JP2011069747A - Tunnel data processing system and tunnel data processing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately correct errors caused by GPS, a distance meter or the like with respect to input data obtained from mechanical measurement of the distance meter or the like in a tunnel not used by GPS. <P>SOLUTION: A tunnel data processing system inputs position data of an original coordinate system measured with a position detection means 210 such as the distance meter or a gyro device mounted on a running vehicle and tunnel inner face point group data of the original coordinate system synchronized with the position data by a wall face detection means 120 mounted on the vehicle through a data input part 120. The tunnel data processing system includes correcting errors of GPS from a difference between measured data with GPS concerning an inlet detected plate 310 and known position data, calculating the total of tunnel inside measuring errors accumulated with errors of the distance meter in a tunnel from a difference between measured data of the distance meter concerning an outlet detected plate 320 and known position data, and correcting to divide tunnel inside measuring errors for optional points on a kilometer post. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a tunnel or the like to be measured on the basis of data on the inner surface of a structure such as a tunnel to be measured measured using a non-contact type tunnel inner surface data detection means using a laser or the like. The present invention relates to a tunnel data processing system and method for generating interior air surface data.

  Structures such as tunnels are made of sturdy concrete and are extremely stable structures, but they are severely affected by earthquakes, vehicle running, and exposure to rain and snow, as well as large pressure. There is a risk of aging due to the installation in the environment. For this reason, in maintenance of a tunnel structure, it is necessary to measure internal space surface data of a structure such as a tunnel periodically or at any time to grasp the accumulation of distortion of the internal surface of the tunnel.

  Conventionally, as a technique for detecting the distortion of the wall surface of a large concrete structure, there is a known method for accurately measuring the distance from the measurement location to the sky surface in the tunnel in a non-contact manner using ultrasonic waves or laser light. In addition, ultrasonic waves and laser light are emitted to the wall of the concrete structure, and the distance is calculated from the time difference and the wavelength phase difference of the reflected sound waves and light.

  For example, there is a measurement method using an ultrasonic distance meter (Patent Document 1). A concrete structure is obtained by oscillating ultrasonic waves from an ultrasonic distance meter to a concrete structure to vibrate the detection point, and detecting the vibration of the detection point using a laser Doppler vibrometer at a point away from the structure. Measure the surface roughness of the surface.

  Further, for example, there is a measurement method using a laser distance meter (Patent Document 2). A laser beam modulated from a laser rangefinder is irradiated onto the measurement object, a sawtooth wave reflected by the measurement object and self-mixed with the modulated laser beam is received, and the frequency of the sawtooth wave to the measurement object is received. Measure distance.

  In the measurement using the ultrasonic distance meter and laser distance meter described above, it is possible to measure the unevenness of the wall surface of the concrete structure, but when measuring data of structures over a long distance such as roads and tunnels, measurement It is necessary to repeat the measurement using the ultrasonic rangefinder and laser rangefinder while moving the point. When moving from one measurement point to another, you must know exactly where the measurement point is. In recent years, a GPS system (global positioning system) has been developed, and it is known to accurately grasp a measurement point using a GPS system. The measurement system linked to the currently installed GPS system captures an image of a building or the like at a measurement point, and associates the absolute coordinate value of the latitude and longitude of the measurement point with the image data. It is not used for the measurement of the shape of the inner space.

JP-A-8-248006 JP 10-246782 A JP 2009-121945 A

  However, there are the following problems when measuring the shape of the inner surface of a tunnel using a measurement system linked to a conventional GPS system.

  First, there is a problem in that the measurement position cannot be specified by the GPS system due to the special environment of the tunnel when measuring the unevenness of the air surface inside the tunnel using an ultrasonic distance meter or laser distance meter mounted on a traveling vehicle. . When measuring a long structure called a tunnel, it is preferable to measure the unevenness of the wall surface of a concrete structure such as a tunnel using an ultrasonic distance meter or a laser distance meter while the measurement system is mounted on a traveling vehicle. However, since it is necessary to repeat the measurement while moving the measurement point, it is necessary to accurately grasp where the measurement point is. However, when the measurement position is specified using the GPS system, there is a problem that the absolute coordinate data of the latitude and longitude of the measurement point cannot be obtained because GPS cannot be used inside the tunnel. That is, it is difficult to specify which point it is because the measurement position cannot be specified even if the inner surface shape is measured at a certain point inside the tunnel. Eventually, it will be difficult to accurately measure the data of the inner surface of the tunnel.

  Next, there is a problem of how to measure the inner surface of the tunnel, which has a semi-circular cross section and a so-called dome-shaped cross section, using an ultrasonic rangefinder or laser rangefinder mounted on a traveling vehicle. . Some tunnels are straight, while others are gently curved. The vehicle traveling in the tunnel travels along the road in the tunnel, that is, along the center axis of the tunnel, but the sky surface in the tunnel to be measured is 180 degrees from the left side of the vehicle through the ceiling to the right side of the vehicle. There is a total of 360 degrees, 180 degrees from the right side through the road surface to the left side of the vehicle. Since the traveling vehicle is not limited to one place and travels at a substantially constant speed, a method for effectively measuring the interior air surface while traveling through the tunnel for 360 degrees using a measuring device mounted on the traveling vehicle is firmly established. If it is not established, it will not be possible to obtain the correct measurement data of the tunnel surface.

  Next, in order to grasp the distortion and deterioration of the air surface inside the tunnel, not only the unevenness can be grasped in the air surface data created based on the measurement results, but also the tunnel created by measuring after a predetermined period of time has passed. There is a problem that the deterioration over time cannot be grasped unless the data at the same measurement location can be accurately compared in comparison with the interior air surface data. Since the aging of the air surface in the tunnel may be measured after a long interval of several years, the data obtained this time must be able to match the data obtained from the previous measurement accurately. . In other words, how to obtain the air surface data in the tunnel as data normalized by an arbitrary kilopost and compare and evaluate them becomes a problem.

In view of the above problems, an object of the present invention is to provide a tunnel data processing system capable of accurately specifying a measurement position in a tunnel in a tunnel where a GPS system cannot be used.
Further, in view of the above problems, an object of the present invention is to provide a tunnel data processing system capable of effectively measuring the inner surface of a tunnel in which a unique shape of a tunnel continues linearly or curved. To do.
Further, in view of the above problems, the present invention normalizes the tunnel data obtained by measurement, and accurately determines the tunnel data obtained by separately measuring through a long-term interval of several years at a point on an arbitrary kilopost. It is an object of the present invention to provide a tunnel data processing system that can be matched with the above.

  In order to achieve the above object, a tunnel data processing system according to the present invention includes position data of an original coordinate system measured by a position detection unit mounted on a traveling vehicle, and a tunnel inner surface detection unit mounted on the vehicle. In the system that performs data processing based on the space point data in the tunnel in the original coordinate system that is measured in an arc shape in synchronization with the position data by the vehicle, the vehicle running near the entrance and exit of the tunnel to be measured The entrance detection is measured using the position detection means and the tunnel inner surface detection means mounted on the vehicle using an entrance detection plate and an exit detection plate having a plane opposite to each other in the direction. The measurement position data of the plate, the sky surface point cloud data of the inner surface of the tunnel to be measured, and the measurement position data of the exit detection plate are separately and accurately known data. A data input unit for inputting the known position data of the entrance detection plate and the known position data of the exit detection plate obtained as a data, and the difference between the measurement position data and the known position data related to the entrance detection plate As the offset error already included at the measurement start time in the measurement target tunnel, the measurement start offset error correction means for uniformly correcting the entire empty point group data in the tunnel, and the measurement related to the exit detected plate In-tunnel measurement error correction that individually distributes the in-tunnel empty surface point cloud data as an in-tunnel measurement error that is performed by accumulating the difference between position data and the known position data during measurement in the measurement target tunnel. Means.

