Smart Apparatus of Ground Penetrating Radar

Abstract

The present invention relates to a "concrete scanning device with a scanning position specification function using a reference reflector made of protruding members" having a configuration comprising a scanner (1), a reference reflector (2) made of protruding members of different sizes and detachably installed at four corners of a rectangle on the scanning surface of a concrete structure to reflect a signal, and a position finding antenna (3), wherein when the scanner (1) scans while moving along the scanning surface of a concrete structure, the position finding antenna (3) receives a reference reflection signal reflected from the reference reflector (2), and based on this, the position finding antenna (3) identifies the position and direction separated from the reference reflector (2), thereby identifying the current scanning position of the scanner (1) in real time.

Description

Technology Field

[0001] The present invention relates to a concrete scanning device, known as a Ground Penetrating Radar (GPR), which transmits scan signals such as ultrasound and electromagnetic waves into the concrete and receives and analyzes internal reflection signals reflected from within the concrete to explore the internal structure of a concrete structure, such as the state of embedded rebar, the presence and size of voids, etc. Specifically, the invention relates to a "smart concrete scanning device with a scan position specification function" that enables real-time identification of the current location of the concrete scanning device—that is, the current "scan position" where the concrete scanning device is placed and scanning the concrete structure—by means of a configuration including a reference reflector installed on the scan surface of the concrete structure to reflect a location search signal, a location search antenna that generates and transmits a location search signal toward the reference reflector along a horizontal plane parallel to the scan plane and receives the reference reflection signal reflected by the reference reflector, and a scan position calculation module. Background Technology

[0002] The use of a concrete scanner is proposed as a method to identify damage to reinforcing bars embedded in concrete structures such as bridge piers, girders, bearings, and walls, as well as their arrangement status, location, presence, and condition of voids. This concrete scanner, also known as GPR (Ground Penetrating Radar), transmits scan signals, such as ultrasound or electromagnetic waves, to the concrete structure and acquires an internal image of the structure by receiving internal reflection signals reflected back from within the concrete by reinforcing bars or voids and performing image processing. An example of a concrete scanning device according to such prior art is disclosed in Korean Published Patent No. 10-2004-0001712 (Patent Application No. 10-2002-0037025), and specific methods for transmitting a scan signal and receiving and analyzing a reflected internal reflection signal are disclosed in U.S. Patent US9,194,819 B2, etc.

[0003] When using a conventional concrete scanning device, the user performs the scanning operation by moving the device along the surface to be scanned ("scan surface") of a concrete structure, with the device positioned facing the surface at a certain distance. At this time, it is very important to accurately determine in real time where the concrete scanning device is located within the entire area of ​​the scan surface—that is, the position of the concrete scanning device transmitting and receiving signals ("scan position"). Conventionally, a method was used in which a grid was drawn on the scan surface and the location of the concrete scanning device on the grid was roughly determined using grid coordinates. However, this conventional method has the problem that it is difficult to accurately align the signal transmission and reception points with the position of the concrete scanning device. Consequently, when using this conventional method, accuracy decreases when generating a scan image by synthesizing data received as internal reflection signals, resulting in a problem where it is difficult to obtain important information about the scan target intended to be identified by scanning, such as the diameter of the rebar.

[0004] As an alternative, a method has been proposed to determine the scan location by installing a mechanical frame on the scan surface of a concrete structure and moving a concrete scanning device connected to the mechanical frame. However, the installation of mechanical frames is subject to significant limitations. For example, if the scan target is a bridge pier or girder, the scan surface is located at a high elevation, which can result in considerable difficulty and cost to move and install the mechanical frame to that height. Furthermore, if the scan surface is a vertical or inclined plane rather than a horizontal plane, installing the mechanical frame becomes impossible or extremely difficult.

[0005] In addition, since mechanical frames are expensive and heavy, significant difficulties may arise during installation, resulting in the disadvantage of greatly increasing the cost and time required to scan concrete structures. Prior art literature

[0006] Republic of Korea Published Patent Application No. 10-2004-0001712 (Published Jan. 07, 2004). United States Patent Application US 9,194,819 B2 (Published Nov. 24, 2015). The problem to be solved

[0007] The present invention was developed to overcome the limitations of the conventional technology described above. Its purpose is to provide a technology that solves the problems of the conventional technology when performing scanning operations on concrete structures using a concrete scanning device, thereby enabling easy, simple, and low-cost signal transmission and reception from the scanner even in situations where it is difficult to install a mechanical frame on the scanning surface, and accurately determining the scanning position in real time. means of solving the problem

