measured when the lifting portion penetrates the slime is maintained It may be characterized by calculating the slime thickness by measuring the distance displaced by the lifting portion.

The measuring module may further include: a measuring frame coupled to the lower side of the fixed module so as to be lifted and lowered; A plurality of guide rollers installed on the side of the measuring frame to guide the lifting of the measuring frame while moving in contact with the wall surface of the rock hole; A sensor module comprising a roughness measuring sensor for measuring a surface roughness of a rock hole and a sensor actuator installed in the measuring frame to advance and move the roughness measuring sensor toward a rock hole wall surface; It may be characterized by including.

In addition, the roughness sensor may be characterized in that a plurality of radially installed so as to face the entire wall circumference of the rock hole.

In addition, the roughness measuring sensor in the measuring module may be provided as a sonar sensor for measuring the surface roughness of the rock hole while generating an ultrasonic wave.

In addition, the sonar sensor provided with the roughness measuring sensor to measure the distance to the rock hole wall surface, it may be characterized in that the control of the stroke of the sensor actuator based on the measured distance to the rock hole wall surface.

In addition, the roughness measuring sensor may be characterized by continuously measuring the surface roughness of the rock hole in 1mm increments while descending or rising along the rock hole with the measuring frame.

The guide roller may include a roller actuator fixed to the measuring frame, a roller body hinged to the operating part of the roller actuator, and a roller installed to be rotatable to the roller body.

In addition, the lower end of the measurement module may be further provided with a contact sensor which is formed to be extended downward to recognize the position of the rock hole tip while the lower end is in contact with the rock hole tip.

In addition, the fixed module and the measurement module may be further provided with a level sensor for recognizing the depth of the rock hole, respectively, the measurement module may be further provided with a pressure sensor for measuring the pressure.

In addition, the fixing module, and a fixed frame connected to the cable; A transfer unit positioned inside the fixed frame to lift the measurement module; A hydraulic unit for controlling the generation and the path of the hydraulic pressure; A plurality of pressing devices installed on the side of the fixing frame to fix the fixing module to the inner circumferential surface of the pipe or the wall surface of the rock hole; A control unit for controlling the hydraulic unit and the transfer unit; It may be characterized by including.

In addition, the pressurizing device may include a pressurized actuator fixed on the fixed frame, a pressurizing plate mounted on the pressurizing actuator movable unit, and a pressurizing sensor attached to the pressurizing plate to detect a pressing force.

The rock hole surface inspection system according to the present invention can be precisely located in the rock hole by remote control, and precise surface inspection of the rock hole tip in a state where it is stably supported in a configuration corresponding to the diameter of the rock hole or the inserted pipe. And bearing capacity can be measured, which allows precise foundation construction.

In addition, the present invention can accurately measure the slime thickness measured only depending on the operator's sense in the field, it is possible to accurately measure the ground strength of the rock hole tip, whether to carry out the additional work to spread the slime to the ground This can be useful for determining such.

In addition, the present invention by using the seismic wave caused by the high frequency sound and the seismic wave caused by the excitation in consideration of the thickness of the slime remaining in the rock hole drilled in the water to increase the ground strength of the rock hole tip according to the situation It can be measured.

1 is a block diagram showing the overall configuration of a rock hole surface inspection system according to an embodiment of the present invention

2 is a block diagram of a fixing module in the rock hole surface inspection system according to an embodiment of the present invention

3 is a block diagram of a depression in the rock hole surface inspection system according to an embodiment of the present invention

4 is an operation of the transfer unit in the rock hole surface inspection system according to an embodiment of the present invention

5 is a configuration diagram of the hydraulic portion in the rock hole surface inspection system according to an embodiment of the present invention

6 is a configuration diagram of the pressing device in the rock hole surface inspection system according to an embodiment of the present invention

7 is a configuration diagram of the measurement module in the rock hole surface inspection system according to an embodiment of the present invention

8 is a block diagram of a control unit in the rock hole surface inspection system according to an embodiment of the present invention

1: rock hole 2: moving part

3: remote part 4: support cable

10: fixed module 20: fixed frame

30: transfer part 40: hydraulic part

50: pressure device 90: control unit

110: measuring module 120: measuring frame

130: loading device 140: guide roller

150: sensor module 170: ground strength measuring device

180: Slime measuring device

With reference to the accompanying drawings will be described in detail a rock hole surface inspection system according to embodiments of the present invention. As the inventive concept allows for various changes and numerous modifications, particular embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to the specific form disclosed, it should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. In describing the drawings, similar reference numerals are used for similar elements. In the accompanying drawings, the dimensions of the structure is shown to be larger than the actual size for clarity of the invention, or to reduce the actual size to understand the schematic configuration.

