EP3028006B1 - Système permettant l'acquisition d'une image d'un front d'attaque - Google Patents

Système permettant l'acquisition d'une image d'un front d'attaque Download PDF

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Publication number
EP3028006B1
EP3028006B1 EP14744032.5A EP14744032A EP3028006B1 EP 3028006 B1 EP3028006 B1 EP 3028006B1 EP 14744032 A EP14744032 A EP 14744032A EP 3028006 B1 EP3028006 B1 EP 3028006B1
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EP
European Patent Office
Prior art keywords
image
sections
working face
drill head
image data
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EP14744032.5A
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German (de)
English (en)
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EP3028006A2 (fr
Inventor
Robert Galler
Robert WENIGHOFER
Martin Entacher
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Montanuniversitaet Leoben
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Montanuniversitaet Leoben
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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B47/00—Survey of boreholes or wells
    • E21B47/002—Survey of boreholes or wells by visual inspection
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21B—EARTH OR ROCK DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
    • E21B44/00—Automatic control systems specially adapted for drilling operations, i.e. self-operating systems which function to carry out or modify a drilling operation without intervention of a human operator, e.g. computer-controlled drilling systems; Systems specially adapted for monitoring a plurality of drilling variables or conditions
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21C—MINING OR QUARRYING
    • E21C39/00—Devices for testing in situ the hardness or other properties of minerals, e.g. for giving information as to the selection of suitable mining tools
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries

Definitions

  • the invention relates to an arrangement for determining an image of at least a region of a mountain face worked by a tunnel boring machine, a tunnel boring machine and a method for determining an image of at least a region of a mountain face processed by a tunnel boring machine.
  • a tunnel boring machine is a machine that is used to build tunnels.
  • Components of a tunnel boring machine are a dismantling plate with feed and tensioning devices, devices for the installation of support and removal measures, devices for material removal, a supply unit (electricity, compressed air, ventilation, water), and transport devices for excavated material, support materials and removal materials.
  • a drilling head on the front of a tunnel boring machine is equipped with removal tools for loosening a rock.
  • geological documentation of the face is essential in tunnel construction. Such documentation is only possible to a very limited extent in mechanical drives, as in the case of a tunnel boring machine, because the boring head of the tunnel boring machine is mechanically in the way and visual assessments are therefore only possible to a very limited extent.
  • geologists and geotechnicians look through small openings at the face and create photos and / or sketches. In some cases, the drill head is pulled back a little so that larger parts of the face can be photographed, but from extremely unfavorable angles. Withdrawing the drill head also involves a great deal of effort.
  • JP H11-36785 A discloses a photographic processing system for a drilling image of a tunnel boring machine.
  • a drill head of a tunnel boring machine has slot-shaped openings.
  • Cameras are attached to the drill head. These cameras rotate with the drill head to scan the local burst. This results in a continuous circular image of the working face. Furthermore, this data is processed by means of an analysis computer so that the images can be post-processed.
  • an arrangement for determining an image of at least a region of a working face machined by a tunnel boring machine ie that boundary surface of a rock that lies opposite this in the direction of advance of a tunnel boring machine and on which a propulsion effected by the tunnel boring machine takes place or has taken place
  • the arrangement comprising a rotatable or rotatable drill head for the tunnel boring machine for removing rock material from the face, an image recording device which is attached to the drill head for recording image data of at least a portion of the face, and an image processing device which (in particular during the rotation of the drill head) processed image data of several sections of the working face by means of the image recording device and reconstructed therefrom a coherent image of at least the area of the working face b between.
  • the image recording device has a plurality of image recording units, in particular video cameras and / or photo cameras, attached to the drilling head, which are designed to record image data from sections of the working face.
  • the plurality of image recording units are attached to the drilling head in such a way that the sections of the working face imaged by these image recording units at least partially overlap, forming overlapping sections.
  • the image recording units are set up to record the sections when the drill head is rotated.
  • the image processing device is for processing the image data of the at least overlapping overlapping sections in this way set up that a three-dimensional relief image of at least a part of the overlapping overlap sections is reconstructed as the image using an assignment of the overlapping overlap sections, whereby by means of a contrast analysis of the overlap sections corresponding partial sections of the working face on the different sections are determined and assigned to one another.
  • an arrangement for determining an image of at least a region of a working face machined by a tunnel boring machine ie that boundary surface of a rock that lies opposite this in the direction of advance of a tunnel boring machine and on which a propulsion effected by the tunnel boring machine takes place or has taken place ) of a mountain range
  • the arrangement comprising a rotatable or rotatable drilling head for the tunnel boring machine for removing rock material from the face, an image recording device which is attached to the drilling head for recording image data of at least a section of the working face, and an image processing device which ( in particular during the rotation of the drill head) processed image data of several sections of the working face recorded by means of the image recording device, and reconstructed therefrom a coherent image of at least the area of the working face uiert or generated.
  • the image recording device has only one image recording unit attached to the drilling head, in particular a video camera or a photo camera, which is designed to record image data from sections of the working face.
  • the image recording unit is attached to the drill head in such a way that the sections of the working face imaged by this image recording unit overlap at least partially, forming overlapping sections, the image recording unit being set up to record the sections when the drill head is rotated.
  • the image processing device is set up to process the image data of the at least overlapping overlap sections such that the image is a three-dimensional relief image of at least one Part of the overlapping overlapping sections is reconstructed using an assignment of the overlapping overlapping sections, wherein by means of a contrast analysis of the overlapping sections, corresponding partial sections of the working face on the different sections are determined and assigned to one another.
  • a tunnel boring machine is also provided for removing rock material from a face of a mountain, the tunnel boring machine having an arrangement with the features described above.
  • a method for determining an image of at least a region of a face of a mountain range processed by a tunnel boring machine is also provided, with the method rotating a drilling head of a tunnel boring machine for removing rock material of the face, image data of a respective section of the face using a image recording device attached to the drill head are recorded (in particular while the drill head is rotating, the drill head preferably not being advanced during the recording, that is to say the recording is not carried out during the drilling operation), and those recorded (in particular during the rotation of the drill head) by means of the image recording device
  • Image data from several sections of the working face are processed, whereby an image of at least the area of the working face is reconstructed or generated.
  • the image recording device has a plurality of image recording units, in particular video cameras and / or photo cameras, attached to the drilling head, which are designed to record image data from sections of the working face.
  • the plurality of image recording units are attached to the drilling head in such a way that the sections of the working face imaged by these image recording units at least partially overlap, forming overlapping sections.
  • the image recording units are set up to record the sections when the drill head is rotated.
  • the image processing device is for processing the image data of the at least overlapping overlapping sections in this way set up that a three-dimensional relief image of at least a part of the overlapping overlap sections is reconstructed as the image using an assignment of the overlapping overlap sections, whereby by means of a contrast analysis of the overlap sections corresponding partial sections of the working face on the different sections are determined and assigned to one another.