[0008] To achieve the above objectives, the present invention provides a concrete scanning device characterized by comprising: a scanner for scanning a concrete structure; a reference reflector installed in a detachable manner on the scan surface of the concrete structure to reflect a position search signal; a position search antenna that generates a position search signal toward the reference reflector along a horizontal plane parallel to the scan plane and receives a reference reflected signal reflected by the reference reflector; and a scan position calculation module that, when the scanner moves along the scan surface of the concrete structure and scans the concrete structure, when the position search antenna receives the reference reflected signal reflected after the position search signal is transmitted from the position search antenna to the reference reflector, the position search antenna identifies the position and direction separated from the reference reflector based on the received reference reflected signal, thereby determining and specifying the current scan position of the scanner in real time.

[0009] In the concrete scanning device of the present invention, the reference reflector is composed of a bent bar in which two bar members, a first bar member and a second bar member, are arranged in a bent form with an end bending angle relative to each other and are fixedly installed in a detachable manner on the scanning surface of a concrete structure; the position finding antenna may have a configuration comprising two position finding antennas, a first position finding antenna that transmits a position finding signal toward the first bar member and receives a reference reflection signal therefrom, and a second position finding antenna that transmits a position finding signal toward the second bar member and receives a reference reflection signal therefrom. In this case, when one end of the first bar member and the second bar member are joined together in the bent bar forming the reference reflector, they may be joined in a hinge manner that allows the end bending angle between the one end to be changed.

[0010] In addition, the present invention provides a concrete scanning device for achieving the above-mentioned purpose, characterized in that, in the above-mentioned configuration, the reference reflector is formed from a cylindrical or polygonal prism-shaped member protruding from the scanning surface or a spherical-shaped member protruding from the scanning surface, and is composed of four protruding members that are fixedly installed in a detachable manner at the four corners of the rectangle when the scanning surface of the concrete structure is divided into a rectangle. In the concrete scanning device of the present invention, the four protruding members forming the reference reflector all have the same size and shape; and four position-finding antennas are provided, and one position-finding antenna may have a configuration in which it transmits and receives a signal only to one protruding member facing it.

[0011] In addition, in the concrete scanning device of the present invention equipped with four protruding members as reference reflectors, the four protruding members forming the reference reflectors may have the same shape but may be composed of protruding members of different sizes, or all four protruding members may be composed of protruding members of different sizes and shapes. In this case, the position search antenna may be equipped with two antennas, a first position search antenna and a second position search antenna, wherein the first position search antenna transmits a position search signal to each of the two protruding members on the first side and receives a reference reflection signal reflected therefrom, and the second position search antenna transmits a position search signal to each of the protruding members on the second side and receives a reference reflection signal reflected therefrom. Effects of the invention

[0012] According to the present invention, the current scan position can be accurately determined in real time during the scanning process by positioning the scanner apart from the scan surface of a concrete structure.

[0013] In particular, the present invention allows for real-time identification of the current scan position even without installing a mechanical frame on the scan surface. Therefore, according to the present invention, the inconvenience or difficulty associated with installing a mechanical frame can be avoided, and costs are also reduced, thereby providing the advantage of enabling highly economical scanning of concrete structures.

[0014] In addition, since the reference reflector used for scanning in the present invention is installed on the scanning surface of a concrete structure in a simple detachable manner, the advantage is also demonstrated that the reference reflector can be easily installed to perform scanning operations and accurately determine the scanning position even when the scanning surface is located at a high altitude or is an inclined or vertical surface. Brief explanation of the drawing

[0015] FIG. 1 is a schematic perspective view showing a first embodiment of a concrete scanning device according to the present invention installed on the scanning surface of a concrete structure. Figure 2 is a schematic front view of the state shown in Figure 1. FIG. 3 is a schematic perspective view showing a second embodiment of a concrete scanning device according to the present invention installed on the scanning surface of a concrete structure. Figure 4 is a schematic front view of the state shown in Figure 3. FIG. 5 shows a protruding member corresponding to a reference reflector in the second embodiment of the present invention. sphere This is a schematic perspective view corresponding to Fig. 3, which shows a structure made of a component of the shape. Figure 6 is a schematic side view according to arrow AA in Figure 5. FIG. 7 is a schematic perspective view showing a third embodiment of a concrete scanning device according to the present invention installed on the scanning surface of a concrete structure. FIG. 8 is a schematic front view of the state shown in FIG. 7. FIG. 9 is a schematic perspective view showing a fourth embodiment of a concrete scanning device according to the present invention installed on the scanning surface of a concrete structure. FIG. 10 is a schematic front view of the state shown in FIG. 9. FIG. 11 is a schematic front view of a second embodiment for explaining the basic mathematical principles for calculating the current scan position of a scanner using a position search signal and a reference reflection signal in a scan position calculation module of the present invention. Specific details for implementing the invention