Here, the entrance detection plate is installed in the front portion of the entrance pit outside the measurement target tunnel, and the exit detection plate is installed in the portion immediately after the exit pit outside the measurement target tunnel. The position detection means for the entrance detection plate is a GPS system, a distance meter, and a gyro device, and the position detection means for the measurement target tunnel inner surface and the exit detection plate is a distance meter and a gyro device. It is preferable that
Since the entrance detection plate obtains position information by the GPS system, it is preferably provided outside the tunnel.

  Note that, in the above-described configuration, the sky surface point group data in the tunnel that has been subjected to the uniform correction of the offset error by the measurement start offset error correction unit and the proportional correction of the measurement error in the tunnel by the measurement error correction unit in the tunnel. As means for performing the processing for, arc data group generation processing means for dividing as an arc data group for each measurement period of the tunnel inner surface detection means, and sorting in order from the first arc data group along the vehicle traveling direction, An arc center point in each arc data group is obtained and arc center point group generation processing means for sequentially sorting the arc center points from the first arc center point along the traveling direction of the vehicle, and the arc center points are obtained by sequentially connecting the arc center points. A tunnel approximate center line generation processing unit having a line segment group as a tunnel approximate center line, and the tunnel approximate center line as an entrance of the tunnel The length of the line segment is integrated along the approximate tunnel center line with the known position of the tunnel entrance pit specified by the known position data of the entrance detection plate as the starting point of the kilopost. And a kilometer post generation processing means for establishing a kilometer post as a distance index in the tunnel.

  Next, since the traveling locus and traveling speed in the tunnel of the vehicle equipped with the measuring device are not constant and slightly differ from measurement to measurement, the measurement points reflected by the laser irradiation vary every time. For example, if the tunnel has a semicircular cross section, measuring the inner surface of the tunnel from the center point of the tunnel can measure it at the correct point on the arc. Due to this, the measurement points of the arc data group vary. That is, there are variations in the arc data group.

  In order to correct the variation, in the tunnel data processing system configured as described above, the arc center point group generation processing means uses data in the arc data group to set a predetermined angle (for example, a pitch of 1 degree) from a temporarily determined center point. ), Center point calculation processing means for determining a geometrically correct center point in the cross-sectional shape of the air surface in the tunnel, which is a semicircular locus obtained by drawing the distance measured for each), and the correct center of the air surface in the tunnel Normalized measurement point calculation processing means for calculating a point that intersects the geometrical surface of the semicircular tunnel with a pitch of a predetermined angle accurately from the point, and a measured value at the normalized measurement point, the measured value at the normalized measurement point An arc data group normalization processing means for estimating by interpolation processing based on the measured values at points is provided.

Similarly, measurement points (measurement points) vary in the tunnel traveling direction mainly due to variations in travel speed. That is, there is variation between the arc data groups.
In order to correct this variation, the measured values at the measurement points (normalized measurement points) provided for each correct pitch distance in the tunnel traveling direction are calculated by interpolation from the actual measurement points before and after the actual measurement. The arc center point group generation processing means arranges the data of the arc data group for each measured measurement point along the traveling direction of the tunnel to be measured, and a predetermined distance pitch accurately. A normalization measurement point calculation processing means for calculating a normalization measurement point provided in the arc, and an arc data group that would have been obtained when measured at the normalization measurement point based on the measured data of the arc data group The present invention is characterized by comprising normalizing processing means between circular arc data groups to be estimated.

  As described above, the measurement data variation caused by the left / right deviation from the tunnel center point and the measurement data variation caused by the deviation of the traveling speed are normalized at the tunnel center point and at a predetermined pitch interval. By normalizing the data measured at the measurement point, the occurrence of variations can be prevented.

  In addition, among the above-described configurations, designation of an arbitrary point on the kilometer post, designation means for accepting designation of an arbitrary distance section from the arbitrary point, and the arbitrary point designated via the designation means An arc data group extraction processing means for extracting the arc data group belonging to the arbitrary distance section with a point as a coordinate origin, and the arc data group extracted by the arc data group extraction processing means as a computer three-dimensional drawing space A designated section tunnel interior surface image rendering processing means for linearly interpolating a space between the respective arc data and rendering a 3D image of the interior surface of the measurement target tunnel in the computer 3D rendering space. Shall be provided.

  Using the tunnel data generated by the tunnel data processing system configured as described above, it is possible to examine aging degradation. For example, each of the data sets input from the data input unit includes a data set measured at a certain time and a data set measured at another time, and the data set measured at the certain time A three-dimensional image of the sky in the measurement target tunnel in the designated section to be drawn, and a three-dimensional image of the sky in the measurement target tunnel in the same designated section to be drawn in the data set measured at the other time If there is a location with a difference between them and a configuration with an aged comparison processing means that calculates the amount of the difference, by displaying the difference, the location where the shape has changed due to deterioration over time and the amount of change Can be grasped.

  Further, in the tunnel data processing system having the above configuration, there are cases where the input data is missing. Since measurement is performed using a laser distance meter mounted on a traveling vehicle, data may not be obtained if there are obstacles such as cables or devices. Therefore, in the arc data group generation processing means, the number of data belonging to each generated arc is less than the number of data to be obtained from the measurement period of the tunnel inner surface detection means, and some data is missing. Missing data interpolation processing means for performing missing data interpolation processing for identifying and interpolating missing data by identifying a missing portion from the data string sequence and interpolating from data adjacent to the missing portion. It is preferable to have a configuration including

  Next, in the tunnel data processing method of the present invention, the position data of the original coordinate system measured by the position detection means mounted on the traveling vehicle, and the position data by the tunnel inner surface detection means mounted on the vehicle. This is a data processing method based on the space point cloud data in the tunnel of the original coordinate system measured in a circular arc shape in synchronization, and is a plane facing the vehicle traveling direction installed near the entrance and exit of the tunnel to be measured Measurement position data of the inlet detected plate measured using the position detecting means and the tunnel inner surface detecting means mounted on the vehicle using an inlet detected plate and an outlet detected plate provided with In addition, the above-described entrance-to-be-detected plate obtained as accurate known data separately from the in-tunnel surface-point data of the in-measurement tunnel interior surface Data input processing for inputting known position data and known position data of the exit detection plate, and the difference between the measured position data and the known position data related to the entrance detected plate is already measured at the measurement start time in the measurement target tunnel. As an offset error included, a measurement start offset error correction process for uniformly correcting the entire sky surface point cloud data in the tunnel, and a difference between the measurement position data and the known position data related to the exit detected plate is measured. As a measurement error in the tunnel accumulated during the measurement in the target tunnel, an in-tunnel measurement error correction process for individually proportionally correcting the in-tunnel empty surface point cloud data is provided.

  In the method described above, the processing for the in-tunnel empty surface point group data in which the uniform correction of the offset error in the measurement start offset error correction process and the proportional correction of the in-tunnel measurement error in the in-tunnel measurement error correction process are performed. Arc data group generation processing that divides into arc data groups for each measurement period of the tunnel inner surface detection means and sorts in order from the first arc data group along the vehicle traveling direction, and each of the arc data groups Arc center point group generation processing for obtaining an arc center point in the vehicle and sequentially sorting from the first arc center point along the traveling direction of the vehicle, and a line segment group obtained by sequentially connecting the arc center point groups as a tunnel approximate center Tunnel approximate center line generation processing to be a line, and the tunnel approximate center line as an entrance direction and an exit direction of the tunnel Extending a known position of the tunnel entrance pit specified by the known position data of the entrance detection plate, starting from a kilopost, and integrating the length of the line segment along the approximate tunnel center line, It is assumed that the method includes a kilometer-post generation process for establishing a kilometer-post that is a distance index.

