KR20210133469A - Measuring method for wall structure using drone - Google Patents

Abstract

The present invention relates to a method for measuring the displacement of a wall structure using a drone, which allows a large scale of a wall structure to be easily and accurately measured. The method of the present invention comprises: a target part forming step; a drone preparation step; a standard flight interval setting step; a first target part hovering measurement step; and a second target part hovering measurement step.

Description

Displacement measurement method of wall structures using drones {MEASURING METHOD FOR WALL STRUCTURE USING DRONE}

The present invention relates to the field of construction measurement, and more particularly, to a method for measuring displacement of a wall structure using a drone.

Recently, technologies related to imaging and measurement using drones have been actively developed.

Korean Patent No. 10-1628750 (a method of predicting the safety of a terrain using 3D aerial photography) is a 3D aerial photograph of a terrain using a drone, and compares and analyzes the images to detect risk factors such as disasters occurring around the user. It relates to a method of predicting the safety of a terrain using 3D aerial photography that enables prediction and warning in advance, a) setting a shooting area in a central server, and setting GPS coordinates at each end of the shooting area so that the drone can accurately shoot controlling the vehicle so as not to deviate from the area; b) photographing the terrain with a 3D camera attached to the drone; c) measuring the height of the feature from the ground with a laser rangefinder attached to the drone; d) 3D mapping the terrain image captured by the 3D camera, displaying the image, and accumulating and storing the image for each time period; and e) comparing and analyzing the accumulated and stored 3D mapping images for each time period of a certain period to determine whether the features are deformed (FIG. 1).

Korea Patent No. 10-1692781 (disaster management system based on interlocking drones and monitoring sensors) is arranged at regular intervals on a slope, and provides satellite location information, soil moisture content, slope, displacement speed, temperature, A plurality of monitoring sensors configured to measure the humidity and take an image of the surroundings; and receiving satellite position information, soil moisture content, slope, displacement speed, temperature, and humidity of the slope, and a photographed image transmitted from the plurality of monitoring sensors through a broadband wireless communication network, and receive at least one of the plurality of monitoring sensors In operating the situation notification system when any one or more exceeds the management standard and a caution occurs, the drone is dispatched to the corresponding area to additionally receive the captured image of the drone, the captured image of the drone, and the plurality of monitoring sensors Takes a configuration that includes; a management server that collects the captured image and measurement data of

Korean Patent Registration No. 10-1919897 (a system and method for integrated monitoring of a hydraulic structure using integrated triggering of a measuring instrument) discloses a hydraulic structure measuring module 100 for measuring the behavior of a hydraulic structure; a seismic measurement module 200 provided in the area or inside the periphery of the hydraulic structure to measure seismic information in real time according to the occurrence of an earthquake; When an event in which a measurement signal exceeding a reference threshold value is measured in either the hydraulic structure measurement module 100 or the earthquake measurement module 200 occurs, the sensors constituting the hydraulic structure measurement module 100 and By transmitting an integrated trigger signal to seismometers constituting the seismic measuring module 200, the hydraulic structure measuring module 100 and the seismic measuring module 200 transmit the measured values before and after the event occurs. integrated trigger module 1100; a monitoring server 300 that analyzes the measurement values received from the sensors and seismometers according to the integrated trigger signal of the integrated trigger module 1100 and outputs abnormal status information and alarms; And after receiving the status abnormal information and the alarm signal, the repair structure management server 400 for providing a disaster warning message to the maintenance manager terminal and the management server of the Fire and Disaster Prevention Administration of the repair structure; take a configuration comprising a (Fig. 3).

Korea Patent No. 10-1933216 (a method of generating river topography information using drones and spatial information) develops a technique for generating DEM by processing the gradient method and the area expansion method from the 3D DSM data acquired with the drone with spatial information technology. The study site was selected, drone images were acquired, and orthographic images and DSM data were constructed through image matching. To this end, the slope technique is applied based on the point cloud data acquired during UAV shooting, 100 verification points are selected, and the DSM and DEM are used by using the survey values calculated through VRS (Virtual Reference Station) and total station surveying. By evaluating the elevation accuracy of the data, the reliability of the DEM data by the drone point cloud-based gradient method is provided.

On the other hand, in the case of large-scale wall structures (retaining walls, dams, etc.), 1) a very large area is the measurement target, 2) displacement (satisfaction) occurs over a long period of time, 3) access to the measurement point is difficult Since it has special characteristics such as difficulty, it can be said that it is a suitable object for measurement using a drone.

