JP2001255144A - Measuring apparatus for inside shape of tunnel - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measuring apparatus, by which when the inside shape of a tunnel H is measured by using an optical distance measuring means, coordinate data which are necessary and sufficient for grasping the inside shape of the tunnel H can be acquired automatically and in as short a time as possible. SOLUTION: A rotary distance-measuring instrument 2 is supported on an automatic rotating stage 3. Pulsed light is projected, so as to be turned around a rotation axial line β in the horizontal direction. Whenever its projection direction is turned about the rotation axial line β by a prescribed number of times, the measuring instrument 2 is turned about a vertical axial line α. While the measuring instrument 2 is turned by an angle range of about 180 deg., distances up to measuring points P are measured in each prescribed period by the measuring instrument 2. Coordinate data on many measuring points P are measured for substantially all directions in the circumference of a measuring device A. Coordinate data on a plurality of measuring target points Pt which are set, so as to keep prescribed intervals on the inside wall of a virtual tunnel medal h are prepared in advance. Only the coordinate data close to the set target points are selected from among the coordinate data on the measuring points P.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a measuring device for measuring the inner shape of a tunnel, and more particularly to measuring the inner shape of a tunnel over a predetermined range in the longitudinal direction by using an optical distance measuring means. Belongs to the technical field of dimension measurement.

[0002]

2. Description of the Related Art Generally, a tunnel must have an inner cross-sectional shape suitable for the intended use, and the tolerance between the inner wall surface of the tunnel after lining and the specification specified in the construction plan is usually It is only a few centimeters. For this reason, conventionally, the inner wall surface of the tunnel after the lining finish was surveyed by an optical distance meter for surveying,
Inspection is performed to check whether the finished surface conforms to the original specification.

[0003] In general, in tunnel construction, the ground is once excavated by using blasting or the like so as to be larger than the specified size (excessive excavation), and is buried with concrete at the time of lining. And, for example, when concrete is sprayed on the inner wall of the tunnel at the time of lining, even if an extra protruding part is found there, it is extremely difficult to excavate it again. In fact, it is necessary to dig a lot more so that no part remains.

[0004] However, such a large amount of extra excavation means that not only extra work and time are required for excavation and removal of unnecessary earth and sand, but also
Since the amount of cement required for backfilling is also increased, there is a problem that the cost is synergistically increased.

[0005] Regarding this problem, by examining the inner shape of the tunnel excavated by blasting or the like and finding an extra protruding portion at this stage and shaving off only the protruding portion, the amount of extra excavation is greatly reduced. For this purpose, there has been an attempt to measure the shape of the inner wall of the tunnel after excavation by using, for example, the above-described optical distance meter for surveying.

[0006]

However, since the inner wall of the tunnel after excavation is quite different from that after lining and has a considerably large number of irregularities, the inner wall of the tunnel after jumping is jumped as in the inspection of the inner wall of the tunnel after lining. It is almost impossible to selectively find only the extra protruding parts after performing the survey.

[0007] Also, since there is a high possibility that skin fall will occur in the tunnel after excavation, it is desirable to avoid performing surveying work for a long time while repeatedly changing the installation position of the ranging finder. There should be no distance finder, especially near the face of the tunnel.

[0008] In addition, in recent years, there has been a request to investigate the finished surface of the inner wall of the tunnel after the above-mentioned lining or the state of the inner wall of the tunnel after a long period of time has been constructed, as compared with the related art. However, it is difficult to carry out a survey with sufficient accuracy by the method of measuring one point at a time using a rangefinder as described above.

The present invention has been made in view of the above points, and an object of the present invention is to provide a measuring apparatus for measuring the inner shape of a tunnel using an optical distance measuring means. An object of the present invention is to devise a control procedure in the distance direction so that necessary and sufficient coordinate data for grasping the inner shape of the tunnel can be automatically acquired in a short time.

[0010]

In order to achieve the above-mentioned object, according to a solution of the present invention, the direction of the distance measurement by the optical distance measurement means is made to circumvent around a predetermined rotation axis to rotate the inner wall of the tunnel. By rotating the rotary scanning surface around an orthogonal axis perpendicular to the rotation axis while scanning, coordinate data of the inner wall of the tunnel is automatically collected in almost all directions around the distance measuring means. I did it.

More specifically, the invention of claim 1 is directed to a measuring device which is installed in a tunnel and measures the inner shape thereof, which emits pulse light toward the inner wall of the tunnel, and emits the light. Detecting the reflected light returning along the direction, an optical distance measuring means for determining the distance to the measurement point based on the round trip time of the pulse light, and projecting direction of the pulse light by the distance measuring means, A light projection direction changing means for changing the rotation around the preset rotation axis, a rotation displacement detection means for detecting a rotation displacement amount in the light projection direction by the light projection direction variable means, and the distance measuring means, Rotating means for rotating so that the direction of the rotation axis changes around an orthogonal axis orthogonal to the rotation axis, and rotation displacement detection means for detecting the amount of rotation displacement of the distance measuring means by the rotation means Measuring the distance by activating the distance measuring means every predetermined period Controlling means and the light emitting direction changing means so that the distance measuring means rotates by a predetermined angle about the orthogonal axis while the light emitting direction changes at least one turn around the rotation axis. Operation control means for operating the moving means, and signals from the distance measuring means, the rotational displacement detecting means and the rotational displacement detecting means corresponding to the operation of the distance measuring means, respectively. And calculating means for calculating the coordinates of the measurement point on the inner wall of the tunnel based on the calculated value.