  • a method for determining an image of at least a region of a face of a mountain range processed by a tunnel boring machine is also provided, with the method rotating a drilling head of a tunnel boring machine for removing rock material of the face, image data of a respective section of the face using a image recording device attached to the drill head are recorded (in particular while the drill head is rotating, the drill head preferably not being advanced during the recording, that is to say the recording is not carried out during the drilling operation), and those recorded (in particular during the rotation of the drill head) by means of the image recording device
  • Image data from several sections of the working face are processed, whereby an image of at least the area of the working face is reconstructed or generated.
  • the image recording device has only one image recording unit attached to the drill head, in particular a video camera or a photo camera, which is designed to record image data from sections of the working face.
  • the image recording unit is attached to the drill head in such a way that the sections of the working face imaged by this image recording unit overlap at least partially, forming overlapping sections, the image recording unit being set up to record the sections when the drill head is rotated.
  • the image processing device is set up to process the image data of the at least overlapping overlapping sections in such a way that a three-dimensional relief image of at least part of the overlapping overlapping sections is reconstructed as the image using an assignment of the overlapping overlapping sections, corresponding by means of a contrast analysis of the overlap sections Sections of the working face are determined on the different sections and assigned to each other.
  • automated photographic and / or video-based face-to-face documentation takes place during tunnel boring machine driving.
  • complete images or circular rings of the working face are generated.
  • a camera or another image recording device is mounted on a drill head, for example placed in openings in the drill head, and image data (for example a video or images in rapid sequence) are recorded, preferably while the drill head is rotating.
  • image data for example a video or images in rapid sequence
  • the individual image data (for example video frames or photos) are then combined to form an overall image using methods of digital image processing in particular.
  • the quality of the images produced has proven to be very good, so that they can meet the high quality requirements for geological documentation.
  • the image data (and, if appropriate, their evaluation) can be recorded in maintenance shifts or during brief interruptions in the drilling operation. This does not result in long interruptions in drilling operations.
  • image data of different spatial sections of the working face can be recorded by one or more image recording units of the image recording device, specifically at a specific angular position or at several different angular positions of the drill head.
  • the drill head is at rest during the acquisition of the image data and, for example, several image acquisition units at different positions of the drill head take up image data from different sections of the working face when the drill head is at rest.
  • the drill head can rotate during the acquisition of the image data, so that one and the same image acquisition unit records image data of different local sections of the working face at different times during the rotation and thus at different angular positions of the drill head.
  • the drilling head can have at least one opening, in particular a through opening (between an end of the drilling head on the side of the tunnel boring machine and an end of the drilling head on the side of the face).
  • the image recording device can be attached to the drill head for recording the image data through the through opening.
  • the image recording device in the opening or openings can be protected against the harsh mechanical conditions in one to boring tunnel are protected.
  • integrating the image recording device into openings in the drill head means that the drill head is not mechanically in the way of recording image data of the working face.
  • the at least one opening can be selected from a group consisting of a manhole, a recess for a removal tool, a clearing slot and a recess specially configured for receiving the image recording device.
  • a manhole is understood to be an entry through the drill head in which people rarely have to stay, for example for repair or maintenance purposes. Round, oval or rectangular cross-sections with a clear width of, for example, 400 mm to 600 mm are possible, so that an average person can climb through it without great difficulty.
  • An image recording unit can be mounted in such a manhole (for example, removable) and can be used to receive the image recording unit when the manhole is not otherwise required.
  • Rotating discs with cutting edges can be used as removal tools, which themselves are set in rotation when the drill head is turned and can then remove material from the working face.
  • Such removal tools can be mounted in the recesses provided for this purpose with holders on the drill head.
  • an image recording unit can also be recorded in such a recess, temporarily or permanently.
  • a conveying system of a tunnel boring machine for conveying away excavated material contains clearing slots arranged in the drilling head, through which, using clearers, the loosened drilling material arrives from the face behind the drilling head and is then transported, for example, via conveyor belts.
  • Such clearing slots can also be used to at least partially accommodate the image recording device.
  • special can also separate openings provided for this purpose are formed in the drill head.
  • the at least one recess can be designed to at least partially record the image recording device. If all or part of the image recording device is accommodated in the receiving opening, it can be protected against undesired influences from the harsh environment during the drilling of a tunnel boring machine in a borehole in a damage-proof manner.
  • the image recording device can be selected from a group consisting of at least one video camera for recording video data from at least a section of the working face, and from at least one photo camera for taking photos of at least a section of the working face.
  • a video camera With a video camera, a continuous video recording of sections of the working face while the drill head is rotating can be recorded. As a result, a broad database is available for reconstructing the face image.
  • a photo camera several individual images of sections of the working face can be taken while the drill head is rotating. The recording of several individual images allows the amount of data to be transmitted to be reduced.
  • the image recording device can have a plurality of image recording units, each of which is attached for recording image data of a respective section of the working face.
  • the individual image acquisition units can be video and / or photo cameras, which can be mounted on different radii of the drill head, so that during the rotation of the drill head, each of the image acquisition units can, for example, record an annular section of the working face. Assembling the ring images into a circular image of the working face is then possible if the mounting positions of the individual image recording units are known.
  • the image recording device can be set up to record image data of the working face during a predetermined angular rotation of the drilling head (in particular during a complete rotation of the drilling head) and to provide the image processing device with this image data for reconstructing the image of at least the area of the working face. For example, after rotating the drill head by 180 °, by 360 ° (or by more than 360 ° if redundancy is required to further reduce errors), the image acquisition can be temporarily stopped and a corresponding data record of image data to the image processing unit for the reconstruction of the person of interest Area of the working face to be transmitted.
  • the image recording device can have a plurality of image recording units, in particular video cameras and / or photo cameras, attached to the drilling head, which are designed for the simultaneous recording of different image data from different sections of the working face. If several image acquisition units are used, an area of the face that is in principle unlimited in size can be represented in the form of an image even with small distances between a front of the drilling head and the working face.
  • the image recording device together with the image processing device, assembles the individual partial images corresponding to the sections of the working face recorded by the individual image recording units to form an overall image corresponding to the area of the working face of interest.
  • the plurality of image recording units can be attached to the drill head in such a way that the different sections of the working face imaged by these image recording units at least partially overlap with one another.
  • the overlapping areas allow the image processing device to correctly assemble the individual images into an overall image.
  • the provision of Overlapping areas to compensate for differences in brightness between individual partial images, as can be caused, for example, by differently illuminating different sections of the working face. Color artifacts such as discontinuous color changes at a seam between two image sections on the composite image can thereby be avoided or at least suppressed.
  • the image processing device can be set up to reconstruct a circular ring or a circular area as the area of the working face.
  • a single image acquisition unit for example a single video camera or photo camera
  • a coherent circular ring can be visually displayed as the imaged area of the working face when the drill head is rotated.
