JP2003013699A - Method and apparatus for controlling spraying of concrete - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a spray control method and a spray control apparatus of concrete for objectively measuring the inner space sectional shape before and after spraying concrete and spraying concrete to appropriate concrete thickness. SOLUTION: An imaging unit having a stereo camera apparatus 12 where a plurality of cameras 11, 11 are fixed at a fixed interval so that the apparatus 12 can be rotated and controlled is carried into a tunnel, an inner space section 26 before spraying concrete is photographed by the imaging unit 12, the stereo photographing data are inputted to a computer 24 and the inner space sectional shape is calculated by the principles of stereo image measurement, and then a scheduled inner space section 27 is calculated based on the inner space sectional shape, and concrete is sprayed based on the data of the shape of the scheduled inner space section 27.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention mainly relates to a concrete spraying control method for controlling a spraying thickness of concrete, which is a support, by measuring an inner-air cross-section of the ground before lining in tunnel excavation by NATM. Regarding the device.

[0002]

2. Description of the Related Art In general, NATM is a construction method for constructing a support consisting of sprayed concrete and rock bolts on the ground surface excavated by blasting, etc. In this construction method, excavation equipment such as shield machine is used. In addition to the relatively large unevenness on the ground surface after excavation, concrete spraying is done by the operator operating the spray nozzle, so concrete spraying after spraying It is necessary to measure the thickness and inspect the surface finish.

Conventionally, a method for inspecting concrete thickness is known in which a part of concrete is perforated and the perforated hole is examined to measure the concrete thickness. On the other hand, surface finish inspection of concrete is visually observed by an operator. Is done by.

[0004]

However, in the conventional technique as described above, a relatively large unevenness is formed on the ground surface after excavation, as compared with other construction methods using an excavation device such as a shield machine. In order to measure the spray thickness of concrete more accurately, a large number of inspection points are required, but this inspection can only confirm the spray thickness of the peripheral edge of the drilled hole, and the number of drilled holes is large. However, there was a problem that the loss area of the concrete, which is the supporting material, becomes larger as it is carried out.

In addition, the surface finish inspection of concrete is
There is a problem that it is difficult to make an objective judgment because it is visually confirmed by the operator, and it is difficult to finish the concrete surface.

In view of such a state of the art, the present invention objectively measures the inner-air cross-sectional shape before and after concrete is sprayed, and sprays the concrete to a suitable concrete thickness. The purpose is to provide the device.

[0007]

The feature of the concrete spraying control method according to the present invention, which solves the above-mentioned conventional problems and achieves the intended purpose, is that a plurality of cameras are fixed at regular intervals. A photographing unit equipped with a stereo camera device capable of rotating is carried into a tunnel, and the photographing unit photographs a cross section of the inner sky before concrete is sprayed. After calculating the inner sky cross-sectional shape based on the principle of image measurement, calculating a planned inner sky cross-section based on the inner sky cross-sectional shape, and causing concrete spraying based on the data of the planned inner sky cross-sectional shape. is there.

It is preferable that the photographing unit is installed in a dolly on which a spraying device is mounted so that it can be freely taken in and out on the face of the face, and an automatic tracking type position measuring device is installed at a position retracted from the face of the face in the tunnel. However, it is preferable that the position of the photographing unit is detected by the automatic tracking type position measuring device and input to the computer, and after the concrete spraying work is performed based on the data of the plan internal sky section shape, the photographing unit is sprayed. After shooting the inner sky cross section, after calculating the inner sky cross-sectional shape after spraying by analyzing the stereo shooting data by a computer, by comparing the inner sky cross-sectional shape before and after concrete spraying the sprayed concrete thickness In addition to calculating, calculate the excess and deficiency of concrete spray thickness by comparing the inner air cross-sectional shape after spraying with the planned inner air cross-sectional shape. It is preferable to perform the concrete spraying to modify the plan in an empty cross-sectional shape data on the basis of the excess or deficiency amount data.

Further, the concrete spray management apparatus according to the present invention is characterized by a stereo camera apparatus in which a plurality of cameras are fixed at regular intervals, and a shooting control means for controlling a shooting attitude of the stereo camera apparatus. A shooting control unit having a computer for analyzing the data from the shooting unit. There was a concrete spraying on the attachment device.