In addition, terms such as first and second may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component. On the other hand, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

1 is a block diagram showing the overall configuration of a rock hole surface inspection system according to an embodiment of the present invention. The present invention relates to a rock hole surface inspection system that allows the surface of a rock hole to be inspected more accurately in consideration of the thickness of slime remaining in the pipe inserted into the rock hole drilled underwater.

As shown, the rock hole surface inspection system 100 according to an embodiment of the present invention is moved to inspect the rock hole (1) surface while moving inside the pipe inserted into the rock hole (1) perforated underwater Control the position and operation of the moving unit 2 and receive the information collected by the moving unit while supporting the unit 2 and the mobile unit 2 by a cable 4 in a fixed state on the ground It is composed of a remote part (3), so that the precise surface inspection of the tip of the rock hole (1), the ground strength and support force of the tip of the rock hole (1), and the remaining slime thickness can be effectively measured. It is configured to.

Hereinafter, a rock hole surface inspection system according to an embodiment of the present invention will be described in more detail.

In the rock hole surface inspection system according to an exemplary embodiment of the present invention, the moving part 2 includes a fixing module 10 and a measurement module 110 positioned at upper and lower portions, respectively, as shown in FIG. 2.

The fixed module 10 is a fixed frame 20 for supporting the entire fixed module 10 and the transfer unit 30 located in the fixed frame 20, the hydraulic unit 40 for generating hydraulic pressure, the hydraulic pressure It includes a pressurizing device 50 and the control unit 90 for fixing the fixing module 10 by using the hydraulic pressure generated in the unit 40.

The fixing frame 20 is composed of a fixed upper plate 21, a fixed lower plate 22, a fixed bar 23 for vertically connecting the fixed upper plate 21 and the fixed lower plate 22, the fixed bar 23 ) Is implemented with the strength to support various loads generated by hydraulic pressure. Here, a depression 24 is formed at the bottom of the fixed lower plate 22 to insert a portion of the measurement frame 120 belonging to the measurement module 110 when the measurement module 110 is raised. To have structural stability.

The transfer unit 30 is installed in the center of the fixed frame 20. The transfer unit 30 is a transfer motor 31 attached to the fixed upper plate 21, the transfer motor 31 as shown in FIG. The lead screw 32 is connected to the rotating shaft of the), and the upper side of the measuring frame 120 of the measuring module 110 is engaged with the lead screw 32. Thus, when the feed motor 31 rotates so that the lead screw 32 rotates together, the measurement frame 120 engaged with the lead screw 32 is lifted. Here, a plurality of transfer bars 26 are formed at the lower end of the fixed lower plate 22, and the measurement frame 120 is lifted in accordance with the rotation of the lead screw 32 while being penetrated by the transfer bars 26. Be guided.

The hydraulic part 40 is installed in the fixed frame 20 as shown in FIG. 5. The hydraulic unit 40 includes a hydraulic tank 41, a hydraulic pump 42 and a hydraulic control unit 43, the hydraulic pump 42 and the hydraulic control unit 43 by the control unit 90 described later Controlled. The hydraulic pump 42 serves to pressurize the hydraulic oil stored in the hydraulic tank 41, the hydraulic control unit 43 is composed of a plurality of valves the path of the hydraulic oil pressurized by the hydraulic pump 42 It serves to set up. The valves are preferably provided as a solenoid valve.

The fixed frame 20 further includes a pressurizing device 50 as shown in FIG. 6, wherein the pressurizing device 50 is a pressurizing plate attached to a pressurizing actuator 51 and an operation end of the pressurizing actuator 51. (52). The pressurizing actuator 51 and the pressing plate 52 may be installed in plural along the circumferential direction of the fixing frame 20, and may be installed in the upper and lower portions if necessary. The pressurized actuator 51 is operated by the hydraulic oil guided by the hydraulic control unit 43. The pressure plate 52 is attached to a plurality of pressure sensors 53 is configured to detect the pressing force or the deformation amount generated in the pressure plate 52. In addition, the pressure sensor 53 is disposed to detect deformation in the vertical, horizontal, left and right directions, and detects the total deformation amount or the pressing force of the pressure plate 52. The output of the pressure sensor 53 is transmitted to the control unit 90 to stop the operation of the pressure actuator 51 when a predetermined load or more is applied.