  • Such a circular ring can already be sufficiently meaningful for the geological documentation of the working face.
  • several photo and / or video cameras can also record individual, preferably overlapping, circular rings, which can then be assembled by the image processing device to form a complete circular area.
  • the arrangement can have a light source or light source attached to the drill head for illuminating the section of the working face imaged by the image recording device. Since it is dark in a borehole, it can be advantageous to illuminate sections of the working face to be recorded in order to obtain a meaningful picture of the working face.
  • a photo camera with a flash source can be used. If the light source and the associated image recording unit or image recording device are rigidly coupled to one another, the lighting expenditure can be kept very low, since when the drilling head rotates, the light source rotates with the image recording device or image recording unit and thereby automatically and selectively always illuminates the just recorded surface section of the working face ,
  • the arrangement can have a mounting bracket set up for receiving the image recording device, and in particular the light source, and for mounting on the drill head.
  • a mounting bracket can clearly create a mechanical adapter between an arbitrarily shaped image recording unit or image recording device on the one hand and an already available or specially designed recess as a receiving space in the drill head.
  • the arrangement can have an inclination sensor which is set up to detect a current inclination angle (in particular the image recording device or one or more specific image recording units thereof) and can be attached, for example, to the mounting bracket or alternatively directly to the image recording device or a respective image recording unit can.
  • the inclination sensor can thus detect a positioning of the mounting bracket (and thus also the image recording unit recorded by it) or directly of the image recording device itself and report it to the image processing device.
  • Such inclination information provides additional insights into the manner in which an image of an area of the working face is to be interpreted, evaluated or processed.
  • the inclination sensor and the image processing device can be coupled in such a way that the image processing device processes the image data assigned to the sections to reconstruct the image, taking into account the inclination angle detected by the inclination sensor. This avoids artifacts that result from incorrect evaluation of image data if the image recording device assumes an incorrect current orientation of the image recording device or the image recording units relative to the working face.
  • the mounting bracket can be set up for clamping fastening and / or for magnetic fastening to the drilling head.
  • These mounting methods enable the image recording device to be mounted or removed quickly on or from the drill head.
  • these mounting methods allow the image recording device to be reliably attached to the drill head even under the mechanical loads that occur as a result of the rotation of the drill head and the removal of material by the drill head during operation of the tunnel boring machine.
  • the image recording device is also used during the actual drilling operation, i.e. During the removal of material from the rock on which the drill head remains mounted, mechanical loads of this type can act on the image recording device, which, however, can be mounted in a protected manner on the drill head by means of the mounting bracket.
  • the processing can preferably be carried out by means of an image processing device on the tunnel boring machine or at a post-processing location that is spatially distant from the tunnel boring machine.
  • the tunnel boring machine in particular inside the borehole, i.e. at the site of the tunnel drilling, the post-processing is carried out.
  • the images can be evaluated at a postprocessing point, for example in an office.
  • the processing of the image data can be carried out in such a way that a three-dimensional relief image of at least the area of the working face is reconstructed as the image.
  • the image processing device can be set up to process the image data in such a way that the image reconstructs a three-dimensional relief image of at least the area of the working face becomes.
  • the image recording device can be set up to record sufficient image information for the reconstruction of relief images.
  • the image evaluation device can be set up accordingly to derive the relief image from such image data. A geologist can then derive further technical information from the spatial information of a relief.
  • parameters for example position and orientation information, properties of the image recording unit (s) of the image recording device configured as a stereo system (for example several image recording units for in particular, simultaneous recording of several images or a single image recording unit which rotates when the drill head is rotated and takes pictures to be linked to one another in time).
  • the image processing device can be set up to process image data of different sections of the working face in such a way that by means of a contrast analysis (ie determining contrast information for image data of the sections and a comparison of the contrast information intended for different image data, in order to find mutually corresponding areas of the working face on different areas , but to identify partially overlapping sections, for example), corresponding subsections of the working face are determined on the different sections and assigned to one another.
  • a contrast analysis ie determining contrast information for image data of the sections and a comparison of the contrast information intended for different image data, in order to find mutually corresponding areas of the working face on different areas , but to identify partially overlapping sections, for example
  • corresponding subsections of the working face are determined on the different sections and assigned to one another.
  • a sequence of light and dark areas can be examined in image data assigned to a respective section and areas of the same or corresponding contrasts or contrast ratios can be assigned to identical areas of the working face in overlapping sections.
  • spatial image information can be derived from individual images
  • the image recording device can have a plurality of image recording units (for example a plurality of cameras) which are designed to record image data from sections of the working face which at least overlap, in particular identical, at different times.
  • the image processing device can be set up to process the image data of the sections which at least overlap at any time in such a way that a three-dimensional relief image of at least part of the overlapping sections is reconstructed as the image.
  • a plurality of image recording units (for example a plurality of cameras at different positions of the drill head) record images of different sections of the working face, in particular simultaneously assigned to their respective positions and orientations.
  • the image recording units are arranged in such a way that the spatial areas you have recorded contain a common sub-volume, the individual images, which also correspond to different viewing directions, can be assembled or pieced together to obtain three-dimensional information.
  • the overlap areas recorded from different directions contain mutually complementary steric information.
  • the image recording device can have one, in particular only one, image recording unit, which is designed during the rotation of the drilling head for the temporally successive recording of image data of at least overlapping sections of the working face.
  • the image processing device can be set up to process the image data of the at least overlapping sections such that a three-dimensional relief image of at least part of the overlapping sections is reconstructed as the image.
  • a single image recording unit can be sufficient to create a compact arrangement (alternatively, several image recording units are also possible according to the configuration described).
  • Such an image recording unit can be due to rotate their fixed assembly on the drill head with the drill head so that it continuously scans different surface areas of the working face in terms of imaging technology.
  • immediately successive recorded images can contain an overlapping area of the working face, which in turn enables the acquisition of three-dimensional image information and a correct composition of the individual images.
  • the image recording device can have one, in particular only one, image recording unit, which is designed during the rotation of the drilling head for the temporally successive recording of image data of sections of the working face.
  • the arrangement may further comprise a pattern generation device for generating a respective pattern of electromagnetic radiation (for example visible light, ultraviolet, infrared, etc.) on at least part of the sections during the acquisition of the image data.
  • the image processing device can be set up to process the image data of the sections using the pattern or patterns as association information in such a way that a three-dimensional relief image of at least part of the sections is reconstructed as the image.
  • the patterns of electromagnetic radiation imprinted on the individual images can thus enable or facilitate the assignment of the individual images to one another. In order to distinguish visible patterns from site-face image information, a picture with and once a picture without pattern generation can be taken.
  • the pattern generating device can be used to generate the pattern in a wavelength range outside visible light (for example in the infrared range, in the ultraviolet range, etc.) or in a wavelength range outside a sensitivity range of the image recording unit (s).