  Further, in the above method, further, a designation reception process for accepting designation of an arbitrary point on the kilometer post, designation of an arbitrary distance section from the arbitrary point, and the arbitrary designation specified in the designation reception process An arc data group extraction process for extracting the arc data group belonging to the arbitrary distance section with a point as a coordinate origin, and the arc data group extracted by the arc data group extraction process are arranged in a computer three-dimensional drawing space And a space image drawing process in the designated section tunnel that linearly interpolates the space of the gap between the respective arc data and draws a three-dimensional image of the sky surface in the measurement target tunnel in the computer three-dimensional drawing space. A method is preferred.

  Here, as a method of examining the aging deterioration, as each data set input in the data input process, if there is a data set measured at a certain time and a data set measured at another time, A three-dimensional image of the sky surface in the measurement target tunnel of the designated section drawn from a data set measured at a certain time, and the same designated section of the same designated section drawn at a data set measured at the other time Aged deterioration can be examined by comparing with a three-dimensional image of the sky surface in the tunnel to be measured, and performing aged comparison processing for calculating the location and amount of difference between the two.

  Further, when there is a deficiency in the input data, in the arc data group generation process, the number of data belonging to each generated arc is less than the number of data to be obtained from within the measurement period of the tunnel inner surface detection means. For missing data, the missing data is used to estimate and interpolate the missing data by identifying the missing part from the data string sequence and interpolating from the data adjacent to the missing part. Interpolation can be performed by performing interpolation processing.

  According to the tunnel data generation processing system of the present invention, the position data measured by the GPS system outside the tunnel where the GPS system functions, and the distance meter and gyro device mounted on the traveling vehicle inside the tunnel where the GPS system does not function Is already included at the start of tunnel entrance measurement due to the GPS system by using the difference between the measured position data related to the entrance detection plate and the known position data in advance. It is possible to uniformly correct the entire point data in the tunnel as an offset error, and to measure in the tunnel by using the difference between the measured position data on the exit detection plate and the known position data. The error caused by the distance meter accumulated in the Tunnel air surface point cloud data Te can be individually apportioned corrected, it can be normalized as measurement data in the correct tunnel. The error caused by the GPS system or distance meter differs depending on the number of times of measurement. For example, even in the same tunnel, it is obtained by the empty point group data in the tunnel obtained by the first measurement and the next measurement. The tunnel surface point data is obtained as different values, but the normalization by the above correction corrects the different errors for each measurement, and the measurement data at each time is accurate at any point specified on the kilopost. Can be used to capture changes over time.

Next, the travel trajectory and travel speed in the tunnel of a vehicle equipped with a measurement device are not constant and slightly different for each measurement, so the measurement point reflected by the laser irradiation varies every time, A tunnel inner surface is once formed from the measured arc data group, and then the measurement points (normalized measurement points) when geometrically measured from the center point at exactly one pitch are calculated. Then, the measurement values at these normalized measurement points can also be estimated by calculating from the sky surface in the tunnel formed by the actually measured arc data group, and the measurement data can be normalized.
Similarly, although there are variations in measurement points (measurement points) in the tunnel traveling direction due mainly to variations in traveling speed, measurement points (normalized measurement) provided for each correct pitch distance in the tunnel traveling direction. The measurement value at the point) can be normalized by calculating by interpolation from the actual measurement points before and after the actual measurement.

Embodiments of the tunnel data processing system of the present invention will be described below with reference to the drawings. However, it goes without saying that the scope of the present invention is not limited to the specific application, shape, number, etc. shown in the following examples.
In the configurations of the following embodiments, what has been described as the configuration provided on the “inlet side” may be provided on the “exit side”. It doesn't matter if it is reversed and reversed.

1 shows an example of a tunnel data processing system of the present invention according to a first embodiment.
FIG. 1 is a block diagram of a tunnel data processing system 100 according to the first embodiment and a diagram for briefly explaining a method for measuring input data.
FIG. 2 is a diagram schematically showing the installation state of the measurement target tunnel 300, the inlet detection plate 310, and the outlet detection plate 320 during measurement.
FIG. 3 is a diagram showing various position data input to the tunnel data processing system 100 of the present invention.

First, a method for measuring input data input to the tunnel data processing system 100 of the present invention via the data input unit 120 will be described.
As shown in FIG. 1, acquisition of input data input to the tunnel data processing system 100 is performed by measurement of a position detection unit 210 and a tunnel inner surface detection unit 220 mounted on the vehicle 200.

  The position detection unit 210 is mounted on the vehicle 200 and is a unit that detects a measurement position (vehicle position). In general, road surface conditions are surveyed on a road network that includes tunnels, and measurement using a GPS system is assumed outside the tunnel. Measurement is the base. Therefore, the approach part until entering the tunnel is the position measurement using the GPS system outside the tunnel, and the device that can measure the position instead of the GPS system in the tunnel where the GPS signal cannot be subsequently received, for example, the travel distance A combination of a distance meter to detect and a gyro device to detect a change in direction is used. That is, here, it is assumed that the position detection means 210 is equipped with three devices: a GPS system, a distance meter, and a gyro device. The purpose of using the gyro device is that there are undulations and curves in the tunnel, so the position of the vehicle traveling in the tunnel can move three-dimensionally. In order to capture this three-dimensional movement, the gyro device is used in addition to the distance meter. Use in combination. The moving distance of the vehicle 200 can be measured by a distance meter provided in the vehicle 200, and the position data of the vehicle 200 in the three-dimensional space can be measured by using the measurement data of the gyro device and the measurement data of the distance meter. . However, in the future, if there is a technological innovation that allows the GPS system to function even in places where radio waves do not reach, such as in tunnel tunnels, it does not exclude that the GPS system can be used.

  The detection accuracy of the position detection means 210 is measured for a relatively large structure called a tunnel, but is assumed to be normalized as will be described later and used for examining aged deterioration against past data. Therefore, it is preferable to have an accuracy of about 5 mm so that it can be compared with a certain degree of accuracy, but the measurement accuracy is not limited.

  The tunnel inner surface detection means 220 is mounted on the vehicle 200 and is a device that can collect unevenness data of the tunnel inner surface in a non-contact manner. Since the present invention measures the unevenness of the inner surface of the tunnel, the device is not particularly limited as long as the device can detect the unevenness of the inner surface objectively in the tunnel. For example, there are a laser distance meter and an ultrasonic distance meter.

  This is a scanning method of the tunnel inner surface detection means 220. In order to collect data while the vehicle 200 is traveling, for example, a so-called “radar scanning method” in which reflected waves are measured while scanning in a fan shape with respect to the front oblique direction. "Is preferred. As shown in FIG. 2, the vehicle 200, and the tunnel inner surface detection means 220 are fired at each traveling position, and the radar scanning line hits the inner surface and is reflected and received.

The detection of the sky surface in the tunnel needs to be measured over 360 degrees. Therefore, in the example of FIG. 2, the laser is irradiated over 360 degrees in total, 180 degrees from the left side of the vehicle 200 through the ceiling to the right side of the vehicle 200 and 180 degrees from the right side of the vehicle 200 to the left side of the vehicle 200 through the road surface. Then, the reflected wave is received, the distance is measured, and the surface unevenness is detected.
As shown in FIG. 2, as the vehicle 200 travels, the fan-shaped laser scanning line formed obliquely forward also moves forward.