With the above arrangement, when the measuring device is installed in the tunnel and measurement is started, the operation control means controls the operation of the light emitting direction changing means and the rotation means, respectively.
The distance measuring means is rotated by a predetermined angle about the orthogonal axis while the light projection direction of the pulse light changes at least one round around the rotation axis. In the meantime, the distance measuring means is operated at predetermined intervals by the distance measuring control means to measure a distance to a measuring point on the inner wall of the tunnel. By this, if the distance measuring means rotates around the orthogonal axis over an angle range of, for example, 180 degrees or more, a large number of measurement points on the inner wall of the tunnel are provided by the distance measuring means in almost all directions around the same. The distance to the measuring point is measured, and the coordinates of the plurality of measurement points are respectively calculated by the calculating means based on the values of the signals output from the distance measuring means, the rotational displacement detecting means and the rotational displacement detecting means.

That is, coordinate data of a large number of measurement points distributed over a predetermined distance in the longitudinal direction on the inner wall of the tunnel can be automatically collected by the measuring device installed at one place in the tunnel. Compared with the conventional method of measuring one point at a time, coordinate data of a much larger number of measurement points can be collected in a short time, and there is no need to install a measuring device near the face of the tunnel. . And
Based on the coordinate data of the large number of measurement points, it becomes possible to grasp the inner shape of the tunnel over a predetermined distance in the longitudinal direction with necessary and sufficient accuracy.

According to a second aspect of the present invention, a wire frame model is created by connecting measurement points close to each other by a virtual line segment based on coordinate data of a plurality of measurement points on the inner wall of the tunnel calculated by the calculation means. It is provided with a wire frame model creating means to perform.

Thus, if a wireframe model of the inner wall of the tunnel is obtained, the shape of the inside of the tunnel can be intuitively grasped by, for example, displaying an image of the wireframe model. It is also possible to obtain an arbitrary inner space cross-sectional shape of the tunnel based on the above.

According to a third aspect of the present invention, the coordinate data of a plurality of measurement target points set so as to be spaced apart from each other on the virtual inner wall of the tunnel in accordance with the specifications of the tunnel, Coordinate data selecting means for comparing the coordinates with the coordinate data of the measurement target points and selecting only the coordinates of the measurement points included in a set range around any of the measurement target points on the virtual tunnel inner wall. Configuration.

[0017] This makes it possible to select, from among a large number of measurement points, those dispersed at appropriate intervals on the inner wall of the tunnel, and based on the coordinate data of the selected measurement points, The internal shape can be grasped with necessary and sufficient accuracy. In addition, by removing the coordinate data of the measurement points outside the set range, the influence of noise or the like at the time of measurement can be reduced, and the data amount can be reduced.

According to a fourth aspect of the present invention, the set range in the third aspect of the present invention is set to be wider as the measurement target point is farther from the installation location of the distance measuring means in the longitudinal direction of the tunnel. With this, if the measurement target point is farther from the installation location of the distance measuring means in the longitudinal direction of the tunnel, the interval between the measurement points tends to increase accordingly, so that the selection range of the measurement points can be expanded accordingly. Thus, coordinate data with few omissions in measurement can be obtained.

According to a fifth aspect of the present invention, in the third aspect of the present invention, the orthogonal axis is set so as to be orthogonal to a longitudinal direction line extending in the longitudinal direction of the tunnel, and the operation control means is provided by the coordinate data selecting means. The average rotation speed of the distance measurement means by the rotation means is controlled to be equal to or less than the set speed so that the coordinates of at least one measurement point are selected corresponding to the measurement target point.

That is, when the orthogonal axis is set so as to be orthogonal to the longitudinal direction of the tunnel, the higher the average rotation speed of the distance measuring means around the orthogonal axis, the higher the circumferential direction around the orthogonal axis. With regard to the above, the distance between the measurement points by the distance measuring means becomes large. Therefore, in the present invention, by suppressing the average rotation speed of the distance measuring means by the rotation means to a predetermined value or less, it is possible to prevent the interval between the measurement points from becoming excessive and obtain coordinate data without omission. Can be.

According to a sixth aspect of the present invention, in the third aspect of the present invention, the orthogonal axis is set so as to be orthogonal to a longitudinal line extending in the longitudinal direction of the tunnel, and the operation control means is arranged along the orthogonal axis. As seen, when the angle of inclination of the rotation axis with respect to the longitudinal direction of the tunnel is 45 degrees or more, the average rotation speed of the distance measuring means is smaller than when the angle of inclination is 10 degrees or less. Next, the operation of the rotating means is controlled.

That is, if the orthogonal axis is set so as to be orthogonal to the longitudinal direction of the tunnel, the average rotation speed of the rotation axis around the orthogonal axis when viewed along the orthogonal axis is Assuming that it is constant, the larger the inclination angle between the rotation axis and the longitudinal direction of the tunnel, the larger the moving speed of the light emitting surface of the pulse light on the inner wall surface of the tunnel, and therefore the distance between the measurement points. growing. In view of this, in the present invention, when viewed along the orthogonal axis, when the inclination angle between the rotation axis and the tunnel longitudinal direction line is relatively large, the distance measuring means is smaller than when the inclination angle is relatively small. By reducing the average rotation speed of
The distribution state of the measurement points on the inner wall surface of the tunnel is made uniform, whereby coordinate data with few measurement omissions can be obtained while reducing measurement waste.