The controller 90 serves to control the operation of the transfer unit 30 and the hydraulic unit 40, and also receives and processes a signal from the pressure sensor 53. The control unit 90 has a sealed structure inside, and if necessary, the remote unit 3 can continuously supply air pressure through a separate hose to the control unit 90 to prevent the ingress of water from the outside. .

Meanwhile, as shown in FIG. 4, a level sensor 92 is attached to a lower end of the fixed frame 20 to detect a current depth and transmit the current depth to the controller 90, and the controller 90 transmits the level sensor 92. After calculating the depth using the signal of), and transmits to the remote (3).

Subsequently, the measurement module 110 forming the moving part 2 together with the fixing module 10 in the rock hole surface inspection system according to the embodiment of the present invention will be described.

The measurement module 110 is adjusted by the operation of the transfer unit 30 belonging to the fixed module 10 while adjusting the relative distance with the fixed module 10, the support force and ground strength of the tip of the rock hole (1) It is configured in detail so that the thickness of the slime and the surface roughness of the wall of the rock hole 1 can be measured.

As shown in FIG. 7, the measurement module 110 includes a measurement frame 120 that also supports the entire structure. The measuring frame 120 includes a measuring upper plate 121, a measuring lower plate 122, and a measuring bar 123 vertically connecting the measuring upper plate 121 and the measuring lower plate 122. Here, the upper part of the measuring upper plate 121 is formed with a protrusion 123 is inserted into the depression 24 formed in the fixed lower plate 22 of the fixing module 10 when the measuring module 110 is raised, in particular the When the protrusion 123 is inserted into the depression 24, it is advantageous to configure the loads applied to the measurement frame 120 to be transmitted through the depression 24 in terms of overall structure. In addition, the measuring upper plate 121 is engaged with the lead screw 32 and the transfer bar 26 is provided to pass through the measuring upper plate 121 to guide the lifting operation of the measuring frame 120.

As illustrated in FIG. 7, the measurement module 110 includes a sound wave generator 171 for generating high frequency sound in the water inside the rock hole, an impact generator 172 having a rock hole tip, and the sound wave generator ( 171 and a ground provided at a position spaced apart from the impact generator 172 and made of a receiver 173 configured to receive acoustic waves transmitted through the rock hole tip surface layer by sound waves and excitation in contact with the rock hole tip. The strength measuring device 170 is provided. As a result, as shown in FIG. 8, the control unit 90 can obtain the ground strength of the rock hole tip by the speed of the acoustic wave transmitted through the rock hole tip surface layer.

In the ground strength measuring apparatus 170, it is noted that the sound wave generator 171 and the impact generator 172 can be selectively used according to the thickness of the slime remaining on the rock hole tip. That is, when the thickness of the slime remaining at the tip of the rock hole is less than a predetermined value through the measurement of the slime measuring device 180, the sound wave generator 171 generates a high frequency sound, and the high frequency sound is the surface layer of the rock hole front end. Although the receiver 173 receives the acoustic wave through the receiver, if the thickness of the slime remaining on the rock hole tip is greater than a predetermined value, the shock generator 172 has the rock hole tip and the rock hole tip is caused by the excitation. The receiver 173 receives the acoustic wave transmitted through the surface layer. Here, in the case of the sound wave generator 171, the frequency can be freely selected so that the receiver 173 can receive a higher resolution acoustic wave. Therefore, the high-frequency sound generated by the sound wave generator 171 is transmitted through the underwater and rock hole tip surfaces, so that the method of receiving the elastic waves has a higher resolution than the impact generator 172 has the rock hole tip surface and receives the elastic waves. It is advantageous to receive the seismic wave of. According to the present invention, the slime thickness is accurately measured by the slime measuring device 180, and if possible, the method through the sound wave generator 171 can be used to more accurately measure the ground strength of the rock hole tip. The frequency of the high frequency sound generated by the sound wave generator 171 is generally in the range of 500 to 1 khz, and the acoustic wave speed is controlled by the controller 90 in conjunction with the ground measuring device as shown in FIG. 8.