  The tunnel inner surface detection means 220 measures the inner surface of the tunnel in an arc shape in synchronization with the position data obtained by the position detection means. By synchronizing with the position data, it is possible to process data of a tunnel-like structure in which the inner space to be measured is continuous.

  In addition, since the position detection unit 210 and the tunnel inner surface detection unit 220 perform measurement while being mounted on the traveling vehicle 200, actually, the traveling locus and traveling speed of the vehicle in the tunnel 300 are not necessarily constant. In other words, so-called distortion is mixed in the measured value. The tunnel data processing system 100 of the present invention can remove the distortion mixed in the measured value due to the deviation of the traveling locus of the vehicle and the variation in the traveling speed by normalizing the measured value as will be described later. Even the data of the same tunnel measured at different times can be correctly compared.

Next, the inlet detection plate 310 and the outlet detection plate 320 will be described.
In the example of FIG. 2, the entrance detection plate 310 is installed just before entering the tunnel entrance, and is a signboard or a standing plate having a plane facing the vehicle traveling direction, for example, a plane provided substantially vertically. . The size and shape need only have a size and shape that can be recognized as at least a plane, but as will be described later, it can be easily captured by a fan-shaped radar scanning line, and can be handled in the same way as other arc-shaped point cloud data. In the example of FIG. 2, it is an arch-shaped plane board.

  In the example of FIG. 2, the exit detection plate 320 is installed immediately after the tunnel exit, and is a signboard or a standing board having a plane opposite to the vehicle traveling direction, for example, a plane provided substantially vertically. is there. Similarly, the exit detection plate 320 should have at least a size and shape that can be recognized as a plane, but can be easily captured by a fan-shaped radar scanning line and handled in the same way as other arc-shaped point cloud data. For ease of illustration, the example of FIG. 2 is an arch-shaped flat plate.

  Here, the entrance detection plate 310 serves as a boundary between the position measurement by the GPS system outside the tunnel and the position measurement by the distance meter and the gyro device in the tunnel. Therefore, the position measurement data of the entrance detection plate 310 is Two measurement results are obtained: a measurement result by the GPS system and a measurement result by the distance meter and the gyro device. Separately, accurate position data is given in advance as the position of the entrance detection plate 310 as a known value. For example, it is assumed that precise and accurate absolute position data of latitude and longitude is given by surveying using a conventional triangular point. If the installation position is known by prior surveying or the like, both the entrance detection plate 310 and the exit detection plate 320 may be installed in the tunnel mine, but at least the entrance detection plate 310 has a GPS system error. Since the position measurement result by the GPS system is necessary for use in correction, it is necessary to be provided outside the tunnel.

  As described above, as the position data of the entrance detection plate 310, three pieces of position data including the measurement data by the GPS system, the measurement data by the distance meter and the gyro device, and the known accurate position data are acquired in advance. This is used for the uniform correction of the offset error at the start of measurement due to the system error.

  Further, as the position data of the exit detection plate 320, two position data of the measurement data by the distance meter and the gyro device and the known accurate position data in advance are acquired, and the tunnel caused by the error between the distance meter and the gyro device. It will be used for the apportionment correction of the measurement error in the tunnel that accumulates in the measurement.

FIG. 3 shows various position data input to the tunnel data processing system 100 of the present invention. In the example of FIG. 3, a description is given of an example in which there are 7500 empty surface point cloud data in the tunnel. As shown in FIG. 3, the position data to be measured and prepared include the position data of the entrance detection plate 310 acquired by the GPS system, and the position data at an arbitrary point in the tunnel acquired by the distance meter and the gyro device. , There is position data of the outlet detection plate 320 acquired by the distance meter and the gyro device. The tunnel data processing system 100 of the present invention inputs these position data via the data input unit 120 and executes various data processing as will be described later.
In this embodiment, the position data measured in advance is input via the data input unit 120, and the batch data processing system 100 according to the present invention performs batch processing. However, the tunnel data processing system 100 As a vehicle-mounted type, a type in which measurement data in the tunnel is received on the spot and processed in real time may be used.

  As shown in FIG. 3, the measurement result of the GPS system for the entrance detection plate 310 is expressed as [x ′ (0), y ′ (0), z ′ (0)], and an arbitrary point in the tunnel ( i) The measurement result by the distance meter and gyroscope at any point (i) on any kilometer post is expressed as [x ″ (i), y ″ (i), z ″ (i)] The measurement result by the distance meter and the gyro device with respect to the detection plate 320 is expressed as [x ″ (7500), y ″ (7500), z ″ (7500)]. Further, the accurate known position data of the entrance detection plate 310 is expressed as [x (0), y (0), z (0)], and the accurate known position data of the exit detection plate 320 is [x (7500), y (7500), z (7500)]. Each coordinate system is an xyz absolute coordinate system.

The tunnel data processing system 100 of the present invention considers correction of GPS system errors included in the measurement data and correction of errors included in the measurement of the distance meter and the gyro device, and tries to normalize the data.
The correction processing of the tunnel data processing system 100 of the present invention will be described with reference to the drawings. The tunnel data processing system 100 includes a measurement start offset error correction unit 101, an in-tunnel measurement error correction unit 102, and a data input unit 120.

First, correction of the GPS system error will be described using the position data of the entrance detection plate 310.
As shown in FIG. 3, the measurement result of the GPS system for the entrance detection plate 310 is [x ′ (0), y ′ (0), z ′ (0)], and the entrance detection plate 310 is accurate. Since the known position data is [x (0), y (0), z (0)], an error [Δx (0)] calculated by the following (Equation 1) as an error caused by the GPS system. , Δy (0), Δz (0)].

[X ′ (0), y ′ (0), z ′ (0)] − [x (0), y (0), z (0)]
= [Δx (0), Δy (0), Δz (0)] (1)

  This error [Δx (0), Δy (0), Δz (0)] is an error included at the measurement start time of the sky surface in the tunnel, that is, an offset error at the measurement time. After switching to position measurement with a distance meter and gyroscope after entering the tunnel mine, measurement is started because the position data of the inlet detection plate measured by the GPS system is taken as the reference (zero) in the concept of kilopost. The offset error occurring at the time is uniformly mixed in the measurement results [x ″ (7500), y ″ (7500), z ″ (7500)] after that by the distance meter and the gyro device. The offset error correction unit 101 corrects the GPS system error [Δx (0), Δy (0), Δz (0)] by subtracting it uniformly as an offset error, as will be described later (Equation 4). .

Next, correction of the measurement error in the tunnel caused by the distance meter and the gyro device will be described using the position data of the exit detection plate 320. FIG.
There are various types of distance meters. For example, there are those in which the meter counts up in conjunction with the rotation of the axle, such as a tachometer of a vehicle. There are various types of gyro devices, but mechanical errors can still occur. It is appropriate to consider that the error due to the distance meter and the gyro device does not occur intensively at a specific location in the tunnel but is accumulated uniformly in proportion to the distance. The measurement results by the distance meter and gyroscope at any point (i) in the tunnel (any point (i) on any kilopost) are [x "(i), y" (i), z "(i) It is estimated that there is an error that is prorated in proportion to the distance from the error accumulated in the entire tunnel, which is now measured with a distance meter and gyroscope. The position data for the outlet detection plate 320 is [x ″ (7500), y ″ (7500), z ″ (7500)], and the accurate known position data of the outlet detection plate 320 is [x (7500), y (7500), z (7500)], as shown in FIG. 3, the difference shown in (Equation 2) is the sum of errors accumulated in the tunnel due to the error caused by the distance meter and the gyro device. Can be considered.