According to a seventh aspect of the present invention, when there are a plurality of measurement points that can be selected for one measurement target point, the coordinate data selection means according to the third aspect of the present invention determines the measurement point closest to the measurement target point. It is assumed that coordinates are selected. By doing so, the data amount can be reduced as much as possible, leaving the data necessary for grasping the inner shape of the tunnel from among the coordinate data of a large number of measurement points, thereby increasing the speed of data processing. It is planned.

[0024]

Embodiments of the present invention will be described below with reference to the drawings.

FIGS. 1 and 2 show a tunnel shape measuring device A according to an embodiment of the present invention.
It is installed by a tripod 1 etc. at a predetermined place in the tunnel H,
From there, the laser pulse light is rotationally projected so as to be directed in all directions around, and the position coordinates of the measurement points P, P,... On the inner wall of the tunnel H where the pulse light has hit are measured. . More specifically, the measuring device A uses a tunnel H by laser pulse light in a plane perpendicular to the ground.
A rotary ranging device 2 (ranging means) for rotating and scanning the inner wall of the
The distance measuring device 2 is moved about 180 degrees around a vertical axis α (orthogonal axis).
Automatic rotating stage 3 that rotates over a range of degrees
(Rotating means), a controller 4 for controlling the distance measuring device 2 and the automatic rotating stage 3 to operate in cooperation with each other, and a personal computer terminal 5 connected to the controller 4.

As shown in detail in FIG. 3, the rotary distance measuring device 2 emits the pulse light emitted from the laser diode 7 in a radial manner while circling around a rotation axis β extending in the horizontal direction. Things. That is, after the pulsed light is output from the laser diode 7 along the rotation axis β, its optical path is changed to a right angle direction by the reflecting mirror 8, and is narrowed by the objective lens 9 so as to have a predetermined divergent angle. The light is projected along the optical axis of the objective lens 9. The reflecting mirror 8 is rotated at a substantially constant speed (for example, 600 rpm) around a rotation axis β by a driving motor composed of a DC electric motor (not shown). Changes so as to orbit around the rotation axis β. And the reflecting mirror 8
Is set to, for example, 0.
Detected every 25 degrees. The reflecting mirror 8 and the driving motor constitute a projecting direction changing means for changing the projecting direction of the pulse light so as to go around the rotation axis β. Rotational displacement detecting means for detecting a rotational displacement amount in the light projection direction is configured.

A focusing lens 12 and a light receiving element 13 are located inside the distance measuring device 2 at a position coaxial with the optical axis of the pulse light.
Are provided. That is, as described above, the pulse light projected toward the inner wall of the tunnel H is scattered at the measurement point P on the inner wall of the tunnel H, reflected therefrom, and reflected back along the light projection direction. The light passes through the objective lens 9, the reflecting mirror 8 and the condenser lens 12 and is detected by the light receiving element 13. The condenser lens 12
Is focused at infinity, the influence of noise incident from other than the measurement point P is relatively small, but the angular distribution of the scattered light at the measurement point P changes depending on the incident direction of the pulse light on the inner wall surface of the tunnel H. However, as the incident angle becomes shallower, the amount of reflected light returning along the direction of projecting the pulsed light decreases, so that the measurement accuracy must be reduced.

Further, the operation of the laser diode 7 and the drive motor of the reflecting mirror 8 are controlled by a processor 15 incorporated in the distance measuring device 2. The control signal from the controller 4 is input to the processor 15.
Output signals from the rotary encoder 10, the light receiving element 13, and the like are input. Then, the processor 15
Distance L to measurement point P based on round trip time of pulsed light
(See FIG. 1), and based on an output signal from the rotary encoder 10, an altitude angle φ of the projection direction of the pulse light with respect to the horizontal plane is calculated, and the calculated values L and φ (measured data) are calculated by the controller. 4 is output. Reference numeral 16 in FIG. 2 denotes an optical filter that transmits only light in a specific wavelength region including the wavelength of the pulse light oscillated by the laser diode 7.

The automatic rotary stage 3 has a disk-shaped rotary stage 18 on which the distance measuring device 2 is mounted, and is fixed to the upper part of the tripod 1 to rotatably support the rotary stage 18 from below. And a support portion 19,
The rotary stage 18 is horizontally supported by a leveling mechanism (not shown) provided on the support 19, so that the rotary stage 18 is rotatable about a vertical axis α. The supporting portion 19 includes a stepping motor 20 for rotating the rotary stage 18 around a vertical axis α, and a rotary encoder for detecting the amount of rotational displacement of the rotary stage 18 rotated by the stepping motor 20. 21 (rotational displacement detecting means). The control signal from the controller 4 is input to the stepping motor 20 of the automatic rotating stage 3, while the output signal from the rotary encoder 21 is input to the controller 4.

The controller 4 controls the operation of the range finder 2 and the automatic rotation stage 3 based on a control signal from the personal computer terminal 5, and also controls the signal from the range finder 2 and the automatic rotation stage 3. Signals from the rotary encoder 21 are input, and the coordinates of each measurement point P on the inner wall of the tunnel H are calculated based on these signals. Specifically, the controller 4 operates the range finder 2 to emit pulse light so as to circumvent around the rotation axis β extending substantially in the horizontal direction. Are measured on a line intersecting with a plurality of measurement points P, P,. After the pulsed light makes a predetermined number of rotations (for example, 5 to 10 times), the distance measuring device 2 is rotated by a predetermined angle (for example, 0.5 to 1 degree) around the vertical axis α by the automatic rotation stage 3. At this position, measurement by the distance measuring device 2 is performed in the same manner as described above. Then, the above procedure is repeated to rotate the distance measuring device 2 by about 180 degrees around the vertical axis α.