[0016] Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. Although the present invention has been described with reference to the embodiments illustrated in the drawings, this is described as one embodiment, and the technical concept of the present invention, its core components, and its operation are not limited by this.

[0017] The concrete scanning device (100) according to the present invention has a configuration comprising: a scanner (1) that scans the concrete structure by sending a scan signal into the interior of the concrete structure and receiving an internal reflection signal reflected from the interior of the concrete structure; a reference reflector (2) installed on the scan surface of the concrete structure to reflect a location search signal; and a location search antenna (3) that generates a location search signal toward the reference reflector (2) along a horizontal plane parallel to the scan plane and receives a reference reflection signal reflected by the reference reflector (2).

[0018] Scanner (1) is a device that transmits scan signals, such as ultrasonic waves and electromagnetic waves, into the interior of a concrete structure, receives internal reflection signals reflected from within the concrete structure, and then analyzes the internal reflection signals to acquire a scanned image. Since the scanner (1) itself is a known device, detailed descriptions regarding the specific configuration of the scanner (1), the specific configuration of the scanner (1) transmitting scan signals to the concrete structure and receiving internal reflection signals, and the specific configuration of analyzing internal reflection signals to acquire an image are omitted in this specification. In this specification, the series of processes consisting of such scan signal transmission and internal reflection signal reception is simply described as "scanning."

[0019] The scan position calculation module performs the function of determining the current scan position of the scanner (1) in real time (the x-coordinate, y-coordinate of the scanner on the scan surface, and the angle at which the horizontal line passing through the center of the scanner is tilted) by determining the position and direction at which the position search antenna (3) is separated from the reference reflector (2) on a plane parallel to the scan surface based on the reference reflection signal received from the position search antenna (3). This scan position calculation module may be made of software and mounted on the scanner (1) in terms of mechanism, or it may be provided separately from the scanner (1) and mounted on calculation hardware connected to the scanner (1) via wired or wireless connection.

[0020] In the concrete scanning device (100) of the present invention, the scanner (1) is equipped with a position-finding antenna (3) that generates a position-finding signal along a horizontal plane parallel to the scanning plane and receives a reference reflection signal reflected by a reference reflector (2). Originally, the scanner (1) is equipped with a scanning antenna that sends a scanning signal for scanning rebar, voids, etc., vertically toward the scanning plane toward the interior of the concrete structure and receives an internal reflection signal reflected from within the concrete structure. The position-finding antenna may be made of a separate component from this scanning antenna and provided on the scanner (1). Of course, if necessary, the position-finding antenna (3) may not be provided separately, and the scanning antenna originally provided on the scanner (1) may function as the position-finding antenna (3).

[0021] The reference reflector (2) reflects the location search signal transmitted from the location search antenna and is installed so as to be detachably attached to the scan surface of a concrete structure. The location where the reference reflector (2) is installed becomes a reference location where the current location of the scanner (1) can be determined in real time. In the present invention, the reference reflector (2) can be installed on the scan surface with various configurations, and the arrangement of the location search antenna (3) can vary accordingly. Below, various forms of the reference reflector (2) of the present invention and embodiments of the location search antenna (3) with different arrangements are described.

[0022] 1) First embodiment

[0023] FIG. 1 shows a schematic perspective view showing a first embodiment of a concrete scanning device (100) according to the present invention installed on the scanning surface of a concrete structure (200), and FIG. 2 shows a schematic front view of the state shown in FIG. 1.

[0024] In the first embodiment of the concrete scanning device (100) according to the present invention, the reference reflector (2) is formed in the shape of a bent bar in which two bar members (a first bar member and a second bar member) are arranged at a predetermined angle to each other and fixedly installed in a detachable manner on the scanning surface of a concrete structure (200). The first bar member (2a) and the second bar member (2b) forming the bent bar have their ends joined together so as to be orthogonal to each other. When the ends of the first bar member (2a) and the second bar member (2b) are joined in a hinge manner, the reference reflector (2) can be folded into a straight shape when storing or handling, thereby increasing convenience.