[X ″ (7500), y ″ (7500), z ″ (7500)] − [x (7500), y (7500), z (7500)]
= [△ x (7500), △ y (7500), △ z (7500)] (2)

  That is, since the error per 7500 empty surface point cloud data in the tunnel is [Δx (7500), Δy (7500), Δz (7500)] / 7500, the measurement error correction means in the tunnel Reference numeral 102 denotes an error correction equivalent to (Equation 3) prorated for an arbitrary point (i) on the kilopost.

  [Δx (7500), Δy (7500), Δz (7500)] * i / 7500 (3)

  Eventually, accurate position data [x (i), y (i), z (i)] at an arbitrary point (i) on the kilopost is obtained by uniformly correcting the offset of the GPS system error as shown in FIG. It is expressed by (Equation 4) reflecting the distance meter and the proportional correction of the measurement error in the tunnel of the gyro device.

  [X (i), y (i), z (i)] = [x ″ (i), y ″ (i), z ″ (i)] − [Δx (0), Δy (0), Δz (0)] − [Δx (7500), Δy (7500), Δz (7500)] * i / 7500 (4)

The other control functions of the tunnel data processing system 100 will be described with reference to the drawings.
The tunnel data processing system 100 includes an arc data group generation processing unit 103, a data normalization unit 104, an arc center point group, in addition to the above-described measurement start offset error correction unit 101, in-tunnel measurement error correction unit 102, and data input unit 120. A generation processing unit 105, a missing data interpolation processing unit 106, an approximate center line generation processing unit 107, a kilopost generation processing unit 108, an in-tunnel sky surface image drawing processing unit 109, and a comparison processing unit 110 are provided.

  The arc data group generation processing means 103 is a point data in the tunnel that has been subjected to uniform correction of the offset error by the measurement start offset error correction means 101 and apportioned correction of the measurement error in the tunnel by the tunnel measurement error correction means 102. Are divided into arc data groups for each measurement period T of the tunnel inner surface detection means 220, and sorted and arranged in order from the first arc data group along the traveling direction of the vehicle 200. These data are in the form of a rounded tunnel surface. For this reason, both the ceiling surface and the floor surface (road surface) can collect data for each ring cut. The number of data in one arc data group is not particularly limited, but in the following description, for example, it is assumed that the ceiling surface is composed of 180 points and the road surface is composed of 180 points. This arc data group can be called “arc” because of its shape. Further, dividing the sky surface point group data in the tunnel as an arc data group every measurement period T can be referred to as “arc division”.

  Note that when measuring with tunnel surface detection means such as a laser distance meter in an actual tunnel, the data near the boundary between the ceiling surface of the tunnel and the floor surface may be irregular. Data near the boundary may be excluded.

  As a result of the processing by the arc data group generation processing means 103, the arc data group has a measurement interval T and a vehicle speed V, and the arc data group having a constant interval VT in the measurement target tunnel 300 as shown in FIG. It has become. Actual tunnels are not necessarily straight tunnels, but many long-distance tunnels have gently curved roads along the way.

  The number of arc data groups depends on the length of the tunnel, but in this description, for example, it is assumed that there are 7500 ceiling surfaces and 7500 floor surfaces. In addition to this, one arc data group generated from the point group data obtained by the entrance detected plate 310 and one arc data group generated from the point group data obtained by the exit detected plate 320. Is obtained. Note that the arc data of the entrance detection plate 310 and the arc data of the exit detection plate 320 were detected as a smooth flat plate first detected from the measurement result of the tunnel inner surface detection step 220 and finally detected. It will be a smooth flat plate.

These arc data groups can be expressed in a matrix form by developing them in a plane and arranging them one after another. That is, if the j-th point included in the i-th arc data group is the node nij, nij can be expressed as nij: (xij, yij, zij). In this example, i = 1 to 7500 and j = 1 to 180 for both the ceiling surface and the floor surface.
Further, an arc data group obtained by the entrance detected plate 310 is nENT, and an arc data group obtained by the exit detected plate 320 is nEXIT.

The matrix in which the arc data group of the ceiling surface and road surface is developed on a plane and arranged in the order of the tunnel traveling direction can be schematically shown as in FIG. FIG. 5 is a diagram in which an arc data group on the ceiling surface is developed in a matrix form on a plane as an example.
Here, as described above, each arc data group is a result of measurement by the position detection unit 210 and the tunnel inner surface detection unit 220 mounted on the traveling vehicle 200. Since the traveling locus and traveling speed of the vehicle are not always constant, so-called distortion is mixed in the measured value. When measuring a tunnel wall with a semicircular cross section, it is ideal that the vehicle travels at a constant speed along the center line of the tunnel, but in actual measurement, it is assumed that the vehicle will pass through the travel lane. . Most of the driving lanes are shifted to the left or right from the center line of the tunnel. In addition, the traveling locus slightly meanders left and right due to fluctuations in driving while traveling. For this reason, so-called distortion is mixed in the measured value of the inner surface of the tunnel due to deviation from the center line. For example, in the example of FIG. 5, the spacing between the left columns in the matrix is dense, the spacing between the right columns is coarse, and the density is seen.

Even if efforts are made to keep the traveling speed as constant as possible, the traveling speed slightly changes due to fluctuations in the traveling speed. Therefore, so-called distortion is mixed in the position measurement data due to fluctuations in travel speed. In the example of FIG. 5, the first neighboring rows in the matrix are densely spaced, and the last neighboring rows are coarsely spaced, so that the denseness is seen.
The tunnel data processing system 100 of the present invention removes the distortion mixed in the measured value due to the deviation of the traveling locus of the vehicle and the variation in the traveling speed by normalizing the measured value by the data normalizing means 104.

  First, normalization of variations caused by deviations in the travel locus of the vehicle will be described. Here, the process of normalizing variation in the arc data group is referred to as “arc data group normalization process”. The data normalizing means 104 draws a wall surface at a distance measured at a predetermined angle (for example, 1 degree pitch) from a temporarily determined center point for data belonging to one arc data group, and once inside the tunnel from the measured point. When a sky surface is formed, a semicircular locus is obtained. Here, the data normalization means 104 can easily determine a geometrically correct center point of the semicircular shape from the semicircular locus.

  Next, the data normalization means 104 calculates points that intersect the semicircular tunnel inner surface geometrically at a pitch of exactly 1 degree from the correct center point of the semicircular tunnel inner surface, 180 points are calculated. These points are not actually measured measurement points, but geometrically specified normalized measurement points. The data normalization means 104 estimates the measured value at each normalized measurement point by an interpolation process based on the measured value at the measured measurement point. As described above, the data normalization unit 104 can obtain normalized data at the normalized measurement points. The variation in the arc data group is normalized by the above “normalization processing in the arc data group”.

  Next, normalization of variations caused by deviations in vehicle traveling speed will be described. Here, the process of normalizing the variation between the pitches of the arc data group is referred to as “arc data group normalization process”. The data normalization means 104 arranges the measured measurement points along the tunnel traveling direction. Although the distance between the measurement points is uneven due to the difference in the traveling speed of the vehicle, the data normalization means 104 determines the normalized measurement point that becomes the measurement point when the vehicle travels at an ideal constant speed. calculate. That is, a normalized measurement point having a predetermined uniform interval is calculated.

  Next, the data normalization means 104 estimates the arc data group that would have been obtained when measured at the normalized measurement point. For example, each measurement value of the arc data group is estimated by proportional correction from the arc data group of the measured measurement points adjacent to each normalized measurement point. The variation between the pitches of the arc data group is normalized by the above “normalization processing between arc data groups”.

  In this way, the data normalization means 104 normalizes the variation caused by the deviation of the vehicle traveling locus, normalizes the variation caused by the deviation of the vehicle traveling speed, and accurately determines the center point of the air surface in the tunnel. And the measured value in the normalization measurement point of the pitch (for example, 1 degree | times) of a predetermined angle can be obtained from the measurement point (normalization measurement point) which left | separated the predetermined equal distance on the travel distance.