It is preferable that an automatic tracking type position measuring device for detecting the position of the photographing unit is provided, and the photographing unit is housed in a box-shaped dustproof box for blocking dust, and the dustproof box is used for photographing by the stereo camera device. It is preferable to provide a dustproof door that can be opened and closed so as not to block the possible range, and it is preferable to provide an air conditioner for cleaning the air inside the dustproof box and adjusting the temperature and humidity of the air.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION Next, an embodiment of a concrete spray management apparatus according to the present invention will be described with reference to FIGS.

As shown in FIG. 1, the spray control device 1 is
It is configured to include a photographing unit 3 that stereoscopically photographs the inner sky section of the tunnel 2, and a spraying control unit 4 that analyzes data from the photographing unit 3 and controls concrete spraying. In a state of being housed in the box 5, the trolley 7 mounted with the spraying device 6 is installed via a retractable means (stretchable arm) 9 on the face face 8 side, and the spraying control unit 4 is mounted on the trolley 7. It is installed.

In FIG. 1, reference numeral 10 is an automatic tracking type position measuring device for detecting the position of the spray control device 1.

As shown in FIG. 2, the photographing unit 3 has two units.
A stereo camera device 12 in which a pair of digital cameras 11 and 11 are fixed at regular intervals is rotatably supported with respect to a pedestal portion 13, and by rotating a rotary shaft 14, the stereo camera device 12 becomes approximately 180. It is possible to take a shooting posture at a predetermined angle within a range of °.

The stereo camera device 12 is a base unit 1 in which two digital cameras 11 and 11 are formed in a substantially rectangular parallelepiped.
A rotary shaft 14 fixed to both ends of the base 6 in the longitudinal direction and provided at the center of the lower end of the base 16 is pivotally supported by bearings 13a, 13a projecting from the upper surface of the mount 13. One end of the rotating shaft 14 is directly connected to a drive motor 15 which is controlled by a computer which constitutes the spraying control unit 4 which will be described later, and constitutes a photographing control means for controlling the photographing posture of the stereo camera device 12.

Further, the base portion 16 is provided with illuminating devices 17 and 17 along the side portions of the digital cameras 11 and 11 for illuminating the photographing direction of the cameras.

As shown in FIG. 3, the dustproof box 5 is formed in a box shape and can be hermetically sealed so that dust or the like does not enter inside. In addition, the upper part of the dustproof box 5 is provided with dustproof doors 18 and 18 that open and close in a double-door manner, and when the dustproof doors 18 and 18 are open, the stereo camera device 12 can be photographed at any angle in the photographing range. The direction is not blocked by the dustproof box.

The inside of the dustproof box 5 has an air conditioning means 1
9 can be connected to perform temperature and humidity adjustment and air cleaning.

As shown in FIG. 1, the air conditioning means 19 is mounted on the carriage 7 and includes an air purifier 20, a temperature / humidity adjusting device 21 continuously arranged in the air purifier 20, and a temperature / humidity adjusting device 21. An air supply hose 22 for supplying the discharged cleaned and temperature / humidity adjusted air to the dustproof box 5.

This air conditioning means 19 is, as shown in FIG.
First, the air purifier 20 sucks the outside air to remove dust and the like contained in the outside air to clean the air. This cleaned air is sent to the temperature / humidity adjusting device 21 and adjusted so that the temperature and humidity are suitable for ensuring a good operating environment of the stereo camera device 12. Then, the cleaned and temperature / humidity-adjusted air is sent into the dustproof box 5 through the air supply hose 22 and discharged from the exhaust port 23.

As a result, the inside of the dust-proof box 5 is always kept clean and suitable for temperature and humidity control, dust is scattered around, and the dust is suitably blocked even in a hot and humid tunnel, and the heat generated by the photographing unit is stored inside. To secure a suitable operating environment.

As shown in FIG. 5, the spray control unit 4 is provided with a computer 24 for analyzing the data sent from the photographing unit, and the trolley 7 having the spray device 6 mounted therein.
It is installed on top.