[0025] In this manner, when a reference reflector (2) in the form of a bent bar composed of first and second bar members (2a, 2b) is provided, the scanner (1) is provided with two location search antennas that transmit a location search signal toward each of the first bar member (2a) and the second bar member (2b) and receive a reference reflection signal that is reflected back. As shown in FIGS. 1 and 2, the scanner (1) is provided with two location search antennas (3a, 3b), a first location search antenna (3a) that transmits a location search signal toward the first bar member (2a) and receives a reference reflection signal therefrom, and a second location search antenna (3b) that transmits a location search signal toward the second bar member (2b) and receives a reference reflection signal therefrom.

[0026] As the scanner (1) moves along the scan surface of the concrete structure and scans the concrete structure (200), the first and second position search antennas (3a, 3b) each transmit a position search signal toward the first bar member (2a) and the second bar member (2b), respectively. The position search signal is reflected from each of the first and second bar members (2a, 2b), and the reflected signal, i.e., the reference reflection signal, is received by the first and second position search antennas (3a, 3b), respectively. That is, the reference reflection signal from the first bar member (2a) is received by the first position search antenna (3a), and the reference reflection signal from the second bar member (2b) is received by the second position search antenna (3b).

[0027] By using the signals transmitted and received from each of the first and second position-finding antennas (3a, 3b) in this way, it becomes possible to determine how far and in what direction the first and second position-finding antennas (3a, 3b) are located from each of the first and second bar members (2a, 2b), and thus, the current scan position of the scanner (1) can be accurately determined in real time. The calculation of determining the current scan position of the scanner (1) using the signals transmitted and received from each of the first and second position-finding antennas (3a, 3b) is performed by a scan position calculation module, and the specific process thereof will be described later.

[0028] As mentioned above, the first and second position-finding antennas (3a, 3b) may be provided separately from the scan antennas for sending scan signals for scanning rebar, voids, etc., toward the interior of the concrete structure and receiving internal reflection signals reflected from the interior of the concrete structure, but the first and second position-finding antennas (3a, 3b) may also serve as scan antennas for scanning the interior of the concrete structure. That is, scan signals for scanning rebar, voids, etc., may be transmitted from the first and second position-finding antennas (3a, 3b) toward the interior of the concrete structure, and the reflected scan signals may be received by the first and second position-finding antennas (3a, 3b).

[0029] And the transmission of the above-mentioned location search signal, the reception of the reference reflection signal, and the identification of the real-time current scan position of the scanner (1) using the same are carried out simultaneously in a state synchronized with the "scan of the concrete structure," which is the transmission of the scan signal to the interior of the concrete structure and the reception of the internal reflection signal from the concrete structure.

[0030] 2) Second embodiment

[0031] FIG. 3 shows a schematic perspective view showing a second embodiment of a concrete scanning device (100) according to the present invention installed on the scanning surface of a concrete structure (200), and FIG. 4 shows a schematic front view of the state shown in FIG. 3.

[0032] In the second embodiment of the concrete scanning device (100) according to the present invention, the reference reflector (2) is composed of four protruding members that are fixedly installed in a detachable manner on the scanning surface of the concrete structure (200). In the second embodiment, the four protruding members corresponding to the reference reflector (2) all have the same size and shape, and may have the shape of a cylinder or a polygonal column protruding to a predetermined height from the scanning surface. The four protruding members may also have a spherical shape protruding from the scanning surface, and FIG. 5 shows a schematic perspective view corresponding to FIG. 3 showing that the protruding members corresponding to the reference reflector (2) are made of spherical members, and FIG. 6 shows a schematic side cross-sectional view according to the arrow AA of FIG. 5. As illustrated in FIGS. 3 to 6, the four protruding members forming the reference reflector (2) are preferably positioned at the four corners of the rectangle when the scan surface is divided into a rectangle.

[0033] In this case, when a reference reflector (2) composed of four protruding members is provided, the scanner (1) may be equipped with four location-finding antennas (3) that transmit a location-finding signal and receive a reference reflection signal for each of the four protruding members. That is, the four location-finding antennas (3) may be installed in a direction that allows for the transmission and reception of location-finding signals and reference reflection signals toward each of the four protruding members corresponding to the reference reflector (2), and in this case, one location-finding antenna (3) transmits and receives signals only to one protruding member facing it.