  • the arrangement can furthermore have a sensor device for detecting the pattern in the wavelength range outside visible light.
  • the pattern cannot be seen on the images of the image recording device, which can be recorded, for example, in the optically visible area, and thus does not interfere with the artifact-free generation of image information.
  • a sensor device that is sensitive in the wavelength range outside of visible light (for example, an infrared camera if the patterns are generated in the IR range), on the other hand, can detect the patterns so that they can be included in the evaluation.
  • the use of profile scanners is also possible here. If the relative orientation between the sensor device, the pattern generation device and the image recording device is known, the patterns which are assigned to the individual images can be used to correctly assemble the images by deriving three-dimensional image information.
  • the pattern generation device can be set up to generate a pattern that can be detected by the image recording device, in particular laser illumination, and can be positioned relative to the image recording device in a previously known manner.
  • the image processing device can be set up to process the image data of the sections using the patterns and the known positioning as association information in such a way that a three-dimensional relief image of at least part of the sections is reconstructed as the image.
  • the generated patterns it is therefore possible for the generated patterns to lie in the visible range or in a wavelength range detectable by the image recording device, in particular by means of a laser.
  • the pattern information can in turn be used to generate a three-dimensional relief of the working face in order to connect the individual images accordingly and / or to obtain 3D information.
  • a (particularly rectilinear) laser line can be used as a pattern, which is then converted from a non-planar surface of the working face into a laser line that can be perceived in a modified manner (in particular non-rectilinear).
  • the arrangement can have a transit time measuring device for electromagnetic radiation.
  • the image processing device can be set up to process the image data of the sections using the runtime information such that a three-dimensional relief image of at least part of the sections is reconstructed as the image.
  • the radiation is used (e.g. by time-of-flight measurement methods) to determine the distance or distance differences of the source from the part of the face in question and, consequently, to obtain 3D information.
  • the arrangement can also have a device for acoustic transit time measurement (for example an echo sounder).
  • a device for acoustic transit time measurement for example an echo sounder.
  • Figure 1 shows essential parts of a tunnel boring machine 180 with an arrangement 120 for determining an image of a region of a face face 122 of a rock 102 processed by the tunnel boring machine 180 according to an exemplary embodiment of the invention.
  • the tunnel boring machine 180 is in a position for dismantling the rock 102 in which a borehole 182 has already been drilled into the rock 102.
  • the drilling is carried out in such a way that the borehole 182 according to FIG Figure 1 is gradually expanded towards the right.
  • the tunnel boring machine 180 moves along an in Figure 1 direction marked with reference numeral 190.
  • the tunnel boring machine 180 has, in addition to the components shown, a multiplicity of further components which, for reasons of clarity in FIG Figure 1 are not shown.
  • FIG 1 is a drill head 150 with a variety of (shown here by way of example and only seven for reasons of clarity, in reality however, for example 50 to 100) to recognize removal tools 100.
  • the drilling head 150 has a drilling body 152 which can be rotated and translated in relation to the rock 102, on the front side of which or the face 122 facing the plurality of removal tools 100 are attached. These are distributed over the circular end face of the drill body 152, which is in the cross-sectional view of FIG Figure 1 cannot be seen (see the top view in Figure 5 ).
  • Each of the removal tools 100 can have a rotatable disc mounted in a holder with a circumferentially sharp cutting edge.
  • the disks of the removal tools 100 When the drill body 152 rotates, the disks of the removal tools 100 also rotate and, with their sharp cutting edge, remove material from the rock 102 on the face 122.
  • other removal tools 100 instead of disks, other removal tools 100 can be used, for example peeling knives or gravers.
  • a drive motor 157 of the tunnel boring machine 180 drives the drilling head 150 via a schematically illustrated drive shaft 159, so that it rotates about an axis of the drive shaft 159 (see reference number 161) and also moves ever deeper along the direction 190 in the direction of the rock 102 while removing the same inside moves.
  • the arrangement 120 for determining the image of the face 122 processed by the tunnel boring machine 180 is described in more detail below.
  • the rotatably mounted drill head 150 is part of the arrangement 120 and serves to remove material from the face 122.
  • recesses 128 (which are designed as through openings in the exemplary embodiment shown) of the drill head 150, a plurality of cameras are mounted as image recording units, which together form an image recording device 124 form.
  • Each of the cameras takes an image (in particular a 360 ° panorama) corresponding to an annular section of the face face 122 while the drilling head 150 is rotating, which also leads to the cameras being rotated.
  • the cameras themselves are held stationary relative to the drill head 150, ie do not require a separate drive.
  • the image data recorded by the cameras during a complete 360 ° rotation of the drilling head 150 are fed to an image processing device 126 (for example a processor, in particular a microprocessor or a CPU, central processing unit).
  • the image processing device 126 processes the image data of the different cameras of the image recording device 100 together, ie composes the individual images of the individual cameras or the recorded (partial) ring images in such a way that a common image is constructed from the surface of the face 122.
  • Image processing methods can be used here.
  • the constructed image of the face 122 is then fed to a display device 155, for example an LCD display of a laptop or desktop computer. A geologist can then conveniently analyze the characteristic of the face 122 by viewing the current image of the face 122 on the display device 155.
  • the image is thus reconstructed at the location of the tunnel boring machine 180.
  • FIG. 2 schematically shown, several cameras can be implemented as image recording device 124 integrated in the drill head 150.
  • the image processing device 126 is also integrated in the drill head 150 and, in the exemplary embodiment shown, transmits the reconstructed image data wirelessly to an in Figure 2 Display device 155, not shown, for displaying the image of the face 122.
  • the geological and geotechnical documentation of the face 122 when driving with tunnel boring machines 180 is an essential basis for reliable and safe operation of the tunnel boring machine 180. This takes place, for example, once a day in maintenance shifts.
  • Arrangements 120 according to the invention are significantly more advantageous than conventional approaches for determining geological data of a face 122, as will be described in more detail below:
  • the view of the face 122 is only possible to a very limited extent due to the disturbing drill head 150 of the tunnel boring machine 180. This is schematically in Figure 3 shown.
  • the view of the face 122 by geologists and geotechnicians is thus conventionally through manholes, clearing slots or to the side of excavation tools 100.
  • it is only possible to view small parts of the face 122 as for example in FIG Figure 3 shown. In this photo a circular area with a diameter of about 60 cm can be seen, while the entire face 122 has a diameter of almost 10 m.
  • geological face documentation for tunnel boring machine drives is traditionally associated with great uncertainties or with a lot of effort.
  • the difficulty overcome with the image recording device 124 integrated in and / or on the rotating drilling head 150 is that the working face 122 for operating personnel is almost completely covered by the drilling head 150 of the tunnel boring machine 180, can conventionally only be viewed through small openings, but through the provision according to the invention the image recording device 124 and the image processing device 126 connected downstream with regard to the signal flow for assembling partial images of the working face 122 can now be used without problems to create an image of a larger area of the working face 122.