As shown in FIG. 7, the measurement module 110 further includes a slime measuring device 180 for measuring the slime thickness remaining at the tip of the rock hole. The slime measuring device 180, the main body 181 is fixed to the lower end of the measurement module 110, and the lifting portion which allows to reach the end of the rock hole through the slime while descending from the main body 181 It consists of 182. According to this configuration, the controller 90 determines whether the lifting unit 182 penetrates the slime by measuring the resistance while descending, and the resistance measured when the lifting unit 182 penetrates the slime is maintained. The thickness of the slime is calculated by measuring the distance that the lifting unit 182 is displaced. Here, the difference between the resistance when the elevator 182 passes through the water and penetrates the slime, and the difference between the resistance when penetrating the slime and the tip of the rock hole is obvious. 182 is not difficult to calculate the displacement distance from the moment of initial entry into the slime to the moment of contact with the rock hole tip.

When such a slime measuring device 180 is provided, a conventional method in which a worker directly hangs reinforcing bars and lowers them from the ground to the tip of a rock hole improves an inaccurate method of judging the slime thickness, thereby improving the remaining slime thickness. It will be possible to determine whether to carry out the additional work of accurately measuring and slicing the slime and how to use the ground strength measuring device 170 as described above.

On the other hand, the measuring frame 120 is configured to include a loading device 130 is installed on the bottom of the measuring lower plate (122). The loading device 130 serves to apply a load to the tip of the rock hole (1), and includes a hydraulic loading actuator 131 and a loading plate 132 attached to the end of the operation portion of the loading actuator 131. It is configured by.

The loading actuator 131 is also operated by the hydraulic control unit 43, it may be provided with a separate sensor for detecting the stroke of the loading plate 132. In addition, the loading actuator 131 is disposed in the center of the measurement lower plate 122, it may be installed in addition to a predetermined distance apart position. In the case of configuring a plurality as described above, since the bearing force can be measured along the circumferential direction of the tip of the rock hole 1, there is an advantage that the level of the bearing force can be further increased.

According to such a structure, after measuring the tip point of the circumferential direction and rotating the whole moving part 2 by the said remote part 3 to a required angle, it progresses in order of measuring.

In addition, the measurement lower plate 122 includes a contact sensor 161 for detecting the tip of the rock hole (1) to detect the tip contact of the measurement module 110. The measurement module 110 is also provided with a level sensor 162, so that the current depth of the measurement module 110 can be detected. In addition, a plurality of pressure sensors 163 are included to sense the pressure at the corresponding point.

The

sensors

161, 162, and 163 also transmit measurement information to the controller 90, and the controller 90 uses the information measured by the

sensors

161, 162, and 163 to position the end of the rock hole. And the depth and pressure at which the measurement module 110 is located are calculated.

The measuring module 110 includes a plurality of guide rollers 140 installed at the side of the measuring frame 120 to contact the wall surface of the rock hole to guide the lifting of the measuring frame. The guide roller 140 includes a roller actuator 141 fixed to the measuring frame 120, a roller body 142 hinged to an operation part of the roller actuator 141, and on the roller body 142. It is comprised including the roller 143 rotatably installed. In this case, the roller actuator 141 is preferably configured electrically, and preferably includes a sensor or a count for recognizing the stroke. In addition, the driving of the roller actuator 141 is controlled by the control unit 90, the control unit 90 recognizes the stroke of the roller actuator 141 and whether the guide roller 140 is out of the pipe to enter the rock hole wall surface Judge the back.

The measurement module 110 has a sensor module 150 for detecting the roughness of the surface of the rock hole 10 at the lower end thereof. The sensor module 150 includes a sensor actuator 151 moving in a radial direction and a roughness measuring sensor 152 attached to an end of the sensor actuator 151 to detect surface roughness. The sensor actuator 151 and the roughness measuring sensor 152 are arranged in a plurality of radially with respect to the measuring frame 120, the arrangement interval is all overlapping the area detected by one roughness measuring sensor 152 in the surface circumferential direction Set so that information can be obtained. To this end, when the roughness measuring sensor 152 is installed in four directions, there is no great difficulty in performing a function toward the rock hole wall surface.

Such roughness measuring sensor 152 is preferably provided as a sonar sensor using ultrasonic waves. In this case, the roughness measuring sensor measures the surface roughness of the rock hole wall surface and the distance to the rock hole wall surface while generating an ultrasonic wave. It is possible to do If the roughness measuring sensor 152 can measure the distance to the rock hole wall surface, it may be used to control the stroke of the sensor actuator 151.