[0034] Similar to the first embodiment described above, the user moves the scanner (1) along the scan surface to scan the concrete structure (200), and at the same time transmits a location search signal from each of the four location search antennas (3) to each of the four protruding members corresponding to reference reflectors, and receives the reference reflection signals reflected from each of the protruding members, thereby accurately determining the current scan position of the scanner (1) in real time based on this. That is, similar to the first embodiment, by using the reference reflection signals reflected from the four protruding members, it is possible to determine how far and in which direction the location search antenna (3) is located from each of the four protruding members, and through this, the current scan position of the scanner (1) is accurately determined in real time in a state synchronized with the scanning operation of the interior of the concrete structure. In this case as well, the location search antenna (3) may also serve as a scan antenna for scanning the interior of the concrete structure. The calculation of determining the current scan position of the scanner (1) using signals transmitted and received from the location search antenna (3) is performed by the scan position calculation module. Any details not described in detail regarding the second embodiment apply identically to the details regarding the first embodiment described above, and this applies to other embodiments described below as well.

[0035] 3) Third embodiment

[0036] In the case of the second embodiment described above, the four protruding members constituting the reference reflector (2) have the same size and shape. However, the sizes of these protruding members may differ from each other. In the third embodiment of the concrete scanning device (100) according to the present invention, the four protruding members that function as the reference reflector (2) and are fixedly installed in a detachable manner on the scanning surface of the concrete structure (200) each have different sizes. FIG. 7 shows a schematic perspective view showing the third embodiment of the concrete scanning device (100) according to the present invention installed on the scanning surface of the concrete structure (200), and FIG. 8 shows a schematic front view of the state shown in FIG. 7.

[0037] In the third embodiment of the present invention, similar to the second embodiment above, the reference reflector (2) is formed by four protruding members and is fixedly installed on the scan surface in a detachable manner. However, unlike the second embodiment, the four protruding members have the same shape, but they are not identical in size and each has a different size. Since these four protruding members have different sizes, the degree to which they reflect the position search signal is different. That is, the reference reflection signal generated from the four protruding members has different magnitudes and intensities. Similar to the second embodiment, in the third embodiment, the four protruding members forming the reference reflector (2) are positioned at the four corners of the rectangle when the scan surface is divided into a rectangle.

[0038] However, in the case of the third embodiment, it is sufficient to have only two location-finding antennas (3) installed on the scanner (1). One of the two location-finding antennas transmits and receives signals toward two protruding members located on one side, and the other one transmits and receives signals toward two protruding members located on the other side. For convenience of explanation, if the scanner in FIGS. 7 and FIGS. 8 is divided into two sides based on a vertical imaginary center line passing through the center point of the scanner, and the two protruding members located on one side are each named as the first side protruding members (2a-1, 2a-2) and the two protruding members located on the other side are each named as the second side protruding members (2b-1, 2b-2), then the scanner (1) is equipped with two position-finding antennas (3a, 3b), a first position-finding antenna (3a) responsible for the first side protruding members (2a-1, 2a-2) and a second position-finding antenna (3b) responsible for the second side protruding members (2b-1, 2b-2). In the configuration of this third embodiment, the first position search antenna (3a) transmits a position search signal to the first side protruding member (2a-1, 2a-2) and receives a reference reflection signal reflected therefrom, and the second position search antenna (3b) transmits a position search signal to the second side protruding member (2b-1, 2b-2) and receives a reference reflection signal reflected therefrom. That is, one position search antenna is responsible for two protruding members. Therefore, the third embodiment has the advantage of reducing the number of installed position search antennas compared to the second embodiment.

[0039] Using the third embodiment, performing a scanning operation on a concrete structure (200) while moving the scanner (1) along the scanning surface, and determining the scanning position in real time at that time is the same as in the second embodiment.

[0040] 4) Fourth embodiment

[0041] In the fourth embodiment according to the present invention, the four protruding members constituting the reference reflector (2) each have different shapes and different sizes. FIG. 9 shows a schematic perspective view showing the fourth embodiment of the concrete scanning device (100) according to the present invention installed on the scanning surface of a concrete structure (200), and FIG. 10 shows a schematic front view of the state shown in FIG. 9.