The controller 4 includes the distance measuring device 2
, Measurement data of the distance L and the altitude angle φ of each measurement point P are input, and a signal from the rotary encoder 21 of the automatic rotating stage 3 is input. Based on this signal, the horizontal angle の of each measurement point P is calculated. Desired. That is, the coordinates (L, φ, ψ) of each measurement point P are respectively calculated. Then, from the coordinates of a large number of measurement points P, P,... Calculated in this manner, those which are appropriately dispersed as necessary and sufficient for grasping the inner shape of the tunnel H are selected and selected. The coordinate data is transmitted to the personal computer terminal 5.

Hereinafter, a specific processing procedure of the control by the controller 4 will be described with reference to flowcharts shown in FIGS.

First, in step SA1 after the start of the flow shown in FIG. 4, an operation command is output to the distance measuring device 2 based on a control signal from the personal computer terminal 5. The range finder 2 that has received the operation command operates as described later (see the flow of FIG. 5), and rotationally projects pulse light toward the inner wall of the tunnel H to measure the distance to each measurement point P. . Subsequently, in step SA2, the output (encoder output) from the rotary encoder 10 of the distance measuring device 2 is read, and in subsequent step SA3, based on the encoder output,
It is determined whether the pulsed light has circulated around the rotation axis β a predetermined number of times. If this determination is NO, the process returns to step SA2, while if the determination is YES, step SA4
Proceed to.

Subsequently, in step SA4, an operation signal is output to the stepping motor 20 of the automatic rotating stage 3 to rotate the rotating stage section 18 around the vertical axis α. Subsequently, in step SA5, the output from the rotary encoder 21 of the automatic rotation stage 3 (encoder output).
Is read, and in a succeeding step SA6, it is determined whether or not the rotary stage section 18 has rotated by a predetermined angle Δψ. If this determination is NO, the process returns to step SA4, and the operation of the stepping motor 20 is continued. On the other hand, if the rotation stage 18 rotates by the predetermined angle Δψ and the determination is YES, the process proceeds to step SA7, The rotation stage unit 18 is stopped.

Subsequently, in step SA8, it is determined whether or not the total rotation angle of the rotary stage 18 has become 180 degrees or more. If this determination is NO, step SA2
And the process of steps SA2 to SA7 is repeatedly executed. On the other hand, if the determination is YES, the flow advances to step SA9 to output a stop command to the distance measuring device 2, and thereafter the control is ended.

That is, while the inner wall surface of the tunnel H is rotationally scanned by the pulse light from the distance measuring device 2 to continuously perform two-dimensional distance measurement, as shown in FIG. By rotating the light projecting surface LS of the pulse light around the vertical axis α by a predetermined angle Δψ over an angle range of about 180 degrees, The distance is measured by the distance measuring device 2. The flow shown in FIG.
The operation control means 4a controls the distance measuring device 2 in a vertical direction while the projection direction of the pulse light from the distance measuring device 2 changes at least once around the rotation axis β. The automatic rotation stage 3 may be continuously rotated so as to rotate about the axis α by a predetermined angle Δψ.

On the other hand, in the distance measuring device 2 which operates in response to the operation command from the controller 4, the processor 15
Thus, control as shown in the flow of FIG. 5 is performed. That is, in step SB1 after the start of FIG.
The input of the operation command from the controller 4 is determined, and if the operation command is input (YES), the process proceeds to Step SB2,
The drive motor is operated to rotate the reflecting mirror 8 around the rotation axis β at a constant speed. Subsequently, in step SB3, pulse light is oscillated from the laser diode 7, and in step SB4, counting of elapsed time is started in synchronization with the internal clock of the processor 15.

Subsequently, in step SB5, it is determined whether or not the reflected light is detected by the light receiving element 13, and it waits until the reflected light is detected (NO).
S) Proceed to step SB6. In this step SB6, the counting by the processor 15 is stopped, and
At B7, the output (encoder output) from the rotary encoder 10 is read. Subsequently, in step SB8, the distance L to the measurement point P is calculated based on the count value, and the count value is cleared.

Then, in the following step SB9, the measurement data, that is, the distance L to the measurement point P and the altitude angle φ of the measurement point P are transmitted to the controller 4, and in the subsequent step SB10, the controller 4 issues a stop command. It is determined whether or not is input. If the determination is NO, the process returns to the step SB3 to repeat the measurement procedure as described above. If the determination is YES and a stop command is input, the process proceeds to a step SB11 where the drive motor of the reflecting mirror 8 is driven. Is stopped, and then the control is terminated.

That is, the distance measuring device 2 emits the laser pulse light radially around the rotation axis β extending in the horizontal direction, and performs each measurement on a line where the light projecting surface LS intersects the inner wall surface of the tunnel H. The distance L to the point P and the altitude angle φ of the measurement point P are obtained. The flow shown in FIG. 5 as a whole corresponds to distance measurement control means for operating the distance measuring device 2 at predetermined intervals.

As described above, according to the measuring device A of this embodiment, the measurement is automatically performed in almost all directions around the measuring device A, and a large number of measuring points P, P, P,
The distance L and altitude angle φ are obtained for ...
The horizontal angle の of each measurement point P is obtained based on the output from the rotary encoder 21 of the automatic rotation stage 3. Therefore, as shown in FIG. 2, the measuring device A installed at one place in the tunnel H, over a predetermined distance in the longitudinal direction of the tunnel H, a large number of measurement points P, P, P, on the inner wall of the tunnel. Can automatically acquire coordinate data consisting of coordinates (L, φ, ψ).