  • Figure 5 shows a top view of components of an arrangement 120 according to an exemplary embodiment of the invention, in which cameras as image recording device 124 on the drilling head 150 of a tunnel boring machine in a manhole (see designation (a)), a clearing slot (see designation (b)) and instead of a removal tool 100 (see description (c)).
  • a complete photo of the 122 face or of circular rings of the 122 face can be taken.
  • a photo or video camera (or a plurality of photo or video cameras) is placed as an image recording device 124 in one or more openings in the drill head 150, for example a rake opening, manhole, instead of removal tools 100 or on recesses specially created for the image recording device 124.
  • the drill head 150 is then slowly rotated either clockwise or counterclockwise (see reference number 161), and photos are taken at short intervals at the same time or a video is taken at the same time, for example until the drill head 150 has completely rotated once.
  • the number of cameras that is needed to get one Obtaining a complete picture of the entire face 122 (or a region of interest of the face 122) depends on the angle of the objective and whether and, if so, how far the drill head 150 is retracted (for example, completely against the face 122 or a predetermined distance withdrawn from, for example, 1.5m).
  • Figure 6 shows an arrangement of four cameras as image recording device 124 for almost completely covering a working face 122 according to an exemplary embodiment of the invention.
  • the camera arrangement shown allows four ring-shaped images 600 including small overlaps 602 to be recorded.
  • the areas of overlaps 602 can in particular be used to compose the individual images without artefacts.
  • Figure 7 shows an arrangement of a camera as image recording device 124, a light source 700 (here in the form of an LED array) and a magnet holder 702 for placement on a drill head 150 of a tunnel boring machine 180 according to an exemplary embodiment of the invention.
  • the image recording device 124 can be fastened in different ways.
  • a simple and user-friendly variant is to provide the camera including the light source 700 with the magnet holder 702 for joint placement on the drill head 150.
  • Figure 8 shows a mounting bracket 702 for a camera as an image recording device 124, light sources 700 and inclination sensors 800 for an arrangement 120 for generating an image of a working face 122 according to an exemplary embodiment of the invention.
  • FIG. 8 shows such a mounting bracket 702, which can be attached in maintenance layers in a manhole.
  • strong light sources 700 not shown
  • Inclinometer / inclination sensors 800 placed, which enable automated alignment of the later photos and / or videos.
  • a preferred embodiment consists of correspondingly integrating the image recording device 124 from the outset in the design into the drill head 150.
  • Figure 9 shows images or video frames 900 that overlap and, according to an exemplary embodiment of the invention, are combined to form an overall image by means of digital image processing.
  • Figure 9 shows schematically the overlapping pictures, which are put together in the following.
  • Figure 10 shows a section 1000 of a circular ring as an image of an area of a working face 122 which, according to an exemplary embodiment, was composed of several individual video frames.
  • the assembly into an overall picture can be done using various methods (for example pixel or texture oriented).
  • a cross-correlation method in the frequency domain correlation of the Fourier-transformed images
  • Figure 10 shows the section 1000 of a circular ring, which is the result of a plurality of individual video frames put together. Small-scale geological features are clearly visible. With further processing steps, a spatial relief of the face 122 can also be created.
  • Figure 11 shows contour lines 1102 over a 3D-reconstructed part of a working face 122 (determined with an arrangement 120 according to FIG Figure 13 ).
  • Figure 12 shows two successively obtained recordings 1202, 1204 with overlap, which contain SIFT interest points (scale-invariant feature transform, i.e. scale-invariant feature transformation) marked with symbols (ring / cross) and their assignment over both images (determined with an arrangement 120 according to FIG Figure 14 ).
  • SIFT interest points scale-invariant feature transform, i.e. scale-invariant feature transformation
  • Figure 13 shows a drilling head 150 of a tunnel boring machine 180 adjacent to a working face 122 according to an exemplary embodiment of the invention, in which three-dimensional images of the working face 122 are generated by means of two image acquisition units.
  • Figure 13 shows a side view of the drill head 150 in a simplified representation.
  • the image recording device 124 has two image recording units which are designed to record image data from sections 600 of the face 122 which overlap at different times.
  • An overlap area of the overlapping sections 600 is identified by reference number 601.
  • the image processing device 126 is set up to process the image data of the sections 600 that at least overlap at any time in such a way that a three-dimensional relief image of at least a part of the overlapping sections 600 is reconstructed as the image (see Figure 11 ).
  • the image recording device 124 used for the 3D reconstruction can use a stereo system, with which images are recorded synchronously by means of the two image recording units of the (at least partially) the same area of the face 122 during a rotation of the tunnel boring machine 180.
  • the image recording device 124 is fixedly connected to the rotating drill head 150 during the recording.
  • the images can be created with uniform illumination using artificial light generated by light sources (not shown) from openings in the drill head 150 to the face 122.
  • the images obtained at the same time are rectified, for example, using an inner and outer camera orientation known from a calibration Images determined. Both contain specific information for the image acquisition units, such as their focal length, position of the main image point, translation vector and rotation between the image acquisition units.
  • the position of corresponding image contents can be determined by means of stereo matchers via the contrast of existing image contents, and compare the lines of the left image with the same lines of the right image from the stereo system for similar image contents. Similarities can be calculated, for example, using calculation methods such as SAD (Sum of Absolute Difference), where minima of the differences between pixel values lead to image assignment.
  • SAD Sud of Absolute Difference
  • a dense three-dimensional colored point cloud from at least parts of the face 122 can be generated. This allows the differentiation of different lithologies occurring in the face 122 to determine their area and proportion.
  • the three-dimensional reconstructed point cloud enables the face image to be supplemented with isohypses.
  • FIG. 1100 Figure 11 An example is shown in Figure 1100 Figure 11 , A display with a color assignment of heights is also possible.
  • Figure 14 shows a drilling head 150 of a tunnel boring machine 180 adjacent to a face 122 (see Figure 1 ) according to an exemplary embodiment of the invention.
  • the face face 122 can be used by means of a co-rotating image recording unit as the image recording device 124 for recording data of overlapping sections 600, 600 '(see Figure 1 ) three-dimensional images of the face 122 are generated.
  • Reference numeral 600 denotes a section which is recorded when the co-rotating image recording unit is in a first position.
  • FIG. 14 shows a top view of the drill head 150 in a simplified representation (for example, the removal tools 100 attached to the drill head 150 are not shown).
  • the image recording device 124, 124 ' has a single image recording unit which, during the rotation of the drilling head 150, is designed to record image data of sections 600, 600' of the working face 122 one after the other in time.
  • the image recording unit is shown with solid lines.
  • the image recording unit is shown with dashed lines.
  • the image processing device 126 (not shown, see Figure 1 ) is set up for processing the image data of the overlapping sections 600, 600 'recorded at different times in such a way that a three-dimensional relief image of at least part of the overlapping sections 600, 600' is reconstructed as the image.