However, in the prior art, it was pointed out as a problem because technology development for a method for measuring the displacement of such a large-scale wall structure using a drone has not yet been developed.

Reference numerals in the prior art are limited only to the description of the prior art.

Korean Patent No. 10-1628750 Korean Patent No. 10-1692781 Korean Patent Registration No. 10-1919897 Korean Patent No. 10-1933216

The present invention was derived to solve the above problems, and it is possible to easily and accurately measure a large-scale wall structure that has a very large area as a measurement target, displacement occurs over a long period of time, and is difficult to access the measurement point. The purpose of the present invention is to present a method for measuring the displacement of a wall structure using a drone.

In order to solve the above problems, the present invention provides a method for measuring displacement of a wall structure using a drone, comprising: a target portion forming step of forming a plurality of target portions 10 on the outer surface of the wall structure; Obtaining an image including a GPS unit 150 for recognizing and storing location information, a distance measuring unit 110 for measuring the distance from the hovering position to the target unit 10, and the target unit 10 A drone preparation step of preparing the drone 100 including an image acquisition unit 120 and a displacement calculation unit 130 for calculating a displacement of the measurement area using the measured distance and the obtained image; During repeated flight of the drone 100, the reference flight interval setting for setting the reference flight interval d so that the distance between the initial positions of the plurality of target parts 10 of the wall structure and the drone 100 is constant step; When the drone 100 is driven in flight, the drone 100 is driven by hovering at the measurement position of the first target unit 11 among the plurality of target units 10 , and the drone 100 is driven by the location information of the GPS unit 150 . ) to maintain the reference flight interval (d), the first target portion hovering measurement step of calculating the displacement of the first target portion 11 by the displacement calculator 130; When the drone 100 is driven in flight, the drone 100 is operated by hovering at the measurement position of the second target unit 12 among the plurality of target units 10 , and the drone 100 is driven by the location information of the GPS unit 150 . ) to maintain the reference flight interval (d), and a second target part hovering measurement step of calculating the displacement of the second target part 12 by the displacement calculating part 130; A method of measuring the displacement of a wall structure using a drone is presented.

Accurate location information is given by a separate measurement method, and the survey reference point 200 having a location information transmission/reception unit capable of transmitting and receiving with the GPS unit 150 of the drone 100 is placed on the general ground adjacent to the wall structure. A surveying reference point installation step to be installed; It is preferable to further include a drone GPS unit correction step of correcting a reference value of the GPS unit 150 of the drone 100 based on the location information of the survey reference point 200 .

It is preferable to perform the drone GPS unit correction step in a state in which a seating plate 201 of the drone 100 is installed at the measurement reference point 200 and the drone 100 is seated on the seating plate 201 . .

The drone 100 further includes a reference image setting unit 140 for setting the image acquired by the image acquiring unit 120 as a reference image, wherein the first target unit hovering measurement step includes the drone During the first flight operation of ( 100 ), the drone 100 is driven by hovering at the measurement position of the first target unit 11 among the plurality of target units 10 , but by the location information of the GPS unit 150 . ) to maintain the reference flight interval (d), and the image of the first target unit 11 obtained by the image acquisition unit 120, the first target unit by the reference image setting unit 140 (11) a first target part reference image setting step of setting as the reference image; When the drone 100 is driven for the second flight, the drone 100 is driven by hovering at the measurement position of the first target unit 11 among the plurality of target units 10 , and the drone 100 is based on the location information of the GPS unit 150 . (100) to maintain the reference flight interval (d), the image of the first target unit 11 obtained by the image acquisition unit 120 and the reference image of the first target unit 11 a first target part displacement calculation step of comparing and calculating the displacement of the first target part 11 by the displacement calculating part 130; In the second target part hovering measurement step, when the first flight of the drone 100 is driven, hovering is driven at the measurement position of the second target part 12 among the plurality of target parts 10, and the GPS unit The drone 100 maintains the reference flight interval d by the location information of 150, and the image of the second target unit 12 acquired by the image acquisition unit 120 is used as the reference a second target unit reference image setting step of setting as a reference image of the second target unit 12 by the image setting unit 140; During the second flight driving of the drone 100 , the drone 100 is operated by hovering at the measurement position of the second target unit 12 among the plurality of target units 10 , and the drone 100 is based on the location information of the GPS unit 150 . (100) to maintain the reference flight interval (d), the image of the second target unit 12 obtained by the image acquisition unit 120 and the reference image of the second target unit 12 It is preferable to include; a second target part displacement calculation step of calculating the displacement of the second target part 12 by the displacement calculating part 130 by comparison.