[0042] In the fourth embodiment of the present invention, similar to the second and third embodiments above, the reference reflector (2) is formed by four protruding members and is fixedly installed on the scan surface in a detachable manner; however, unlike the second and third embodiments, the four protruding members not only have different sizes but also different shapes. Since these four protruding members have different sizes and shapes, the degree to which they reflect the position search signal is different. That is, the reference reflection signal generated from the four protruding members has different sizes and intensities. Similar to the second and third embodiments, in the fourth embodiment, the four protruding members forming the reference reflector (2) are positioned at the four corners of the rectangle when the scan surface is divided into a rectangle.

[0043] And, just like in the third embodiment, it is sufficient to have only two position-finding antennas (3) in the fourth embodiment. When the scan surface is divided into two sides based on a virtual center line vertically, one of the two position-finding antennas transmits and receives signals toward two protruding members located on one side, and the other one transmits and receives signals toward two protruding members located on the other side. For convenience of explanation, in FIGS. 9 and 10, when the scan surface is divided into two sides based on a virtual center line vertically, two protruding members located on one side are each named as first-side protruding members (2a, 2b), and two protruding members located on the other side are each named as second-side protruding members (2c, 2d). In this case, two position-finding antennas (3a, 3b) are provided in the scanner (1), including a first position-finding antenna (3a) responsible for the first-side protruding members (2a, 2b) and a second position-finding antenna (3b) responsible for the second-side protruding members (2c, 2d). In this configuration, the first position search antenna (3a) transmits a position search signal to the first side protruding member (2a, 2b) and receives a reference reflection signal reflected therefrom, and the second position search antenna (3b) transmits a position search signal to the second side protruding member (2c, 2d) and receives a reference reflection signal reflected therefrom. That is, one position search antenna is responsible for two protruding members. Therefore, the fourth embodiment has the advantage of reducing the number of installed position search antennas to two, just as in the third embodiment. Using the fourth embodiment, performing a scanning operation on a concrete structure (200) while moving the scanner (1) along the scan surface, and determining the scan position in real time at that time, is the same as in the second and third embodiments.

[0044] As previously mentioned, the scan position calculation module performs the function of determining and specifying the current scan position of the scanner (1) in real time by determining the position and direction in which the location search antenna (3) is separated from the reference reflector (2) based on the reference reflection signal received from the location search antenna (3). FIG. 11 shows a schematic front view of a second embodiment to explain the basic mathematical principles for calculating the current scan position of the scanner (1) using the location search signal and the reference reflection signal in the scan position calculation module. To explain each symbol indicated in FIG. 11, P1, P2, P3, and P4 each represent four protruding members forming the reference reflector (2), and C0 (C zero) represents the center of the scanner (1). And A represents the angle at which the scanner (1) is tilted relative to the horizon, and C1, C2, C3, and C4 represent location-finding antennas that transmit a location-finding signal and receive a reference reflection signal for each of P1, P2, P3, and P4 corresponding to the reference reflector (2). R1, R2, R3, and R4 represent the straight-line distance between the location-finding antennas C1, C2, C3, and C4 and the reference reflectors P1, P2, P3, and P4, respectively.

[0045] The scan position and scan direction (the direction in which the scanner is tilted) of the scanner (1) can be expressed as the x and y coordinate positions for the scan position (x-axis position and y-axis position in the xy coordinate system) and the tilt angle A. Ultimately, determining the current scan position of the scanner (1) in real time means determining three unknown variables: the x and y coordinates of C0 corresponding to the center of the scanner (1), and the horizontal line passing through C0, which is the tilt angle A.

[0046] And the positions of the position-finding antennas C1, C2, C3, and C4 are already determined, so if the x and y coordinates of C0 and the angle A of inclination of the horizontal line passing through C0 are known, the positions of C1, C2, C3, and C4 can also be known. In other words, mathematically, the positions of C1, C2, C3, and C4 are a function of the x and y coordinates of C0 and the angle A of inclination of the horizontal line passing through C0.

[0047] The respective positions of location-finding antennas C1, C2, C3, and C4 are functions of the respective positions of reference reflectors P1, P2, P3, and P4, and the distances R1, R2, R3, and R4 between the location-finding antennas and the reference reflectors. In other words, the position of location-finding antenna C1 has a mathematical relationship with the position of reference reflector P1 and the distance R1, and the other location-finding antennas C2, C3, and C4 and reference reflectors P2, P3, and P4 each have the same mathematical relationship. However, the positions of reference reflectors P1, P2, P3, and P4 are already fixed and known values. Furthermore, by using the location-finding signal and the reference reflection signal, the straight-line distance R1 between location-finding antenna C1 and reference reflector P1 can be calculated. Since the speed of the transmitted location search signal is a known value, the straight-line distance R1 can be calculated by utilizing the time at which the location search signal is transmitted from location search antenna C1 and the time at which the reference reflection signal reflected from reference reflector P1 is received. In this way, the location search signal and the reference reflection signal are measured and used to calculate the straight-line distances R2, R3, and R4 between location search antennas P2, P3, and P4 and reference reflectors P2, P3, and P4.