  FIG. 6 is a diagram schematically showing a result obtained by normalizing actually measured measurement data having variations as shown in FIG. As shown in FIG. 6, the data in the normalized arc data group is arranged at equal intervals in the row direction and at equal intervals in the column direction.

  Next, a description will be given of an interpolation process when a part of the measurement data input via the input unit 120 is missing. As described above, the matrix divided for each arc data should have 7500 rows and 180 columns, but the data actually measured by the tunnel inner surface detection means 220 are missing in some places, and a predetermined number of data is stored. It may not be complete. For example, there may be various causes such as an obstruction such as a cable on the inner surface, or reflection by the laser beam of the tunnel inner surface detection means 220 being not normally received. If there is missing data in the arc data, it is not known where the missing data was in the arc data. In such a case, the missing data interpolation processing means 106 performs the following data interpolation processing.

  As shown in FIG. 7A, when there is a data loss in one place in the original 180 pieces of arc data, the measurement data is 179 pieces of arc data. Here, the missing data interpolation processing means 106 calculates the distance between the arc data adjacent to the front and back of the arc data group and each data. Since each data is obtained in original coordinates, the distance can be calculated. As shown in FIG. 7B, when it is assumed that the last 180th data is missing, the data after the actually missing data is associated with each other in a shifted form. The distance calculation becomes diagonal and the distance is calculated large. Therefore, when the missing data interpolation processing means 106 sequentially moves the positions where the data is missing from the 179th and 178th positions and repeats the distance calculation, as shown in FIG. It is calculated on the assumption that the distance when the missing nijth data is missing is the smallest. In this way, the missing data interpolation processing means 106 can identify the location where the data is missing. If the missing data portion can be identified, the missing data interpolation processing means 106 interpolates the missing portion data from surrounding data such as the arc data to which it belongs and the adjacent arc data.

  Next, the arc center point group generation processing 105 obtains the arc center point in each arc data group that is divided and sorted by the arc data group generation processing means 103, and starts from the first arc center point along the traveling direction of the vehicle. It sorts and arranges sequentially.

  The arc center point group generation processing unit 105 obtains the arc center point without particular limitation, but the first data (ni1) and the 180th data are used for the ceiling surface data in each arc data group of the original coordinate system. If the average of the data (ni180) is taken, an arc center point can be obtained.

  The approximate center line generation processing unit 107 is a part that generates a line segment group obtained by sequentially connecting the arc center point groups obtained by the arc center point group generation processing unit 105, and the line segment group is referred to as a tunnel approximate center line. . FIG. 8 is a diagram showing a state in which arc center points are identified from the respective arc data groups arranged in the matrix format shown in FIG. 5 and are connected to draw a tunnel center line. Since the z coordinate is also taken into account, the tunnel center line is naturally three-dimensional. FIG. 9 is a diagram schematically showing a tunnel center line in the measurement target tunnel 300 shown in FIG.

Here, the arc center point nENT * specified from the arc data group nENT obtained by the entrance detected plate 310 and the arc center point nEXIT * specified from the arc data group nEXIT obtained by the exit detected plate 320 are included. It is.
In the above description, the tunnel center line is drawn from the arc data group on the ceiling surface. However, the tunnel center line can be similarly drawn from the road surface data group.

  The kilopost generation processing means 108 establishes a kilopost that is an approximate distance in the tunnel by integrating the lengths of the line segments along the tunnel approximate center line with the first circular arc center point as the tunnel wellhead origin in the tunnel approximate center line. Is.

  The position in the tunnel is usually expressed in kiloposts. The definition of a kilopost is defined with a kilopost unit at a predetermined interval starting from the center point k1 * of the entrance of the tunnel, and the tunnel center line as an axis. In other words, the kilopost is originally defined from the center point k1 * of the tunnel entrance. However, at the present time, the first center point n1 * among the center points determined by the arc center point group generation processing unit 105 is not the center point k1 * of the entrance of the tunnel, but the tunnel inner surface detection unit 220. This is the first point scanned in the tunnel.

At this stage, the center point k1 * of the tunnel entrance pit has not yet been determined. Therefore, the first arc center point n1 * of the sorted center point group is set as the “approximate kilopost origin”, and the “approximate kilopost unit” at a predetermined kilopost interval. ". In addition, although the predetermined space | interval of a kilopost and an approximate kilopost is not specifically limited, For example, it can be 1 m or 10 m.
FIG. 10A to FIG. 10B are diagrams schematically showing a state in which approximate kilopost units are schematically determined from the arc center point group.

Next, after introducing approximate kilopost units k1 ′ *, k2 ′ *, k3 ′ *... Based on the leading center point n1 *, kilopost units k1 based on the center point k1 * of the tunnel entrance *, K2 *, k3 *... Are calculated.
The kilo post generation processing means 108 performs conversion from “approximate kilo post unit” to “kilo post unit” using the known coordinate data of the entrance detected plate 310 and the exit detected plate 320. The position of the entrance detection plate 310 is already known from the tunnel entrance. For example, it is assumed that the position of the entrance detection plate 310 is (Δk · x (0), Δk · y (0), Δk · z (0)) from the tunnel entrance. In this case, the center point k1 * of the entrance of the tunnel can be calculated as (Equation 5).

[X (k1), y (k1), z (k1)]
= [X (1), y (1), z (1)]-[Δk · x (0), Δk · y (0), Δk · z (0)] (5)

  That is, an arbitrary position [x (i), y (i), z (i)] is also corrected as shown in (Expression 6) as an arbitrary point on the correct kilopost.

[X (ki), y (ki), z (ki)]
= [X (i), y (i), z (i)]-[Δk · x (0), Δk · y (0), Δk · z (0)] (6)

  If the tunnel data processing system 100 is used, by performing the above-described correction processing, data normalized correctly in the “kilo post coordinate system” can be obtained. The “kilopost coordinate system” is originally a coordinate system with the axis of the kilometer post determined by the facility operator in the tunnel mine. However, if an arbitrary point on the kilometer post is specified, a certain point in the tunnel can be specified accurately. it can. However, it must be normalized so that the kilopost accurately sets the tunnel entrance entrance to the kilopost origin and does not introduce instrument-dependent measurement errors in the position data. If it is not normalized, there is a possibility that it cannot be accurately compared even if it is compared with data measured at other times. By performing the above correction processing, the position can be correctly specified in the kilopost coordinate system in each measurement result.

  The tunnel inner surface image rendering processing means 109 is a part for rendering the tunnel inner surface image based on the tunnel data that has undergone the various data processing described above. In this example, the tunnel data is a 180 × 7500 matrix on both the ceiling surface and the floor surface, but the current personal computer resources may cause problems in terms of arithmetic processing capability such as three-dimensional display.

  Therefore, the tunnel inner surface image drawing processing unit 109 extracts a data subset belonging to a predetermined section of the kilopost that the operator has instructed to draw, and generates tunnel data for each predetermined section. That is, in the kilopost coordinate system, for example, the space surface data in the tunnel is displayed by taking up a compact subset by dividing each designated section (kilopost section) such as 10 m or 20 m.

  For example, if a section of 75 columns is specified in a matrix at an arbitrary point i, 180 × 75 position data and image data belonging to the section are obtained. An empty wire frame inside the tunnel composed of a grid of x75 is drawn. Here, a line connecting one row is called “arc”, and a line connecting one column is called “link”.