Here, considering how far the coordinate data can be acquired in the longitudinal direction of the tunnel H by the measuring device A installed at one place as described above, it depends on the state of the inner wall surface of the tunnel. However, as described above, the measurement accuracy decreases as the incident angle of the pulse light on the inner wall surface of the tunnel H becomes shallower. Therefore, in the case of a general tunnel, the incident angle of the pulse light on the inner wall surface is approximately 3 °.
It is required that it be 0 degrees or more.

Further, as is apparent from FIG. 6, the light projecting surface LS of the pulse light on the inner wall surface of the tunnel H is dense near the measuring device A, but sparse at a position far from the measuring device A. ing. For this reason, although the measurement is possible if the incident angle of the pulsed light to the inner wall surface of the tunnel H is about 30 degrees or more, if the distance from the installation point of the measurement device A in the longitudinal direction of the tunnel is increased, the measurement point P There is a possibility that the shape of the tunnel H cannot be grasped with sufficient accuracy because the interval between them becomes too large.

On the other hand, for example, if the single rotation angle Δψ of the distance measuring device 2 by the automatic rotation stage 3 is reduced, the number of measurement points P is increased unnecessarily, and the time required for the measurement itself is increased. In addition to an increase in the load of arithmetic processing for processing a large amount of coordinate data of the measurement points P, P,..., The time required for data processing also increases rapidly. The original purpose of measuring with high precision cannot be substantially achieved.

Therefore, in this embodiment, the rotation angle Δ 測定 of the distance measuring device 2 by the automatic rotating stage 3, that is, the average rotation speed of the distance measuring device 2 is kept low, and the coordinates of the measuring point P are adjusted. In addition to preventing loss of data, the processing of the measurement data is devised so that the necessary and sufficient coordinate data of the measurement point P can be acquired while minimizing the increase in the data amount. Specifically, a virtual tunnel model h as shown in an example in FIG. 7 is created in accordance with specifications previously defined in a tunnel construction plan, and a predetermined interval is formed on the inner wall of the tunnel model h. , Cylindrical coordinate data (x, θ, r) of a number of measurement target points Pt, Pt,.

In FIG. 7, a permissible selection range in which each of the measurement points P can be selected around the measurement target point Pt (set range: a hatched line is shown around one measurement target point Pt in the figure). Is set, and coordinate data corresponding to the selection allowable range is prepared. That is, if the coordinates of the measurement target point Pt are (xm, θn, rmn), the coordinates (x, θ, r) of the allowable selection range corresponding to the measurement target point Pt.
Is represented, for example, by the following three equations, and the coordinate data of the selection allowable range is given as a map whose example is shown in FIG.

Xm−Δx <x <xm + Δx (1) θn−Δθ <θ <θn + Δθ (2) rmn−Δr <r <rmn + Δr (3) The predetermined interval between the points may be set to an appropriate interval according to the purpose of measuring the shape of the tunnel H. For example, when examining the shape of the inner wall surface of the tunnel after excavation, it is about 30 to 50 cm. Just set it.
Further, the width of the selection allowable range can be changed by changing each value of Δx, Δθ, and Δr in the above formulas 1 to 3, for example, Δx = about 20 cm, Δθ = 0.5
１1 degree, Δr = approximately 50 cm.

After setting the coordinate data of the measurement target point Pt and the selectable range in this way, the coordinate data of a large number of measurement points P measured by the range finder 2 is input to the controller 4 as described above. The controller 4 compares the coordinates of each measurement point P with the coordinates of the selection allowable range. Then, by selecting only the coordinates of the measurement points P included in the selection allowable range of any one of the measurement target points Pt, only the coordinate data of the measurement points P appropriately dispersed on the inner wall of the tunnel H is collected. However, other unnecessary data can be excluded.

Further, in the measuring apparatus A of this embodiment, one of the distance measuring machines 2 using the automatic rotating stage 3 is selected so that at least one measuring point P is selected in each of the selectable ranges of the measuring target points Pt. The rotation angle Δψ is set to a predetermined angle or less. Hereinafter, this set rotation angle Δψ and the measurable distance x1 in the tunnel longitudinal direction by the measuring device A will be described.
Will be described in detail with reference to FIG.

FIG. 9 shows the measuring device A installed at a substantially central portion in the width direction of the tunnel H and viewed from the vertical direction. The one-dot chain line γ passes through the installation point of the measuring device A. , A longitudinal line extending in the longitudinal direction of the tunnel H. In the figure, the distance in the width direction from the measuring device A to the side wall surface of the tunnel is R, and the distance from the measuring device A to the measuring point P
The distance in the longitudinal direction of the tunnel to P1 and P2 is x1,
Assuming that x2 and the horizontal angles of the measurement points P1 and P2 are respectively ψ1 and 12, x1−x2 = x1−R × tanψ2 = x1−x2 = x1−R × tan (ψ1−Δψ) (Equation 4) Further, since x1 = R × tanψ1, ψ1 = tan ⁻¹ (x1 / R) (Equation 5) ｘx1−x2 = x1−R × tan ｛tan− ¹ (x1 / R) − Δψ｝ (Equation 6) Here, the length of the tunnel in the longitudinal direction of the selection allowable range is ±
.DELTA.x, and if it is attempted to include at least one measurement point P in the selection allowable range, x1-x2
Since <Δx must be satisfied, the following (Equation 7) must be satisfied from the (Equation 6).