[0048] Since the positions of reference reflectors P1, P2, P3, and P4 are known values, and the straight-line distances R1, R2, R3, and R4 from each reference reflector to the position-finding antenna are calculated by measurement, a mathematical function capable of calculating the respective positions of position-finding antennas C1, C2, C3, and C4 can be established. That is, a function capable of deriving the position of position-finding antenna C1 is established in a form that includes the known position of reference reflector P1 and the straight-line distance R1 calculated by measurement, and mathematical functions are established in the same manner for each of the other position-finding antennas C2, C3, and C4. However, as explained earlier, mathematically, the positions of C1, C2, C3, and C4 are functions of the x and y coordinates of C0 and the angle A of inclination of the horizontal line passing through C0; therefore, the mathematical function capable of calculating the positions of each of the position-finding antennas C1, C2, C3, and C4 can be expressed as a function that calculates the x and y coordinates of C0 and the angle A of inclination of the horizontal line passing through C0. That is, the function capable of deriving the position of the position-finding antenna C1 is set in a form that includes <the position of reference reflector P1, which is a known value> and <the value of straight-line distance R1 calculated by measurement>. Mathematically, since the position of C1 is a function of the x-coordinates and y-coordinates of C0 and the angle A of inclination of the horizontal line passing through C0, the function for calculating the x-coordinates and y-coordinates of C0 and the angle A of inclination of the horizontal line passing through C0 is ultimately set in a form that includes <the position of reference reflector P1, which is a known value> and <the value of straight-line distance R1 calculated by measurement>.

[0049] And since the same relationship holds for each of the position-finding antennas C2, C3, and C4, another function for calculating the x-coordinates and y-coordinates of C0 and the angle A of inclination of the horizontal line passing through C0 is set in a form that includes the known value of the position of reference reflector P2 and the value of the straight-line distance R2 calculated by measurement, the known value of the position of reference reflector P3 and the value of the straight-line distance R3 calculated by measurement, and the known value of reference reflector P4 and the value of the straight-line distance R4 calculated by measurement, respectively. That is, the function for calculating the x-coordinates and y-coordinates of C0 and the angle A of inclination of the horizontal line passing through C0 is ultimately derived into four functions: a first function that includes the position of P1 and the value of R1, a second function that includes the position of P2 and the value of R2, a third function that includes the position of P3 and the value of R3, and a fourth function that includes the position of P4 and the value of R4.

[0050] Mathematically, there are three unknowns: the x-coordinate of C0, the y-coordinate of C0, and the angle A of inclination of the horizontal line passing through C0. Since there are four functions to calculate this, the x-coordinate of C0, the y-coordinate of C0, and the angle A of inclination of the horizontal line passing through C0 are calculated through mathematical operations on the functions.

[0051] In the scan position calculation module, the scan position of the scanner (1), that is, the x-coordinate of C0 corresponding to the center point of the scanner (1), the y-coordinate of C0, and the angle A of inclination of the horizontal line passing through C0 are calculated using the mathematical principles as described above. First, the straight distances R1, R2, R3, and R4 between the location search antennas C1, C2, C3, and C4 and the reference reflectors P1, P2, P3, and P4 are calculated respectively using the time at which the location search signal is transmitted from each of the location search antennas C1, C2, C3, and C4, the time at which the reference reflection signal reflected from each of the reference reflectors P1, P2, P3, and P4 is received, and the known location search signal speed are calculated (step S1).

[0052] Then, the scan position calculation module uses known position data for each reference reflector and a known mathematical relationship between each position search antenna and C0 corresponding to the center point of the scanner (1) to set four functions, the first, second, third, and fourth functions, each including the positions of reference reflectors P1, P2, P3, and P4 and straight distances R1, R2, R3, and R4, respectively, for the x-coordinate of C0 corresponding to the center point of the scanner (1), the y-coordinate of C0, and the angle A of inclination of the horizontal line passing through C0 (step S2). Finally, the scan position calculation module calculates the first, second, third, and fourth functions to calculate the x-coordinate of C0 corresponding to the center point of the scanner (1), the y-coordinate of C0, and the angle A of inclination of the horizontal line passing through C0 (step S3).