The tunnel inner surface image rendering processing means 109 generates image data by linearly interpolating the image between the wire frames, and renders the tunnel inner surface as a three-dimensional image.
FIG. 11 shows an example in which a certain kilopost section is taken out and the sky surface data in the tunnel is graphically displayed. FIG. 12 is a diagram for explaining the graphic display contents of FIG. 11 and 12, (a) is a graphic display of tunnel surface data, and (b) is a graphic display of tunnel surface data. As shown in FIG. 12, in this display example, the tunnel center line is taken in the horizontal direction near the center. In the graphic display of the sky data in the tunnel of (a), what is displayed in a square is an illumination lamp, and the line running in the horizontal direction is a cable. In the graphic display of the tunnel road surface data of (b), the line running in the horizontal direction is the so-called “轍” of the car. Although “轍” cannot be seen by visual observation, it is understood that such “轍” is present on the tunnel road surface when the concave / convex data is acquired by the tunnel sky surface detection means and displayed as an image.

  Since each of the 180 scan points existing in one arc and the scan points that should correspond in other arcs are not necessarily the same angle or the same height in the tunnel, one arc data If 180 points are determined as fixed points at an angle of 1 degree from the center point in FIG. 1, and the image data at 180 fixed points is calculated for each arc data, all links are lines parallel to the tunnel center line. Thus, it is possible to obtain a wire frame having an organized grid. If the cells are arranged in this manner, an accurate image can be estimated by performing linear interpolation from the image data of the grid adjacent to the cells.

  Through the above process, the tunnel surface data measured every time is accumulated, and if necessary, the tunnel surface data of the same kilopost section is compared with each other, so that You can see changes in the sky

  The comparison processing unit 110 draws from the data set measured at a certain time based on the data set measured at a certain time and the data set measured at another time inputted from the data input unit 120. Compare the 3D image of the sky inside the tunnel to be measured in the designated section and the 3D image of the sky inside the tunnel to be measured in the same designated section drawn in the data set measured at other times, This is a part where there is a difference and the amount of the difference.

In the tunnel data processing system 100 of the present invention, if an arbitrary point on the kilometer post is specified, the tunnel data is normalized, so the same point in the tunnel can be specified, and the data over that point and a predetermined section are extracted. Can be compared.
For the same point, compare the drawing results at one time with the drawing results at another time, and change the color of the part where there is a difference so that it is easy to understand for the operator, or display the difference as a numerical value. Is also possible.
For example, FIG. 13 is a diagram simply showing an example in which a drawing result at a certain time is compared with a drawing result at another time, and a portion having a difference is displayed in a different color. FIG. 13A shows an example in which the displacement location is colored on the graphics display image of the tunnel surface data, and FIG. 13B shows an example in which the displacement location is colored on the graphics display image of the tunnel road surface data. In this example, as shown in FIG. 13 (a), in the tunnel surface data, there is a portion which is dented due to aged deterioration in the vicinity of the center of the display screen, as shown in FIG. 13 (b). Also in the data, it can be seen that there are concave portions due to deterioration over time in a substantially square shape at two places on the upper left of the display screen and the lower right of the display screen.

Although the preferred embodiments of the present invention have been illustrated and described above, they can be widely applied to tunnel data processing systems.
It will be understood that various modifications can be made without departing from the scope of the invention. Therefore, the technical scope of the present invention is limited only by the description of the appended claims.

The block diagram of the tunnel data processing system 100 concerning Example 1, and the figure explaining simply the measuring method of input data The figure which showed typically the installation state of the measuring object tunnel 300, the entrance detected plate 310, and the exit detected plate 320 at the time of measurement in an easy-to-understand manner The figure which showed the various position data input with respect to the tunnel data processing system 100 of this invention. Diagram showing arc data points in the tunnel Diagram showing matrix data of ceiling arc data group The figure which showed typically the result of normalizing the measurement data of measurement by the data normalization means 104 Diagram explaining the principle of missing data interpolation when there is one missing data in the arc data The figure which shows a mode that the arc center point was specified from the arc data group of each ceiling surface arranged in matrix form, and the tunnel center line was drawn by connecting them. The figure which shows typically the tunnel centerline in the measuring object tunnel 300 shown in FIG. (A) is a diagram schematically showing a state in which approximate kilopost units are determined from a group of arc center points, and (b) is a diagram schematically showing a state in which approximate kilopost units are converted to kilopost units. The figure which shows the example which took out a certain kilo post section and displayed the sky surface data in the tunnel graphically A figure explaining the contents of graphic display of tunnel surface data by taking out a certain kilopost section The figure which showed the example which changes the color about the part where there is a difference and compares the drawing result of a certain period with the drawing result of another period, and displayed

DESCRIPTION OF SYMBOLS 100 Tunnel data processing system 101 Measurement start offset error correction means 102 In-tunnel measurement error correction means 103 Arc data group generation processing means 105 Arc center point group generation processing means 106 Missing data interpolation processing means 107 Approximate center line generation processing means 108 Kilopost generation Processing means 109 Empty surface image drawing means 110 Comparison processing means 120 Data input unit 200 Vehicle 210 Position detection means 220 Tunnel empty surface detection means 300 Measurement target tunnel 310 Entrance detected plate 320 Exit detected plate

Claims (16)