  • a camera unit is provided as the image recording device 124, 124 'for 3D reconstruction, images obtained one after the other being used for 3D reconstruction.
  • the time interval between the respective recordings during the rotary movement of the drilling head 150 of the tunnel boring machine 180 causes a translation and rotation of the image acquisition unit. This causes the image sequence to partially overlap.
  • points of interest / features can be extracted using methods such as FAST, SIFT, SURF (Speeded Up Robust Features, "accelerated, robust features”) as well as other methods of image processing, which are assigned to one another by means of suitable automatic matching algorithms and thus for a 3D Reconstruction can be triangulated can.
  • a representation of successfully matched SIFT interest points for two successive recordings is shown in Figure 1200 Figure 12 ,
  • Figure 15 shows one to a face 122 (see Figure 1 ) adjacent drill head 150 of a tunnel boring machine 180 (see Figure 1 ) according to an exemplary embodiment of the invention.
  • a face 122 see Figure 1
  • a pattern generation device shown in a first position with reference number 1500 and in a second position with reference number 1500 '.
  • Figure 15 again shows a top view of the drill head 150 in a simplified representation.
  • the image recording device (again identified at a first position by reference symbol 124 and at a second position by reference symbol 124 ') has an image recording unit which, during the rotation of the drilling head 150, for recording image data of sections 600, 600' in chronological succession. (please refer Figure 14 ) the face 122 is formed.
  • the arrangement 120 also has the pattern generation device 1500, 1500 'for generating a respective pattern of electromagnetic radiation on at least a portion of the sections 600, 600' during the acquisition of the image data.
  • the image recording unit and the pattern generation device 1500, 1500 'rigidly coupled therewith are shown with solid lines.
  • the image processing device 126 (see Figure 1 ) is set up for processing the image data of the sections 600, 600 'in such a way using the pattern or the patterns as association information that a three-dimensional relief image of at least part of the sections 600, 600' is reconstructed as the image.
  • an image recording device 124 for 3D reconstruction can be used for the purpose Independent of the visual contrast of the face 122 use a strip projector.
  • An associated pattern generating device 1500, 1500 ' is formed from a stripe projector, which has a predefined regular or randomly generated areal pattern (in the same or different electromagnetic frequency ranges as the visible light, whereby a separate sensor device for pattern detection and not shown in the figure can be provided ) throws. These patterns can be captured using a calibrated stereo system. These images can be processed for 3D reconstruction using image assignment methods.
  • the pattern generation device 1500, 1500 ' can be set up to generate a pattern which can be detected by the image recording device 124, 124', in particular laser illumination, and can be positioned relative to the image recording device 124, 124 'in a previously known manner (not shown).
  • the image processing device 126 can then be set up to process the image data of the sections 600, 600 'in such a way, using the patterns and the known positioning as association information, that a three-dimensional relief image of at least part of the sections 600, 600' is reconstructed as the image.
  • the image recording device 124, 124 ' can thus be equipped with a light section method for 3D reconstruction, which uses a laser line as a signal.
  • the image recording device 124, 124 ' is then composed, for example, of laser lighting and a camera. Both are aligned at a certain angle to each other and the laser line can be detected as a height profile in the camera image.
  • the frequency of the profile recording can be matched to the rotation of the tunnel boring machine 180 in such a way that 3D reconstruction is possible by means of a dense point cloud.
  • the combination with the visual recording of the face 122 takes place via a calibration step, which brings visual information and the results of the height profile recording to congruence.
  • a similar image capture device 124, 124 ' accordinging to yet another
  • the exemplary embodiment of the invention can be a profile scanner that replaces laser lighting and the associated camera.
  • Techniques such as spectroscopy using handheld devices can be used for analysis purposes in order to achieve an assignment using quartz or mafic indices based on the different emissivity, for example in LWIR (long wavelength infrared).

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Claims (15)

  1. Agencement (120) permettant l'acquisition d'une image d'au moins une zone d'un front d'attaque (122) d'une montagne (102) traité par un tunnelier (180), caractérisé en ce que l'agencement (120) présente :
    une tête de forage rotative (150) pour le tunnelier (180) pour l'abattage de matériau, en particulier de matière rocheuse, du front d'attaque (122) ;
    un dispositif de prise de vues (124), qui est monté au niveau de la tête de forage (150) pour la capture de données d'image d'au moins une section (600) du front d'attaque (122) ; et
    un dispositif de traitement d'images (126), qui est réalisé pour le traitement de données d'image de plusieurs sections (600) du front d'attaque (122), qui sont capturées au moyen du dispositif de prise de vues (124) en particulier pendant la rotation de la tête de forage (150), et pour la reconstruction de l'image d'au moins la zone du front d'attaque (122) à partir des données d'image de plusieurs sections (600) du front d'attaque (122),
    dans lequel le dispositif de prise de vues (124) présente une pluralité d'unités de prise de vues montées au niveau de la tête de forage (150), en particulier de caméras vidéo et/ou d'appareils photo, qui sont réalisées pour la capture de données d'image de sections (600) du front d'attaque (122),
    dans lequel la pluralité d'unités de prise de vues est montée au niveau de la tête de forage (150) de sorte que les sections (600) du front d'attaque (122) représentées par lesdites unités de prise de vues se chevauchent au moins en partie en formant des sections de chevauchement (601, 602)
    dans lequel les unités de prise de vues sont aménagées pour capturer les sections (600) lors d'une rotation de la tête de forage (150), et
    dans lequel le dispositif de traitement d'images (126) est aménagé pour traiter les données d'image des sections de chevauchement (601, 602) au moins se chevauchant de telle sorte qu'une image en relief tridimensionnelle d'au moins une partie des sections de chevauchement (601, 602) se chevauchant est reconstruite en tant qu'image en utilisant une association des sections de chevauchement (601, 602) se chevauchant,
    dans lequel des sections partielles correspondantes du front d'attaque (122) sont acquises et associées les unes aux autres sur les différentes sections (600) au moyen d'une analyse des contrastes des sections de chevauchement (601, 602).