The present invention provides a method for measuring the displacement of a wall structure using a drone that allows easy and accurate measurement of a large-scale wall structure that is subject to measurement over a very large area, has displacement over a long period of time, and is difficult to access the measurement point. present.

1 is a view of Korean Patent Registration No. 10-1628750.
2 is a view of Korean Patent Registration No. 10-1692781.
3 is a view of Korean Patent Registration No. 10-1919897.
4 is a view of Korean Patent Registration No. 10-1933216.
5 shows an embodiment of the present invention,
5 is a partial perspective view of a wall structure in which a plurality of target units are installed.
Fig. 6 is a block diagram of a first embodiment of a measurement method;
Fig. 7 is a configuration diagram of a second embodiment of a measurement method;
8 is a configuration diagram of a drone.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

5, the present invention basically relates to a method for measuring the displacement of a wall structure using a drone, and is made by the following process.

A plurality of target portions 10 are formed on the outer surface of the wall structure (FIG. 5).

In the case of a reinforcing earth retaining wall, the above structure can be formed by installing a block having a target portion 10 on the front in several places, and in the case of a dam, a plurality of target portions 10 are installed in several places. structure can be formed.

An image including a GPS unit 150 for recognizing and storing location information, a distance measuring unit 110 for measuring the distance from the hovering position (measurement position) to the target unit 10, and the target unit 10 Prepare the drone 100 having the acquired image acquisition unit 120 and the displacement calculation unit 130 for calculating the displacement of the measurement area using the measured distance and the acquired image.

During repeated flight of the drone 100, the reference flight interval (d) is set so that the distance between the initial position (position before displacement) of the plurality of target parts 10 of the wall structure and the drone 100 is constant. set (Fig. 7).

When the drone 100 is driven in flight, it is operated by hovering at the measurement position of the first target unit 11 among the plurality of target units 10 , but the drone 100 is operated as a reference flight by the location information of the GPS unit 150 . The distance d is maintained, and the displacement of the first target part 11 is calculated by the displacement calculator 130 (the first target part hovering measurement step).

When the drone 100 is driven in flight, it is operated by hovering at the measurement position of the second target unit 12 among the plurality of target units 10 , but the drone 100 is based on the location information of the GPS unit 150 . The flight interval d is maintained, and the displacement of the second target part 12 is calculated by the displacement calculator 130 (second target part hovering measurement step).

Here, the drone 100 includes not only the vehicle, but also a control unit for controlling the vehicle while located on the ground, a storage unit for storing information received from the vehicle, and a transmitter for transmitting information about the vehicle. defined as a concept that

Since the target unit 10 serves as a mark of the image acquired by the image acquisition unit 120 of the drone 100, it is enough to display a shape in which the change (displacement) can be easily confirmed by analyzing the image.

The technique of measuring the displacement of the same point by repeatedly photographing it at a certain distance is disclosed in Korean Patent No. 10-1985845 (device and system for measuring structure displacement using an image), which the applicant previously applied for and registered. .

The measurement method according to the present invention uses the above patented technology, and while repeatedly flying the drone 100 so as to have a constant interval (preliminary row interval (d)) with the front of the large-scale wall structure, the target part installed in several places on the wall structure The technical feature is to measure the horizontal displacement (fullness) of the target portion 10 by photographing (10) at regular intervals.

Specifically, the drone 100 includes a GPS unit 150 for recognizing and storing location information, a distance measuring unit 110 for measuring the distance from the hovering position to the target unit 10 , and the target unit 10 . It has a configuration including the image acquisition unit 120 for acquiring the included image, and the displacement calculation unit 130 for calculating the displacement of the measurement area using the measured distance and the acquired image (FIG. 8).

The distance measuring unit 110 may be implemented by a laser distance measuring device or the like, and measures the distance to the target unit 10 .

The image acquisition unit 120 may be implemented by a digital camera or the like, and acquires an image including the target unit 10 as a measurement area.

When digital cameras are installed on both sides of the drone 100, respectively, and two types of images for the same measurement area are acquired through this, more accurate displacement measurement is possible.

The displacement calculator 130 calculates the displacement of the target unit 10, which is a measurement area, by using the measured distance and the acquired image.