A computer program stored in the computer 24 controls the driving motor 15 of the photographing unit 3 to operate it so that the photographing unit 3 is oriented at a predetermined angle and stereoscopic photographing of an aerial cross section in the tunnel in the direction of the predetermined angle is performed. In addition, the stereo image data captured by the image capturing unit is captured, the inner sky cross-sectional shape is calculated based on the principle of stereo image measurement, and the planned inner sky cross-sectional shape is calculated based on the inner sky cross section. Further, the spraying device is caused to execute the spraying work based on the data of the plan internal cross-sectional shape by the computer program.

The automatic tracking type position measuring device 10 can measure the absolute position of the carriage 7 (or the photographing unit 3) with respect to the measurement base point, and outputs this data to the computer 24. Based on this position data, the computer 24 can calculate the position and the like at which the next blast will be initiated.

Next, a concrete spray control method according to the present invention using the above apparatus will be described with reference to the flow chart shown in FIG.

First, as shown in FIG. 1, the trolley 7 is carried into a position in front of the face 8 in the tunnel, to a position related to the ground surface where the tip of the trolley 7 is exposed (step 101), and the photographing unit 3 is carried out. By means of the expansion and contraction means 9,
The dustproof doors 18, 18 of the dustproof box 5 are opened to prepare for shooting. At this time, the arm of the concrete spraying device 6 is folded so as not to disturb the shooting.

Next, as shown in FIG. 7, stereo photography is performed at predetermined angles (36 ° in this embodiment), that is, in the tunnel crossing direction (step 102, primary photography), and photography is performed. The stereo image data (DTM data) and the position data detected by the automatic tracking type position measuring device 10 are transmitted to the computer 24 (steps 103, 10).
4).

The computer 24 measures the three-dimensional shape of the target surface as shown in FIG. 8 based on the transmitted stereo image data and using the principle of stereo image measurement.
This is displayed as mesh data on the display device 25 attached to the computer (step 105).

Then, the mesh data obtained by dividing and measuring are joined together next to each other (step 106), and the shape of the inner cross-section 26 of the tunnel before concrete injection is calculated (step 107).

Next, the computer calculates the length up to the planned inner air section 27 based on the data of the inner air section shape (step 108), and the shape data of the inner air section 26 (before concrete spraying) and the plan. The inner air section 27 data is temporarily stored in a storage device incorporated in the computer (step 109), and the spraying control unit 4 causes the spraying apparatus 6 to spray concrete based on the planned inner air section data (step). 110).

During the concrete spraying work, the photographing unit 3 is retracted by retracting the telescopic arm 9, and the dustproof door 18,
18 is also closed.

Since a series of operations from step 105 to step 110 can be performed during the tidying up work of the tunnel excavation work and the setup change, there is no time loss due to waiting for the analysis time and the tunnel construction can be performed.

After the concrete spraying work is completed,
The dolly 7 is carried into the same place as in the primary photographing (step 111), the same work as the above-mentioned operation of step 102 to step 108 is performed, and the inner-air cross-sectional shape of the tunnel after concrete spraying is calculated. (Step 112)
(Secondary shooting-joining process).

Next, in step 109, the temporarily stored inner-air cross-section shape data is compared with the inner-air cross-section 28 after concrete spraying obtained in step 112 (FIG. 9) to calculate the spray thickness of concrete. Then, the plan internal cross-sectional shape data that has been temporarily stored is compared with the internal sky cross-sectional shape data after the concrete has been sprayed to calculate the excess or deficiency of the spray thickness (step 11).
4).

Then, the plan internal cross-sectional shape is corrected from this excess / deficiency data, the corrected plan internal cross-sectional shape data is output to the spraying control section 4, and concrete is sprayed onto the spraying device 6. (Step 115).

The above steps are repeated to proceed with the tunnel excavation work.