  2. Agencement (120) permettant l'acquisition d'une image d'au moins une zone d'un front d'attaque (122) d'une montagne (102) traité par un tunnelier (180), caractérisé en ce que l'agencement (120) présente :
    une tête de forage rotative (150) pour le tunnelier (180) pour l'abattage de matériau, en particulier de matière rocheuse, du front d'attaque (122) ;
    un dispositif de prise de vues (124), qui est monté au niveau de la tête de forage (150) pour la capture de données d'image d'au moins une section (600) du front d'attaque (122) ; et
    un dispositif de traitement d'images (126), qui est réalisé pour le traitement de données d'image de plusieurs sections (600) du front d'attaque (122), qui sont capturées au moyen du dispositif de prise de vues (124) en particulier pendant la rotation de la tête de forage (150), et pour la reconstruction de l'image d'au moins la zone du front d'attaque (122) à partir des données d'image de plusieurs sections (600) du front d'attaque (122),
    dans lequel le dispositif de prise de vues (124) présente uniquement une unité de prise de vues montée au niveau de la tête de forage (150), en particulier une caméra vidéo ou un appareil photo, qui est réalisée pour la capture de données d'image de sections (600) du front d'attaque (122),
    dans lequel l'unité de prise de vues est montée au niveau de la tête de forage (150) de sorte que les sections (600) du front d'attaque (122) représentées par ladite unité de prise de vues se chevauchent au moins en partie en formant des sections de chevauchement (601, 602)
    dans lequel l'unité de prise de vues est aménagée pour capturer les sections (600) lors d'une rotation de la tête de forage (150), et
    dans lequel le dispositif de traitement d'images (126) est aménagé pour traiter les données d'image des sections de chevauchement (601, 602) au moins se chevauchant de telle sorte qu'une image en relief tridimensionnelle d'au moins une partie des sections de chevauchement (601, 602) se chevauchant est reconstruite en tant qu'image en utilisant une association des sections de chevauchement (601, 602) se chevauchant,
    dans lequel des sections partielles correspondantes du front d'attaque (122) sont acquises et associées les unes aux autres sur les différentes sections (600) au moyen d'une analyse des contrastes des sections de chevauchement (601, 602).
  3. Agencement (120) selon la revendication 1 ou 2, caractérisé en ce que la tête de forage (150) présente au moins une ouverture (128), en particulier une ouverture traversante, et dans lequel le dispositif de prise de vues (124) est monté au niveau de la tête de forage (150) pour la capture des données d'image par l'ouverture (128), dans lequel en particulier au moins une ouverture (128) est sélectionnée dans un groupe qui se compose d'un trou d'homme pour la fourniture d'un accès à un opérateur, d'un évidement ou logement pour un outil d'extraction (100) pour l'extraction de matériau de la montagne (102), d'une fente de racleur pour le déblaiement de matériau extrait de la montagne (102) et d'un évidement ou d'une ouverture (128) spécialement configuré pour la réception du dispositif de prise de vues (124) dans lequel en particulier au moins un évidement ou une ouverture (128) est réalisé en tant qu'ouverture de réception pour la réception au moins partielle du dispositif de prise de vues (124).
  4. Agencement (120) selon l'une quelconque des revendications 1 à 3, présentant au moins une des caractéristiques suivantes :
    le dispositif de prise de vues (124) est sélectionné dans un groupe qui se compose d'au moins une caméra vidéo pour la capture de données vidéo d'au moins une section du front d'attaque (122), et d'au moins un appareil photo pour la capture de photos d'au moins une section du front d'attaque (122),
    le dispositif de prise de vues (124) est aménagé pour capturer des données d'image du front d'attaque (122) pendant une rotation angulaire prédéterminée de la tête de forage (150), en particulier pendant une rotation complète de la tête de forage (150) et mettre à disposition du dispositif de traitement d'images (126) lesdites données d'image pour la reconstruction de l'image d'au moins la zone du front d'attaque (122),
    le dispositif de traitement d'images (126) est aménagé pour reconstruire un anneau circulaire ou une surface circulaire en tant que zone du front d'attaque (122),
    l'agencement (120) présente au moins une source de lumière (700) montée au niveau de la tête de forage (150) pour l'éclairage d'une section (600) du front d'attaque (122) représentée respectivement par le dispositif de prise de vues (124),
    l'agencement (120) présente un support de montage (702) aménagé pour la réception du dispositif de prise de vues (124), et en particulier de la source de lumière (700), et pour le montage au niveau de la tête de forage (150), caractérisé en ce que l'agencement (120) présente en particulier au moins un capteur d'inclinaison (800), qui est monté au niveau du support de montage (702) pour la détection d'un angle d'inclinaison, dans lequel en particulier au moins un capteur d'inclinaison (800) et le dispositif de traitement d'images (126) sont couplés de sorte que le dispositif de traitement d'images (126) traite les données d'image associées aux sections (600) pour la reconstruction de l'image en tenant compte de l'angle d'inclinaison détecté par le capteur d'inclinaison (800),
    dans lequel en particulier le support de montage (702) est aménagé pour la fixation par serrage et/ou pour la fixation magnétique à la tête de forage (150).
  5. Agencement (120) selon l'une quelconque des revendications 1 à 4, caractérisé en ce que le dispositif de traitement d'images (126) est aménagé pour traiter les données d'image de telle sorte qu'une image en relief tridimensionnelle d'au moins la zone du front d'attaque (122) est reconstruite en tant qu'image, et dans lequel en particulier le dispositif de traitement d'images (126) est aménagé pour un tel traitement de données d'image de sections (600) du front d'attaque (122) au moins en partie différentes.
  6. Agencement (120) selon la revendication 1,
    caractérisé en ce que la pluralité d'unités de prise de vues est réalisée pour la capture de données d'image de sections (600) du front de taille (122) au moins se chevauchant respectivement à différents moments, en particulier identiques ;
    dans lequel le dispositif de traitement d'images (126) est aménagé pour traiter les données d'image des sections (600) au moins se chevauchant à chaque moment de telle sorte qu'une image en relief tridimensionnelle d'au moins une partie des sections (600) se chevauchant est reconstruite en tant qu'image.
  7. Agencement (120) selon l'une quelconque des revendications 1 à 5,
    caractérisé en ce que l'unité de prise de vues est réalisée pendant la rotation de la tête de forage (150) pour la capture chronologiquement successive de données d'image de sections (600, 600') du front d'attaque (122) au moins se chevauchant.
  8. Agencement (120) selon l'une quelconque des revendications 1 à 5,
    caractérisé en ce que l'unité de prise de vues est réalisée pendant la rotation de la tête de forage (150) pour la capture chronologiquement successive de données d'image de sections (600, 600') du front d'attaque (122) ;
    dans lequel l'agencement (120) présente en outre un dispositif de génération de motif (1500, 1500') pour la génération d'un motif respectif de rayonnement électromagnétique sur au moins une partie des sections (600, 600') pendant la capture des données d'image ;
    dans lequel le dispositif de traitement d'images (126) est aménagé pour traiter les données d'image des sections (600, 600') en utilisant le motif ou les motifs en tant qu'information d'association de telle sorte qu'une image en relief tridimensionnelle d'au moins une partie des sections (600, 600') est reconstruite en tant qu'image.
  9. Agencement (120) selon la revendication 8,
    caractérisé en ce que le dispositif de génération de motif (1500, 1500') est aménagé pour la génération du motif dans une plage de longueur d'onde en dehors de la lumière visible ;
    dans lequel l'agencement (120) présente en outre un dispositif de capteur pour la détection du motif dans la plage de longueur d'onde en dehors de la lumière visible.