The position data of the original coordinate system measured by the position detection means mounted on the traveling vehicle and the original coordinate system measured in an arc shape in synchronization with the position data by the sky surface detection means in the tunnel mounted on the vehicle. In a system that processes data based on the sky surface point cloud data in the tunnel,
The position detection means mounted on the vehicle and the inside of the tunnel using an entrance detection plate and an exit detection plate having a plane facing the vehicle traveling direction installed near the entrance and exit of the tunnel to be measured The measurement position data of the entrance detection plate, measured using the empty surface detection means, the tunnel empty surface point cloud data of the measurement target tunnel internal surface, the measurement position data of the exit detection plate, and separately A data input unit for inputting the known position data of the entrance detection plate and the known position data of the exit detection plate obtained as accurate known data;
The difference between the measurement position data and the known position data related to the entrance detection plate is corrected as the offset error already included at the measurement start time in the measurement target tunnel, and the entire empty surface point cloud data in the tunnel is uniformly corrected. Measurement start offset error correction means to
As the measurement error in the tunnel, which is performed by accumulating the difference between the measurement position data and the known position data related to the exit detection plate during the measurement in the measurement target tunnel, the sky surface point cloud data in the tunnel is individually set. A tunnel data processing system provided with a measurement error correction means in the tunnel for apportionment correction.   The entrance detection plate is installed immediately before the entrance pit outside the measurement target tunnel, and the exit detection plate is installed immediately after the exit pit outside the measurement target tunnel. The tunnel data processing system according to claim 1.   The position detection means is a GPS system for the entrance detection plate, and a distance meter for counting the vehicle travel distance and movement of the vehicle are those for the sky surface in the measurement object tunnel and the exit detection plate. The tunnel data processing system according to claim 1, wherein the tunnel data processing system is a gyro device for detection. As means for performing processing on the empty surface point cloud data in the tunnel in which the uniform correction of the offset error by the measurement start offset error correction means and the apportionment correction of the measurement error in the tunnel by the tunnel measurement error correction means are made,
An arc data group generation processing unit that divides as an arc data group for each measurement cycle of the tunnel inner surface detection unit and sorts in order from the first arc data group along the vehicle traveling direction;
Arc center point group generation processing means for obtaining an arc center point in each arc data group and sequentially sorting from the first arc center point along the traveling direction of the vehicle;
Tunnel approximate center line generation processing means having a line segment group obtained by sequentially connecting the arc center point groups as a tunnel approximate center line;
The tunnel approximate center line is extended in the entrance direction and the exit direction of the tunnel, the known position of the tunnel entrance well specified by the known position data of the entrance detection plate is a starting point of a kilopost, and the tunnel approximate center line The tunnel data according to any one of claims 1 to 3, further comprising: a kilopost generation processing unit that integrates the lengths of the line segments along the line and establishes a kilopost as a distance index in the tunnel. Processing system.   The arc center point group generation processing means uses the data in the arc data group to create a semicircular trajectory that is a semicircular locus obtained by drawing a distance measured at predetermined angles from a temporarily determined center point. Center point calculation processing means for determining a geometrically correct center point in the cross-sectional shape of the plane, and intersect with the geometrically semicircular tunnel inner surface at a predetermined angle pitch from the correct center point of the inner surface of the tunnel. Normalized measurement point calculation processing means for calculating points, and circular data group normalization processing for estimating the measured value at the normalized measured point by interpolation processing based on the measured value at the measured measurement point 5. The tunnel data processing system according to claim 4, further comprising means.   The arc center point group generation processing means, a processing means for arranging the data of the arc data group for each measured measurement point along the traveling direction of the measurement target tunnel, and a normalization provided accurately at a predetermined distance pitch Normalized measurement point calculation processing means for calculating a measurement point, and an arc data group for estimating an arc data group that would have been obtained when measured at the normalized measurement point based on the measured arc data group data 5. The tunnel data processing system according to claim 4, further comprising inter-normalization processing means. A designation means for accepting designation of an arbitrary point on the kilometer post and designation of an arbitrary distance section from the arbitrary point;
Arc data group extraction processing means for extracting the arc data group belonging to the arbitrary distance section with the arbitrary point specified through the specifying means as a coordinate origin;
The arc data group extracted by the arc data group extraction processing means is arranged in a computer three-dimensional drawing space, and a space between the arc data is linearly interpolated, and the measurement object is placed in the computer three-dimensional drawing space. The tunnel data processing system according to any one of claims 1 to 6, further comprising a designated section tunnel inner surface image drawing processing means for rendering a three-dimensional image of the inner surface of the tunnel.   Each data set input from the data input unit includes a data set measured at a certain time and a data set measured at another time, and is drawn from the data set measured at the certain time. A three-dimensional image of the air surface in the measurement target tunnel in the designated section, and a three-dimensional image of the air surface in the measurement target tunnel in the same designated section drawn in the data set measured at the other time. The tunnel data processing system according to any one of claims 1 to 7, further comprising an aged comparison processing means for comparing and calculating a portion where there is a difference between the two and an amount thereof.   In the arc data group generation processing means, the number of data belonging to each generated arc is less than the number of data to be obtained from within the measurement period of the tunnel inner surface detection means, and the data is partially missing. And a missing data interpolation processing means for performing missing data interpolation processing for identifying and interpolating missing data by identifying a missing portion from the sequence of the data string and interpolating from data adjacent to the missing portion. The tunnel data processing system according to claim 7 or 8. The position data of the original coordinate system measured by the position detection means mounted on the traveling vehicle and the original coordinate system measured in an arc shape in synchronization with the position data by the sky surface detection means in the tunnel mounted on the vehicle. A data processing method based on the sky surface point cloud data in the tunnel,
The position detection means mounted on the vehicle and the inside of the tunnel using an entrance detection plate and an exit detection plate having a plane facing the vehicle traveling direction installed near the entrance and exit of the tunnel to be measured The measurement position data of the entrance detection plate, measured using the empty surface detection means, the tunnel empty surface point cloud data of the measurement target tunnel internal surface, the measurement position data of the exit detection plate, and separately A data input process for inputting the known position data of the entrance detection plate and the known position data of the exit detection plate obtained as accurate known data;
The difference between the measurement position data and the known position data related to the entrance detection plate is corrected as the offset error already included at the measurement start time in the measurement target tunnel, and the entire empty surface point cloud data in the tunnel is uniformly corrected. Measurement start offset error correction processing to
As the measurement error in the tunnel, which is performed by accumulating the difference between the measurement position data and the known position data related to the exit detection plate during the measurement in the measurement target tunnel, the sky surface point cloud data in the tunnel is individually set. A tunnel data processing method including a tunnel measurement error correction process that corrects apportionment. A process for the in-tunnel empty surface point cloud data in which the uniform correction of the offset error in the measurement start offset error correction process and the proportional correction of the measurement error in the tunnel in the tunnel measurement error correction process are performed,
An arc data group generation process that divides as an arc data group for each measurement cycle of the sky surface detection means in the tunnel and sorts in order from the first arc data group along the vehicle traveling direction;
Arc center point group generation processing for obtaining an arc center point in each arc data group and sequentially sorting from the first arc center point along the traveling direction of the vehicle;
Tunnel approximate center line generation processing in which a line segment group obtained by sequentially connecting the arc center point groups is a tunnel approximate center line;
The tunnel approximate center line is extended in the entrance direction and the exit direction of the tunnel, the known position of the tunnel entrance well specified by the known position data of the entrance detection plate is a starting point of a kilopost, and the tunnel approximate center line 11. The tunnel data processing method according to claim 10, further comprising: a kilopost generation process for integrating the lengths of line segments along the line and establishing a kilopost as a distance index in the tunnel.   The arc center point group generation processing uses the data in the arc data group to draw a semicircular locus obtained by drawing a distance measured at a predetermined angle (for example, 1 degree pitch) from a temporarily determined center point. A center point calculation process for determining a geometrically correct center point in the tunnel inner surface cross-sectional shape, and a geometrically semicircular tunnel at a predetermined angle pitch from the correct center point of the tunnel inner surface. In a circular arc data group for estimating a normalization measurement point calculation process for calculating a point that intersects the sky surface, and for estimating a measurement value at the normalization measurement point by an interpolation process based on the measurement value at the actual measurement point The tunnel data processing method according to claim 11, further comprising a normalization process.   The arc center point group generation process includes a process of arranging the data of the arc data group for each measured measurement point along the traveling direction of the measurement target tunnel, and a normalized measurement point accurately provided at a predetermined distance pitch. Normalized measurement point calculation processing for calculating the arc data group, and normalization between the arc data groups for estimating the arc data group that would have been obtained when measured at the normalized measurement point based on the measured arc data group data The tunnel data processing system according to claim 11, further comprising a process. A designation accepting process for accepting designation of an arbitrary point on the kilometer post and designation of an arbitrary distance section from the arbitrary point;
An arc data group extraction process for extracting the arc data group belonging to the arbitrary distance section with the arbitrary point specified in the designation receiving process as a coordinate origin;
The arc data group extracted by the arc data group extraction process is arranged in a computer three-dimensional drawing space, a space between the respective arc data is linearly interpolated, and the measurement target tunnel is placed in the computer three-dimensional drawing space. The tunnel data processing method according to any one of claims 11 to 13, further comprising: a designated section tunnel inner surface image rendering process for rendering a three-dimensional image of the inner surface.   Each data set input in the data input process includes a data set measured at a certain time and a data set measured at another time, and is drawn from the data set measured at the certain time. A three-dimensional image of the air surface in the measurement target tunnel in the designated section, and a three-dimensional image of the air surface in the measurement target tunnel in the same designated section drawn in the data set measured at the other time. The tunnel data processing method according to any one of claims 10 to 14, further comprising an aged comparison process for comparing and calculating a portion where there is a difference between the two and an amount thereof.   In the arc data group generation process, the number of data belonging to each generated arc is less than the number of data to be obtained from within the measurement period of the tunnel inner surface detection means, and some data is missing. 16. A missing data interpolation process for identifying and interpolating missing data by identifying a missing part from the sequence of the data string and interpolating from data adjacent to the missing part. 2. The tunnel data processing method according to item 1.