[0037]

As described above, in the concrete spraying management method according to the present invention, the photographing unit equipped with the stereo camera device in which a plurality of cameras are fixed at regular intervals so as to be rotatable is tunneled. Bring it in and shoot the inner sky section before concrete spraying with the shooting unit,
After inputting the stereo photographing data into a computer to calculate the inner sky cross-sectional shape according to the principle of stereo image measurement, a plan inner sky cross-section is calculated based on the inner sky cross-sectional shape, and data of the plan inner sky cross-section is calculated. By performing concrete spraying on the basis of the above, it is possible to objectively grasp the cross-sectional shape of the inside of the tunnel and suitably control concrete spraying work and concrete thickness. In addition, the human element of the inspection is eliminated and automation becomes possible. Furthermore, since the process of obtaining the plan sky cross-sectional shape can be performed during the tidying up work of the tunnel excavation work and the setup change, there is no time loss due to waiting for the analysis time, and the tunnel construction can be suitably performed.

Further, since the photographing unit is installed on the dolly on which the spraying device is mounted so that it can be freely taken in and out on the face of the face, the photographing unit can be suitably protected from the concrete that bounces off during the spraying work.

An automatic tracking type position measuring device is installed in a position retracted from the face in the tunnel, the position of the photographing unit is detected by the automatic tracking type position measuring device, and the position is input to the computer. The absolute position can be grasped, and it becomes possible to manage the excavation process such as which position should be blasted next.

After performing concrete spraying work on the basis of the data of the plan internal sky cross-sectional shape, an image of the internal sky cross-section after spraying is taken by the shooting unit, the stereo shooting data is analyzed by the computer, and After calculating the air cross-sectional shape, the sprayed concrete thickness is calculated by comparing the inner air cross-sectional shapes before and after concrete spraying, and the inner air cross-sectional shape after the spraying and the planned inner air cross-sectional shape are compared. Calculate the excess and deficiency of concrete spray thickness, correct the above-mentioned plan internal cross-sectional shape data based on the excess and deficiency data, and then perform concrete spraying, to obtain the finished surface after concrete spraying. It is possible to objectively grasp and appropriately perform the finishing work, and it is possible to eliminate the human element in the finishing work and to automate the finishing work.

Further, the concrete spraying management device according to the present invention has a stereo camera device in which a plurality of cameras are fixed at regular intervals, and a shooting control means for controlling the shooting posture of the stereo camera device. A shooting unit is provided with a shooting unit, the shooting unit is installed in a carriage mounted with the spraying device so that the shooting unit can be freely taken in and out, and a spraying control unit having a computer for analyzing data from the shooting unit is provided as a spraying device. By spraying concrete, it is possible to objectively grasp the cross-sectional shape of the inside of the tunnel and suitably manage the concrete spraying work and the concrete thickness. In addition, the human element of the inspection is eliminated and automation becomes possible. Further, since the process of obtaining the plan sky cross-sectional shape and the like can be performed during the tidying up work of the tunnel excavation work and the setup change, there is no time loss due to waiting for the analysis time, and the tunnel construction can be suitably performed.

Since the automatic tracking type position measuring device for detecting the position of the photographing unit is provided, the excavation position of the tunnel can be grasped and the excavation process can be controlled.

The photographing unit is housed in a box-shaped dustproof box for blocking dust, and the dustproof box is provided with a dustproof door that can be opened and closed so as not to block the photographing range of the stereo camera device. The shooting unit, which is a machine, is preferably protected from dust, while the shooting unit does not interfere with shooting.

Further, by providing the air conditioning means for cleaning the air inside the dustproof box and adjusting the temperature and humidity of the air, it is possible to suitably block the dust generated by the rebound of the concrete spraying, and to keep the temperature and humidity high. Even in the tunnel, the heat generated by the photographing unit is adjusted to a suitable temperature and humidity without being stored inside, and a good operating environment of the photographing unit is secured.

[Brief description of drawings]

FIG. 1 is a schematic view showing an example of implementation of a concrete spraying management apparatus according to the present invention.

FIG. 2A is a front view showing the photographing unit of the above,
(B) is the same side view, (C) is the same plan view.

FIG. 3 is a partial cross-sectional view showing a housed state of the imaging unit of the above.

FIG. 4 is a perspective view showing an outline of air adjusting means in FIG.

5 is a block diagram showing a configuration of a spraying management device in FIG.

FIG. 6 is a flowchart showing a concrete spraying control method according to the present invention.

FIG. 7 is a cross-sectional view showing a method of stereo photography.

FIG. 8 is a perspective view showing a mesh model of an inner sky section calculated from stereo image data.