Specifically, by using the target part 10 itself or a separate mark formed on the target part 10, the horizontal displacement (fullness, front-back displacement) can be directly measured using the distance measuring part 110, The displacement on a plane perpendicular to the distance direction (up-down displacement, left-right displacement) can be directly measured from the change in the position of the target part 10 or the mark of the target part 10 in the image acquired by the image acquisition unit 120. have.

This has the advantage that it is not necessary to install the sensor directly on the structure, and by using relatively inexpensive and precise image acquisition equipment and distance measurement equipment, it is easy to install and maintain and accurate and stable measurement can be performed at a low cost.

In addition to providing accurate location information by a separate measurement method (conventional accurate surveying method), the survey reference point 200 having a location information transceiver capable of transmitting and receiving with the GPS unit 150 of the drone 100 is installed as a wall structure. When it is installed on the general ground (the ground where subsidence does not occur or the amount of subsidence is extremely small) adjacent to the It is possible to increase the accuracy of the location information of the drone 100 (FIG. 6).

A more stable correction operation is performed when the drone 100's seating plate 201 is installed at the survey reference point 200, and the drone GPS unit correction step is performed while the drone 100 is seated on the seating plate 201. It is possible, and in this state, it is possible to perform tasks such as charging, repair, and data backup of the aircraft of the drone 100 .

When the drone 100 includes the reference image setting unit 140 that sets the image acquired by the image acquisition unit 120 as a reference image, the first target part hovering measurement step is specifically performed in the following process. can be implemented by (FIG. 7).

First, when the first flight of the drone 100 is driven, the drone 100 is operated by hovering at the measurement position of the first target unit 11 among the plurality of target units 10 , but by the location information of the GPS unit 150 . ) to maintain the reference flight interval (d), and the image of the first target unit 11 obtained by the image acquisition unit 120 by the reference image setting unit 140 of the first target unit 11 Set as the reference image.

Thereafter, when the drone 100 is driven in the second flight, the drone 100 is driven by hovering at the measurement position of the first target unit 11 among the plurality of target units 10 , but by the location information of the GPS unit 150 . ) to maintain the reference flight interval (d), and compare the image of the first target unit 11 and the reference image of the first target unit 11 obtained by the image acquisition unit 120 to the displacement calculating unit ( 130) calculates the displacement of the 1st target part 11.

Specifically, the displacement calculator 130 measures the degree of displacement on the pixel of the acquired image by comparing the acquired image and the reference image, and sets the measured distance on the pixel to the actual displacement at the distance measured by the distance measuring unit 110 . The horizontal displacement can be calculated by converting

The second target part hovering measurement step may also be specifically implemented by the following process (FIG. 7).

When the first flight of the drone 100 is driven, it is operated by hovering at the measurement position of the second target unit 12 among the plurality of target units 10 , but the drone 100 is operated by the location information of the GPS unit 150 . To maintain the reference flight interval (d), the image of the second target unit 12 obtained by the image acquisition unit 120 is the reference image of the second target unit 12 by the reference image setting unit 140 set to

During the second flight driving of the drone 100 , the drone 100 is operated by hovering at the measurement position of the second target unit 12 among the plurality of target units 10 , but by the location information of the GPS unit 150 . Displacement calculating unit 130 by comparing the reference image of the second target unit 12 with the image of the second target unit 12 obtained by the image acquisition unit 120 and the reference image of the second target unit 12 to maintain the reference flight interval (d) The displacement of the 2nd target part 12 is computed by

That is, during the initial flight of the drone 100, images of a plurality of target units 10 are acquired while flying over the entire area of a large-scale wall structure and set as a reference image, and each target unit ( The displacement of each target unit 10 may be calculated by comparing the acquired image of 10) with the above reference image.

Alternatively, by calculating the displacement of each target part 10 by the above method for every flight, and newly setting the image acquired at that time as a reference image, based on this, each target part ( 10) can also be calculated.

This has the effect of being able to flexibly cope with changes in various fields because the reference image can be flexibly set according to the change of the environment of the wall structure.

Since the above has only been described with respect to some of the preferred embodiments that can be implemented by the present invention, the scope of the present invention, as noted, should not be construed as being limited to the above embodiments, and It will be said that the technical idea and the technical idea with the root are all included in the scope of the present invention.