Here, the roughness measuring sensor 152 belongs to the measurement module 110 in the radially arranged in all directions to obtain accurate roughness information on the rock hole surface by continuously measuring in 1 mm increments while descending or rising along the rock hole. The frequency used by the roughness measuring sensor 152 is about 2MHz.

The sensor module 150 is also linked with the control unit 90, and the detected result is also transmitted to the control unit 90, and the control unit 90 calculates and displays the surface roughness using the transmitted result. .

Subsequently, the control unit 90 and the remote unit 3 will be described below.

As shown in FIG. 8, the controller 90 controls the moving unit 2 as a whole, and the remote unit 3 stores and displays the information obtained through the controller 90. An operation unit for driving the moving unit 2 is provided. That is, a user instructs operation of the moving unit 2 through the operation unit, and the control unit 90 controls various devices based on the information instructed through the operation unit.

As illustrated in FIG. 8, the controller 90 receives pressure information through the pressure sensor 163 and calculates the depth of the rock hole 1 through the

level sensors

92 and 162. In addition, the control unit 90 controls the transfer unit 30, in which the control unit 90 drives the transfer motor 31 to adjust the distance between the measurement module 110 and the fixed module 10, in particular, In the case of a test, the measurement module 110 is operated to bond with the fixed module 10 so that the load generated during the loading test is absorbed by the fixed module 10.

When the control unit 90 reaches a specific position based on the information obtained through the sensors, the control unit 90 controls the pressing device 50 to fix the fixing module 10 to the rock hole 1. At this time, the pressurizing device 50 is operated by using the hydraulic pressure generated by the hydraulic unit 40, and further measures the pressing force detected by the pressure sensor 53 to remove the thread of the pipe inserted into the rock hole (1) Control to prevent.

When the control unit 90 controls the operation of the guide roller 140, the guide roller 140 is operated after the pressing device 50 is fixed to operate the operation of the transfer unit 30 to measure the measurement module 110 When it is separated from the fixing module 10 serves to guide accurately to the rock hole (1). At this time, the sensor module 150 also protrudes to the outside to measure the roughness of the inner surface of the rock hole (1), and ends when the transfer unit 30 is in the maximum stroke state.

In the loading test, the fixed module 10 and the measurement module 120 are tightly coupled to each other, and then the remote unit 3 is adjusted to lower the moving unit 2 and the rock hole through the contact sensor 161. (1) In contact with the tip, the pressurizing device 50 is operated to fix the fixing module 10, and then the loading device 130 is operated to perform a loading test. The operation of the loading device 130 is operated by adjusting the hydraulic unit 40, the hydraulic pressure is transmitted to the remote unit 3 through the control unit 90. If necessary, a separate loading device 130 is operated to perform a loading test in the circumferential direction of the tip. At this time, the remote part 3 performs the test intermittently while adjusting the cable 4 to rotate the moving part 2.

The controller 90 receives surface information of the rock hole 1 measured by the sensor module 150 and transmits it to the remote unit 3. At this time, the control unit 90 operates the pressurizing device 50 at the corresponding position to fix the fixing module 10. Subsequently, the roughness measuring sensor 152 is operated to approach the rock hole 1 by operating the sensor actuator 151, and then the conveying unit 30 is driven to transport the measuring module 110 downward. To control.

Under such control, the roughness measuring sensor 152 transmits longitudinal roughness information on the surface of the rock hole 1 to the remote part 3. The roughness measuring sensor 152 with water is radially installed in the measuring module 110 so as to obtain all the circumferential roughness information of the rock hole 1.

The controller 90 interlocks with the ground strength measuring device 170 to obtain a seismic velocity, and also interlocks with the slime measuring device 180 to obtain a slime thickness.

Although the preferred embodiment of the present invention has been described above, the present invention may use various changes, modifications, and equivalents. It is clear that the present invention can be applied in the same manner by appropriately modifying the above embodiments. Accordingly, the above description does not limit the scope of the invention as defined by the limitations of the following claims.