[0053] In the case of the concrete scanning device (100) according to the present invention including the first to fourth embodiments described above, since the reference reflector (2) is installed on the scanning surface of the concrete structure in a simple detachable manner, there is an advantage in that the reference reflector can be easily installed to perform scanning work and accurately determine the scanning position even when the scanning surface is located at a high altitude or is an inclined or vertical surface.

[0054] In addition, according to the present invention, since the current scan position of the scanner (1) can be accurately determined in real time without installing a mechanical frame on the scan surface, the inconvenience or difficulty of the work caused by the installation of a mechanical frame can be avoided, and the cost is also reduced, so the advantage of being able to perform scanning work on concrete structures very economically is achieved. Explanation of the symbols

[0055] 1: Scanner 2: Reference reflector 3: Location Antenna

Claims

Claim 1 A scanner (1) for scanning a concrete structure; a reference reflector (2) that is detachably installed on the scan surface of the concrete structure and reflects a location search signal; a location search antenna (3) that generates a location search signal toward the reference reflector (2) along a horizontal plane parallel to the scan plane and receives a reference reflection signal reflected by the reference reflector (2); and a scan position calculation module that, when the scanner (1) scans the concrete structure while moving along the scan surface of the concrete structure, when the location search antenna (3) receives the reference reflection signal reflected after the location search signal is transmitted from the location search antenna (3) to the reference reflector (2), the location search antenna (3) identifies the position and direction separated from the reference reflector (2) based on the received reference reflection signal, thereby identifying and determining the current scan position of the scanner (1) in real time. The reference reflector (2) is composed of four protruding members that are fixedly installed in a detachable manner at the four corners of a rectangle when the scan surface of the concrete structure (200) is divided into a rectangle, and the four protruding members forming the reference reflector (2) are made of a cylindrical or polygonal prism-shaped member protruding from the scan surface or a spherical-shaped member protruding from the scan surface, wherein the four protruding members forming the reference reflector (2) are of different sizes; A concrete scanning device characterized by the fact that when the scan surface of a concrete structure is divided into one side and the other side based on a vertical imaginary center line passing through the center point of the scanner (1), the four protruding members are divided into two first-side protruding members located on one side and two second-side protruding members located on the other side, and the position search antenna (3) is provided with two, a first position search antenna (3a) and a second position search antenna (3b), wherein the first position search antenna (3a) transmits a position search signal to the first-side protruding members and receives a reference reflection signal reflected therefrom, and the second position search antenna (3b) transmits a position search signal to the second-side protruding members and receives a reference reflection signal reflected therefrom. Claim 2 A concrete scanning device according to claim 1, characterized in that the four protruding members are composed of protruding members (2a-1, 2a-2, 2b-1, 2b-2) that differ in size but have the same shape. Claim 3 A concrete scanning device according to claim 1, characterized in that the four protruding members are composed of protruding members (2a, 2b, 2c, 2d) that differ in both size and shape. Claim 4 In paragraph 2 or 3, the scan position calculation module calculates the straight-line distances R1, R2, R3, and R4 between the position search antennas C1, C2, C3, and C4 and the four protruding members, respectively, using the time at which a position search signal is transmitted from each of the four position search antennas C1, C2, C3, and C4, the time at which a reference reflection signal reflected from each of the four protruding members forming the reference reflector is received, and a known position search signal velocity; A concrete scanning device characterized by determining the current scanning position of the scanner (1) by using known position data for each of the four protruding members forming a reference reflector and a known mathematical relationship between each position search antenna and a position C0 corresponding to the center point of the scanner (1), setting four functions of the first, second, third, and fourth functions, each including the position of each of the four protruding members and straight distances R1, R2, R3, and R4, respectively, for the x-coordinate of the position C0 corresponding to the center point of the scanner (1), the y-coordinate of the position C0, and the angle A of inclination of the horizontal line passing through the position C0; and calculating the x-coordinate of the position C0 corresponding to the center point of the scanner (1), the y-coordinate of the position C0, and the angle A of inclination of the horizontal line passing through the position C0 by operating the first, second, third, and fourth functions to determine the current scanning position of the scanner (1).

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