Δx> x 1 −R × tan ｛tan ⁻¹ (x ¹ / R) −Δψ｝ (Equation 7) That is, one rotation angle Δψ of the distance measuring device 2 by the automatic rotating stage 3, If the selection allowable range Δx is set so as to satisfy the above (Equation 7) according to the width direction dimension 2 × R of the tunnel H and the measurement distance x1 in the tunnel length direction, respectively, the measurement is performed by the measuring device A. Even if it is farthest from the measuring device A within the longitudinal range of the possible tunnel H, it is possible to collect the coordinate data of the measuring points P in a state where the measuring points P are appropriately dispersed at predetermined intervals without omission. It is.

For example, as described above, the tunnel H
If it is possible to measure up to the point where the incident angle of the pulse light on the inner wall surface of the
Is about 10 m (R = 10), and about 10 m apart in the longitudinal direction of the tunnel H,
Since measurement is possible, R = 5m, x1 = 10m
Becomes

Then, if the distance measuring device 2 is rotated by the automatic rotating stage 3 in steps of 0.5 °, Δψ =
Since it is 0.5 °, from the above (Equation 7), Δx> 10−5 × tan よ り tan ⁻¹ (10/5) −0.
5｝ ０．１ 0.1933 Therefore, in this case, it is sufficient that Δx ≧ 20 cm.

Hereinafter, the procedure of data processing by the controller 4 will be specifically described with reference to the flowchart shown in FIG.

In step SC1 after the start of the flow shown in the figure, first, it is determined whether or not the distance measuring device 2 has operated. That is, NO is determined until the operation command is output from the controller 4 to the distance measuring device 2, and YES is determined if the operation command is output, and the process proceeds to step SC2. In step SC2, the measurement data input from the distance measuring device 2, that is, the distance L to the measurement point P and the altitude angle φ are input, and the horizontal position of the measurement point P calculated based on the signal from the rotary encoder 21 is input. Enter angle ψ.

Subsequently, in step SC3, the coordinates (L, φ, ψ) of the measurement point P are converted into the same cylindrical coordinates (x, θ, r) as the coordinate data of the measurement target point Pt. , The converted coordinate data of the measurement point P is compared with the coordinate data of the selection allowable range. Then, in the subsequent step SC5, it is determined whether or not the measurement point P is included in any of the selection allowable ranges.
If so, the process returns to step SC2, while if the determination is YES, the process proceeds to step SC6. That is, only the coordinates of the measurement point P included in the selection allowable range of any one of the measurement target points Pt are selected.

Subsequently, in step SC6, the coordinates of the measurement point P selected as described above are compared with the coordinate data of the measurement target point Pt itself, and are already selected corresponding to the measurement target point Pt. If there is a measurement point P that is present, it is also compared with the coordinates (memory value) of this measurement point P. Then, in subsequent step SC7, it is determined whether or not the coordinate data of the measurement point P is closer to the set target point than the memory value. If this determination is NO, the process returns to step SC2, while the determination is YES. Step SC8 if any
To update the memory value. That is, when there are a plurality of measurement points P that can be selected for one measurement target point Pt, only the coordinates of the measurement point P closest to the measurement target point Pt are selected.

Following step SC8, step S8 is executed.
In C9, it is determined whether or not the measurement is completed. That is, similarly to the determination of the start of the measurement, the controller 4 sends the distance
It is determined whether or not a stop command has been output, NO is determined until the stop command is output, and the process returns to step SC2. On the other hand, if the stop command is output, YES is determined at the end of the measurement. Proceeding to step SC10, the coordinate data (memory value) of all the selected measurement points P stored in the memory is transmitted to the personal computer terminal 5, and the control ends.

Then, in the personal computer terminal 5 to which the coordinate data has been transmitted from the controller 4 as described above, the virtual tunnel interior shape model h based on the coordinate data of the measurement point P by the conventionally known three-dimensional image processing software. '. That is, as shown in an example in FIG. 11, a wire frame model h 'is created by connecting measurement points P close to each other by a virtual line segment, and the data of the wire frame model h' is recorded on the personal computer terminal 5. Recorded on the device. Based on the data of the wire frame model, it is possible to obtain an arbitrary hollow section shape of the tunnel H. If the image of the wire frame model h 'is displayed on the display device of the personal computer terminal 5, the operator who sees this image display can intuitively grasp the three-dimensional inner shape of the tunnel H.

Step SC of the flow shown in FIG.
2, SC3, a calculating means 4c for inputting signals from the range finder 2 and the automatic rotating stage 3 and calculating the coordinates of each measuring point P on the inner wall of the tunnel H based on the respective signal values. In steps SC4 to SC8, the coordinates of the measurement point P calculated by the calculation means 4c are compared with the coordinate data of the measurement target point Pt, and any one of the measurement target points Pt on the inner wall of the virtual tunnel model h is compared. Coordinate data selection means for selecting only the coordinates of the measurement point P included in the surrounding allowable range is configured. Further, the personal computer terminal 5 corresponds to a wire frame model creating means.