Claims

The moving part which can move along the inside of the pipe inserted to the rock hole which was perforated underwater, and control the position and operation of the moving part while supporting the moving part by lifting and connecting by cable in the ground, and the information collected by the moving part Consists of a remote to receive the

The moving unit, the fixed module fixed to the inner surface of the pipe or the wall surface of the rock hole while lifting by the cable; A measurement module coupled to the lower side of the fixed module to measure a surface roughness of the rock hole; Include,

The measuring module has a loading actuator installed vertically downward to enable the retreat, and a loading plate attached to the end of the operating portion of the loading actuator to contact the rock hole tip so that the ground bearing force of the rock hole tip is measured. Rock hole surface inspection system further comprises a device.
The method of claim 2,

The loading device has a plurality of pairs installed in the center of the lower end of the measurement module, and a point spaced from the center point, respectively, so that the rock bearing surface can be measured along the circumferential direction of the rock hole tip. Inspection system.
The method of claim 2,

The measuring module is further provided with a slime measuring device for measuring the slime thickness remaining at the tip of the rock hole,

The slime measuring device comprises a main body fixed to the lower end of the measuring module, and a lifting unit which allows to reach the end of the rock hole through the slime while descending from the main body, by measuring the resistance while the lifting unit descends A rock hole surface inspection system, comprising: determining whether or not a slime penetrates, and calculating a slime thickness by measuring a distance at which the elevator is displaced while the resistance measured when the elevator penetrates the slime is maintained.
The method of claim 2, wherein the measurement module,

A measuring frame coupled to the lower side of the fixed module so as to be lifted and lowered;

A plurality of guide rollers installed on the side of the measuring frame to guide the lifting of the measuring frame while moving in contact with the wall surface of the rock hole;

A sensor module comprising a roughness measuring sensor for measuring a surface roughness of a rock hole and a sensor actuator installed in the measuring frame to advance and move the roughness measuring sensor toward a rock hole wall surface; Rock hole surface inspection system comprising a.
The method of claim 4, wherein

The roughness sensor is a rock hole surface inspection system, characterized in that a plurality of radially installed so as to face the entire wall around the rock hole.
The method of claim 5,

The roughness measuring sensor in the measuring module is a rock hole surface inspection system, characterized in that it is provided with a sonar sensor (sonar sensor) for measuring the surface roughness of the rock hole while generating an ultrasonic wave.
The method of claim 6,

A rock hole surface inspection system, characterized in that for measuring the distance to the rock hole wall surface by the sonar sensor provided as the roughness sensor, and controlling the stroke of the sensor actuator based on the measured distance to the rock hole wall surface.
The method of claim 5,

The roughness measuring sensor is a rock hole surface inspection system, characterized in that continuously measuring the surface roughness of the rock hole in units of 1mm while descending or rising along the rock hole with the measuring frame.
The method of claim 4, wherein

The guide roller may include a roller actuator fixed to the measuring frame, a roller body hinged to an operating part of the roller actuator, and a roller mounted on the roller body so as to be rotatable.
The method of claim 9,

The measuring module includes a sound wave generator for generating high frequency sound in the water inside the pipe, a shock generator having a rock hole tip, and a sound wave generator at a position spaced apart from the sound wave generator and the shock generator to contact the rock hole tip. A receiver is provided to receive the acoustic waves transmitted through the rock hole tip surface layer by sound waves and excitation, so that the ground strength of the rock hole tip can be obtained by the elastic wave velocity transmitted through the rock hole tip surface layer. ,

When the thickness of the slime remaining on the rock hole tip is less than a predetermined value, the sound wave generator generates a high frequency sound. When the thickness of the slime remaining on the rock hole tip is more than a predetermined value, the impact generator causes to break the rock hole tip. A rock hole surface inspection system, characterized in that for generating an acoustic wave in an excitation manner so that the receiver receives the acoustic wave.
The method of claim 4, wherein

A rock hole surface inspection system further comprising a contact sensor formed at a lower end of the measuring module downwardly to recognize the position of the rock hole tip while the lower end thereof contacts the rock hole tip.
The method of claim 4, wherein

The fixed module and the measurement module are further provided with a level sensor for recognizing the depth of the rock hole, respectively,

The measuring module has a rock hole surface inspection system, characterized in that further provided with a pressure sensor for measuring the pressure.
The method of claim 2, wherein the fixing module,

A fixed frame connected to the cable;

A transfer unit positioned inside the fixed frame to lift the measurement module;

A hydraulic unit for controlling the generation and the path of the hydraulic pressure;

A plurality of pressing devices installed on the side of the fixing frame to fix the fixing module to the inner circumferential surface of the pipe or the wall surface of the rock hole;

A control unit for controlling the hydraulic unit and the transfer unit; Rock hole surface inspection system comprising a.
The method of claim 13,

The pressurizing device includes a pressure actuator fixed on the fixed frame, a pressure plate mounted on the pressure actuator movable part, and a pressure sensor attached to the pressure plate to detect a pressing force.