FIG. 9 is a partially enlarged cross-sectional view showing a method for calculating an excess / deficiency of concrete spraying thickness.

[Explanation of symbols]

1 Spray management device 2 tunnel 3 shooting unit 4 Spray control unit 5 dustproof box 6 Spraying device 7 dolly 8 facets 9 Expansion / contraction means (expansion / contraction arm) 10 Automatic tracking type position measuring device 11 digital camera 12 Stereo camera device 13 Stand 14 rotation axis 15 Drive motor 16 Base 17 Lighting equipment 18 dustproof door 19 Air conditioning means 20 air purifier 21 Temperature and humidity adjustment device 22 Air supply hose 23 Exhaust port 24 computer 25 display device 26 Inner sky section (before concrete spraying) 27 Plan internal sky section 28 Inner air section (after concrete spraying)

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) G06T 1/00 315 G06T 1/00 315 5C061 H04N 5/225 H04N 5/225 C 7/18 7/18 C 13/00 13/00 (72) Inventor Sadato Omori 15-34-1, Nishi-Nasuno-cho, Nasu-gun, Tochigi Prefecture F-Term (Reference) 2D055 BA06 DA00 DB00 KA00 KC06 LA13 2H101 CC01 CC31 CC52 in Technical Research Laboratory CC91 5B057 AA20 BA11 CA13 CB13 CB18 CH01 CH11 DA11 DA17 DB03 DC09 DC32 DC36 5C022 AA01 AB62 AB65 AC66 5C054 AA02 AA05 CF06 HA05 5C061 AB04 AB12

Claims (8)

[Claims] 1. A shooting unit equipped with a stereo camera device in which a plurality of cameras are fixed at regular intervals so that the stereo camera device can be rotationally controlled is carried into a tunnel, and the shooting unit causes an inner cross section before concrete is sprayed. Is photographed, the stereo photographing data is input to a computer, the inner sky cross-sectional shape is calculated according to the principle of stereo image measurement, and then a planned inner sky cross-section is calculated based on the inner sky cross-sectional shape, and the planned inner sky is calculated. A concrete spray management method characterized by causing concrete spraying based on cross-sectional shape data. 2. The concrete spraying control method according to claim 1, wherein the photographing unit is installed in a dolly on which a spraying device is mounted so as to be freely inserted and removed on the face side. 3. An automatic tracking type position measuring device is installed in a position retracted from a face in a tunnel, and the position of the photographing unit is detected by the automatic tracking type position measuring device and input to a computer. The concrete spray control method described in 2. 4. After performing concrete spraying work on the basis of the data of the plan internal cross-sectional shape, the internal sky cross-section after spraying is photographed by the photographing unit, and after the stereo photographing data is analyzed by the computer and sprayed After calculating the inner-air cross-sectional shape of, the sprayed concrete thickness is calculated by comparing the inner-air cross-sectional shape before and after concrete spraying, and the inner-air cross-sectional shape after the spraying and the planned inner-air cross-sectional shape are calculated. The excess or deficiency amount of concrete spraying thickness is calculated by contrast, and the concrete internal sky cross-sectional shape data is corrected based on the excess or deficiency amount data, and concrete spraying is performed. Spraying control method for concrete. 5. A photographing unit having a stereo camera device in which a plurality of cameras are fixed at regular intervals and photographing control means for controlling the photographing posture of the stereo camera device, and the photographing unit is sprayed with the photographing unit. Of the concrete, which is installed so that it can be freely taken in and out in the direction of the face of the trolley in which the vehicle is mounted, and has the spraying device spray the concrete with the spraying control means having the computer that analyzes the data from the photographing unit. Spray management device. 6. The concrete spraying management apparatus according to claim 5, further comprising an automatic tracking type position measuring device for detecting the position of the photographing unit. 7. The photographing unit is housed in a box-shaped dustproof box for blocking dust, and the dustproof box is provided with a dustproof door that can be opened and closed so as not to block the photographing range of the stereo camera device. The concrete spraying management device according to item 6. 8. The concrete spraying management apparatus according to claim 7, further comprising an air conditioning means for cleaning the air inside the dustproof box and adjusting the temperature and humidity of the air.