Therefore, according to the tunnel inside shape measuring device A according to this embodiment, the measuring device A is installed, for example, near the center in the width direction inside the tunnel H, and the automatic rotating stage 3 on the upper part of the tripod 1 is connected. After leveling with the distance measuring device 2,
By operating the personal computer terminal 5, measurement in the tunnel is started. Then, first, the automatic rotation stage 3 is initially operated, and is positioned such that the rotation axis β of the distance measuring device 2 extends in the longitudinal direction of the tunnel H. Thereafter, the measuring operation of the distance measuring device 2 is started, and the laser pulse light is applied to the rotation axis β.
Are radiated so as to orbit around, and the coordinates of a large number of measurement points P on the inner wall of the tunnel H are measured on a line where the light projecting surface LS of the pulse light intersects the inner wall surface of the tunnel H. Is done.

Subsequently, after the pulsed light circulates a predetermined number of times around the rotation axis β, the distance measuring device 2 is rotated by a predetermined angle about the vertical axis α by the automatic rotation stage 3, and the above-described operation is performed again. As described above, the coordinate of the measurement point P on the inner wall of the tunnel H is measured by the distance measuring device 2. The above measurement is repeatedly and automatically performed, and when the range finder 2 rotates about the vertical axis α by about 180 degrees, the measurement operation is completed and stored in the memory of the controller 4 by then. Are transmitted to the personal computer terminal 5.

In this manner, coordinate data of a large number of measurement points P, P,... Distributed over a predetermined distance in the longitudinal direction on the inner wall of the tunnel H are automatically collected by one measurement by the measurement device A. Therefore, it is possible to acquire much more coordinate data of the measurement points P in a short time than in the conventional method of measuring one point at a time. Moreover, one rotation angle Δψ of the distance measuring device 2 by the automatic rotation stage 3
(Average rotation speed) by keeping it below a predetermined angle,
Coordinate data without omission can be obtained over a predetermined distance in the longitudinal direction of the tunnel, so that the inner shape of the tunnel H can be measured with necessary and sufficient accuracy. In addition, an accurate wire frame model h 'can be created based on the coordinate data, and an arbitrary hollow section shape of the tunnel H can be obtained based on the model.

Further, the plurality of measurement points P, P,.
.. Are located one by one in the vicinity of a large number of measurement target points Pt, Pt,... Which are appropriately dispersed in advance so as to correspond to the purpose of measurement. While obtaining sufficient coordinate data, it is possible to reduce the data amount as much as possible, reduce the load of the data processing operation, and increase the processing speed.

(Other Embodiments) The tunnel inside shape measuring apparatus A of the present invention is not limited to the above-described embodiment, but includes various other embodiments.
That is, in the above-described embodiment, the size of the selection allowable range set around each measurement target point Pt is constant regardless of the distance of the measurement target point Pt from the measuring device A. However, the present invention is not limited to this. For example, the farther the measurement target point Pt is from the installation location of the measurement device A in the longitudinal direction of the tunnel H,
The selection allowable range may be set to be wide. By doing so, the distance measuring device 2 as in the above-described embodiment can be used.
It is possible to obtain coordinate data with less omission of the measurement point P without suppressing the average rotation speed of.

The average rotation speed of the distance measuring device 2 is, for example, as shown in FIG.
The distance between the light emitting surfaces LS of the pulse light on the inner wall surface of the tunnel H may be gradually changed so as to be substantially constant. That is, as the inclination angle between the rotation axis β of the distance measuring device 2 and the longitudinal line γ extending in the longitudinal direction of the tunnel H is larger, the pulse light is incident on the inner wall surface of the tunnel H at a shallower angle. Therefore, the average rotation speed of the range finder 2 may be reduced as the distance becomes larger.

In this way, the distribution of the measurement points P on the inner wall of the tunnel H can be made uniform in the longitudinal direction of the tunnel H, so that coordinate data with few omissions can be obtained while reducing measurement waste. be able to. Further, simply when the inclination angle between the rotation axis β of the distance measuring device 2 and the longitudinal line γ of the tunnel H is 45 degrees or more,
Similar effects can be obtained by merely reducing the average rotation speed of the distance measuring device 2 as compared with the case where the inclination angle is 10 degrees or less.

[0068]

As described above, according to the tunnel inner shape measuring apparatus of the first aspect of the present invention, the direction of the distance measurement by the optical distance measuring means is caused to revolve around the rotation axis set in advance. By rotating the distance measuring means about an orthogonal axis orthogonal to the rotation axis, the measuring device can automatically collect coordinate data of a large number of measuring points on the inner wall of the tunnel. This makes it possible to collect the coordinate data of a much larger number of measurement points in a short time than in the past, and based on the coordinate data of this many measurement points, it is necessary and sufficient to determine the inner shape of the tunnel. It can be grasped with accuracy.

According to the second aspect of the present invention, by creating a wire frame model based on the coordinate data of a large number of measurement points on the inner wall of the tunnel, it is possible to intuitively grasp the inner shape of the tunnel or to set an arbitrary shape of the tunnel. For example, it is possible to obtain the inner cross-sectional shape.

According to the third aspect of the invention, a large number of measurement points on the inner wall of the tunnel are sampled so as to be dispersed at an appropriate interval from each other, and based on the coordinate data of the sampled measurement points, the number of measurement points in the tunnel is determined. The shape can be grasped with necessary and sufficient accuracy.

According to the fourth or fifth aspect of the present invention, even if the measuring point on the inner wall of the tunnel is far from the place where the distance measuring means is installed, it is possible to acquire coordinate data with less omission.

According to the sixth aspect of the present invention, it is possible to obtain coordinate data with few omissions while reducing the waste of measurement by making the distribution state of a large number of measurement points on the inner wall of the tunnel as uniform as possible.