10, 11, 12: target part 100: drone
110: distance measurement unit 120: image acquisition unit
130: displacement calculation unit 140: reference image setting unit
150: GPS unit 151: seating position storage unit
152: location information change calculator 200: survey reference point
201: seating plate

Claims (4)

A method for measuring the displacement of a wall structure using a drone, comprising:
a target portion forming step of forming a plurality of target portions 10 on the outer surface of the wall structure;
Obtaining an image including a GPS unit 150 for recognizing and storing location information, a distance measuring unit 110 for measuring the distance from the hovering position to the target unit 10, and the target unit 10 A drone preparation step of preparing the drone 100 including an image acquisition unit 120 and a displacement calculation unit 130 for calculating a displacement of the measurement area using the measured distance and the obtained image;
During repeated flight of the drone 100, the reference flight interval setting for setting the reference flight interval d so that the distance between the initial positions of the plurality of target parts 10 of the wall structure and the drone 100 is constant step;
When the drone 100 is driven in flight, the drone 100 is driven by hovering at the measurement position of the first target unit 11 among the plurality of target units 10 , and the drone 100 is driven by the location information of the GPS unit 150 . ) to maintain the reference flight interval (d), the first target portion hovering measurement step of calculating the displacement of the first target portion 11 by the displacement calculator 130;
When the drone 100 is driven in flight, the drone 100 is operated by hovering at the measurement position of the second target unit 12 among the plurality of target units 10 , and the drone 100 is driven by the location information of the GPS unit 150 . ) to maintain the reference flight interval (d), a second target portion hovering measurement step of calculating the displacement of the second target portion 12 by the displacement calculating unit 130;
Displacement measurement method of a wall structure using a drone, characterized in that it includes. According to claim 1,
Accurate location information is given by a separate measurement method, and the survey reference point 200 having a location information transmission/reception unit capable of transmitting and receiving with the GPS unit 150 of the drone 100 is placed on the general ground adjacent to the wall structure. A surveying reference point installation step to be installed;
A drone GPS unit correction step of correcting a reference value of the GPS unit 150 of the drone 100 based on the location information of the survey reference point 200;
Displacement measurement method of a wall structure using a drone, characterized in that it further comprises. 3. The method of claim 2,
A seating plate 201 of the drone 100 is installed at the measurement reference point 200,
Displacement measurement method of a wall structure using a drone, characterized in that the drone GPS unit correction step is performed in a state where the drone 100 is seated on the seating plate 201 . According to claim 1,
The drone 100 further includes a reference image setting unit 140 that sets the image acquired by the image acquisition unit 120 as a reference image;
The first target part hovering measurement step,
During the first flight driving of the drone 100 , the drone 100 is operated by hovering at the measurement position of the first target unit 11 among the plurality of target units 10 , and the drone 100 is based on the location information of the GPS unit 150 . (100) to maintain the reference flight interval (d), the image of the first target unit 11 obtained by the image acquisition unit 120 is first obtained by the reference image setting unit 140 a first target unit reference image setting step of setting the target unit 11 as a reference image;
When the drone 100 is driven for the second flight, the drone 100 is driven by hovering at the measurement position of the first target unit 11 among the plurality of target units 10 , and the drone 100 is based on the location information of the GPS unit 150 . (100) to maintain the reference flight interval (d), the image of the first target unit 11 obtained by the image acquisition unit 120 and the reference image of the first target unit 11 a first target part displacement calculation step of comparing and calculating the displacement of the first target part 11 by the displacement calculating part 130;
The second target part hovering measurement step,
During the first flight driving of the drone 100 , the drone 100 is operated by hovering at the measurement position of the second target unit 12 among the plurality of target units 10 , but the drone 100 is based on the location information of the GPS unit 150 . (100) to maintain the reference flight interval (d), the image of the second target unit 12 obtained by the image acquisition unit 120 is second by the reference image setting unit 140 a second target unit reference image setting step of setting a reference image of the target unit 12;
During the second flight driving of the drone 100 , the drone 100 is operated by hovering at the measurement position of the second target unit 12 among the plurality of target units 10 , and the drone 100 is based on the location information of the GPS unit 150 . (100) to maintain the reference flight interval (d), the image of the second target unit 12 obtained by the image acquisition unit 120 and the reference image of the second target unit 12 A second target part displacement calculation step of calculating the displacement of the second target part 12 by the displacement calculating part 130 by comparison;
Displacement measurement method of a wall structure using a drone, characterized in that it includes.

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