  10. Agencement (120) selon la revendication 8,
    caractérisé en ce que le dispositif de génération de motif (1500, 1500') est aménagé pour la génération d'un motif pouvant être détecté au moyen du dispositif de prise de vues (124, 124'), en particulier d'un éclairage laser, et est positionné de manière connue au préalable par rapport au dispositif de prise de vues (124, 124') ;
    dans lequel le dispositif de traitement d'images (126) est aménagé pour traiter les données d'image des sections (600, 600') en utilisant le motif ou les motifs et le positionnement connu au préalable en tant qu'information d'association de telle sorte qu'une image en relief tridimensionnelle d'au moins une partie des sections (600, 600') est reconstruite en tant qu'image.
  11. Agencement (120) selon l'une quelconque des revendications 1 à 5,
    caractérisé en ce que l'unité de prise de vues est réalisée pendant la rotation de la tête de forage (150) pour la capture chronologiquement successive de données d'image de sections (600, 600') du front d'attaque (122) ;
    dans lequel l'agencement (120) présente en outre un dispositif de détection de distance pour la détection de données de distance indiquant la distance entre un point de référence de la tête de forage (150) et des points de coordonnées de la section (600, 600') respective appartenant aux données d'image ;
    dans lequel le dispositif de traitement d'images (126) est aménagé pour traiter les données d'image des sections (600, 600') en utilisant les données de distance ainsi qu'un positionnement connu au préalable entre le dispositif de détection de distance et les points de coordonnées en tant qu'information d'association de telle sorte qu'une image en relief tridimensionnelle d'au moins une partie des sections (600, 600') est reconstruite en tant qu'image.
  12. Agencement (120) selon la revendication 11, caractérisé en ce que le dispositif de détection de distance est sélectionné à partir d'un élément du groupe qui se compose d'un dispositif de mesure du temps de propagation de la lumière, en particulier selon un procédé de temps de vol, d'un dispositif RADAR et d'un dispositif de mesure du temps de propagation acoustique, en particulier sonar.
  13. Tunnelier (180) pour l'abattage de matière rocheuse d'un front d'attaque (122) d'une montagne (102), caractérisé en ce que le tunnelier (180) présente un agencement (120) selon l'une quelconque des revendications 1 à 12.
  14. Procédé permettant l'acquisition d'une image d'au moins une zone d'un front d'attaque (122) d'une montagne (102) traité par un tunnelier (180), caractérisé en ce que le procédé présente :
    la rotation d'une tête de forage (150) d'un tunnelier (180) pour l'abattage de matière rocheuse du front d'attaque (122) ;
    la capture de données d'image de sections (600) respectives du front d'attaque (122) au moyen d'un dispositif de prise de vues (124) monté au niveau de la tête de forage (150), en particulier pendant que la tête de forage (150) tourne ;
    le traitement de données d'image de plusieurs sections (600) du front d'attaque (122), capturées au moyen du dispositif de prise de vues (124), en particulier pendant la rotation de la tête de forage (150), moyennant quoi une image d'au moins la zone du front d'attaque (122) est reconstruite à partir des données d'image de plusieurs sections (600),
    dans lequel le dispositif de prise de vues (124) présente une pluralité d'unités de prise de vues montées au niveau de la tête de forage (150), en particulier de caméras vidéo et/ou d'appareils photo, qui sont réalisées pour la capture de données d'image de sections (600) du front d'attaque (122),
    dans lequel la pluralité d'unités de prise de vues est montée au niveau de la tête de forage (150) de sorte que les sections (600) du front d'attaque (122) représentées par lesdites unités de prise de vues se chevauchent au moins en partie en formant des sections de chevauchement (601, 602), et
    dans lequel les unités de prise de vues sont aménagées pour capturer les sections (600) lors d'une rotation de la tête de forage (150), et
    dans lequel le dispositif de traitement d'images (126) est aménagé pour traiter les données d'image des sections de chevauchement (601, 602) au moins se chevauchant de telle sorte qu'une image en relief tridimensionnelle d'au moins une partie des sections de chevauchement (601, 602) se chevauchant est reconstruite en tant qu'image en utilisant une association des sections de chevauchement (601, 602) se chevauchant,
    dans lequel des sections partielles correspondantes du front d'attaque (122) sont acquises et associées les unes aux autres sur les différentes sections (600) au moyen d'une analyse des contrastes des sections de chevauchement (601, 602).
  15. Procédé permettant l'acquisition d'une image d'au moins une zone d'un front d'attaque (122) d'une montagne (102) traité par un tunnelier (180), caractérisé en ce que le procédé présente :
    la rotation d'une tête de forage (150) d'un tunnelier (180) pour l'abattage de matière rocheuse du front d'attaque (122) ;
    la capture de données d'image de sections (600) respectives du front d'attaque (122) au moyen d'un dispositif de prise de vues (124) monté au niveau de la tête de forage (150), en particulier pendant que la tête de forage (150) tourne ;
    le traitement de données d'image de plusieurs sections (600) du front d'attaque (122), capturées au moyen du dispositif de prise de vues (124), en particulier pendant la rotation de la tête de forage (150), moyennant quoi une image d'au moins la zone du front d'attaque (122) est reconstruite à partir des données d'image de plusieurs sections (600),
    dans lequel le dispositif de prise de vues (124) présente uniquement une unité de prise de vues montée au niveau de la tête de forage (150), en particulier une caméra vidéo ou un appareil photo, qui est réalisée pour la capture de données d'image de sections (600) du front d'attaque (122),
    dans lequel l'unité de prise de vues est montée au niveau de la tête de forage (150) de sorte que les sections (600) du front d'attaque (122) représentées par ladite unité de prise de vues se chevauchent au moins en partie en formant des sections de chevauchement (601, 602), et
    dans lequel l'unité de prise de vues est aménagée pour capturer les sections (600) lors d'une rotation de la tête de forage (150), et
    dans lequel le dispositif de traitement d'images (126) est aménagé pour traiter les données d'image des sections de chevauchement (601, 602) au moins se chevauchant de telle sorte qu'une image en relief tridimensionnelle d'au moins une partie des sections de chevauchement (601, 602) se chevauchant est reconstruite en tant qu'image en utilisant une association des sections de chevauchement (601, 602) se chevauchant,
    dans lequel des sections partielles correspondantes du front d'attaque (122) sont acquises et associées les unes aux autres sur les différentes sections (600) au moyen d'une analyse des contrastes des sections de chevauchement (601, 602).
EP14744032.5A 2013-07-30 2014-07-21 Système permettant l'acquisition d'une image d'un front d'attaque Active EP3028006B1 (fr)

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ATGM50107/2013U AT14252U1 (de) 2013-07-30 2013-07-30 System zum Ermitteln eines Ortsbrustbilds
PCT/EP2014/065652 WO2015014655A2 (fr) 2013-07-30 2014-07-21 Système permettant l'acquisition d'une image d'un front d'attaque

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