According to the invention of claim 7, it is possible to reduce the data amount as much as possible and to speed up the data processing while leaving necessary coordinate data among a large number of measurement points.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall configuration of a tunnel inside shape measuring apparatus according to an embodiment of the present invention.

FIG. 2 is a perspective view showing a measuring device installed in a tunnel.

FIG. 3 is a perspective view illustrating a configuration of a rotary distance measuring device.

FIG. 4 is a flowchart illustrating a procedure of operation control of an automatic rotation stage and the like by a controller.

FIG. 5 is a flowchart illustrating a procedure of measurement control by a controller.

FIG. 6 is a diagram schematically illustrating a change in the projection state of the pulse light when viewed from a vertical direction.

FIG. 7 is an explanatory diagram showing a virtual tunnel model, a measurement target point on the model, and a selection allowable range.

FIG. 8 is a diagram showing an example of a coordinate data map of a selection allowable range.

FIG. 9 is an explanatory diagram of a method of setting one rotation angle of the automatic rotation stage so that coordinate data of a measurement point without omission is obtained.

FIG. 10 is a flowchart illustrating a procedure of data processing by a controller.

FIG. 11 is an explanatory diagram showing an example of a wire frame model of an inner wall of a tunnel.

FIG. 12 is a diagram corresponding to FIG. 7 according to another embodiment.

[Explanation of symbols]

A Tunnel shape measuring device H Tunnel h Tunnel model P Measurement point Pt Measurement target point α Vertical axis (orthogonal axis) β Rotation axis γ Longitudinal line of tunnel 2 Rotary distance measuring device (optical distance measuring means, light projection Direction changing means) 3 automatic rotating stage (rotating means) 4 controller 4a operation control means 4b distance measuring control means 4c calculating means 4d coordinate data selecting means 5 personal computer terminal (wire frame model creating means) 8 reflecting mirror (light emitting direction variable) Means) 10 Rotary encoder (rotational displacement detecting means) 21 Rotary encoder (rotational displacement detecting means)

Claims (7)

[Claims] 1. A measuring device installed in a tunnel to measure the inner shape thereof, wherein the reflecting device emits a pulse light toward an inner wall of the tunnel and returns along the emitting direction. Optical distance measuring means for detecting light and calculating the distance to the measurement point based on the round trip time of the pulse light; and projecting the pulse light by the distance measuring means around a predetermined rotation axis. Light-projecting direction changing means for changing so as to orbit; rotational displacement detecting means for detecting a rotational displacement amount in the light-projecting direction by the light-projecting direction variable means; and the distance measuring means; A rotation unit configured to rotate around an orthogonal axis perpendicular to the axis, a rotation displacement detection unit configured to detect a rotation displacement amount of the distance measurement unit by the rotation unit, and a predetermined distance measurement unit. Distance measurement control means operated for each period; While the light direction changes at least one round about the rotation axis, the light projection direction changing means and the rotation means are respectively operated so that the distance measuring means rotates by a predetermined angle about the orthogonal axis. Operation control means, and signals from the distance measuring means, the rotational displacement detecting means and the rotational displacement detecting means are respectively inputted so as to correspond to the operation of the distance measuring means. An arithmetic unit for calculating coordinates of each measurement point, the tunnel inside shape measuring device characterized by comprising: 2. A wire frame model according to claim 1, wherein the measurement points adjacent to each other are connected by virtual line segments based on the coordinate data of the plurality of measurement points on the inner wall of the tunnel calculated by the calculation means. A tunnel inside shape measuring device, comprising: a wire frame model creating means. 3. The method according to claim 1, wherein the coordinate data of a plurality of measurement target points set so as to have a predetermined interval from each other on a virtual inner wall of the tunnel in accordance with the specification of the tunnel; Coordinate data for comparing the obtained coordinates of the measurement points with the coordinate data of the measurement target points, respectively, and selecting only the coordinates of the measurement points included in a set range around any of the measurement target points on the virtual tunnel inner wall. A tunnel inside shape measuring device, comprising: selecting means. 4. The tunnel shape measurement according to claim 3, wherein the set range is set to be wider as the measurement target point is farther from the installation location of the distance measuring means in the longitudinal direction of the tunnel. apparatus. 5. The method according to claim 3, wherein the orthogonal axis is set so as to be orthogonal to a longitudinal line extending in a longitudinal direction of the tunnel, and the operation control unit controls the coordinate data selecting unit to correspond to each measurement target point. An apparatus for measuring the inside shape of a tunnel, wherein an average rotation speed of a distance measuring unit by a rotation unit is controlled to be equal to or lower than a set speed so that coordinates of at least one measurement point are selected. 6. The apparatus according to claim 3, wherein the orthogonal axis is set so as to be orthogonal to a longitudinal line extending in a longitudinal direction of the tunnel, and the operation control means determines that the rotation axis is viewed along the orthogonal axis. When the inclination angle formed with respect to the longitudinal direction line of the tunnel is 45 degrees or more, the rotation means of the rotation means is increased so that the average rotation speed of the distance measuring means becomes larger than when the inclination angle is 10 degrees or less. An apparatus for measuring the inside shape of a tunnel, which controls operation. 7. The coordinate data selecting means according to claim 3, wherein when there are a plurality of measurement points that can be selected for one measurement target point, a coordinate of the measurement point closest to the measurement target point is selected. A tunnel inside shape measuring device characterized by being constituted.