JP2019158637A - Tunnel construction management system and determination method - Google Patents

Abstract

To provide a system and method capable of determining a place where construction is necessary in a tunnel in a short time.SOLUTION: This system includes measurement means for carrying out three-dimensional measurement of the inside of a tunnel, and operation means for calculating position coordinates of three or more spherical targets which have position coordinates arranged in the tunnel and measured beforehand and one or more parts in the tunnel. The measurement means performs three-dimensional measurement by changing measuring point intervals and measuring ranges including the inside of the tunnel having three or more spherical targets; and the operation means calculates the position coordinates of the measurement means on the basis of a measuring result by changing the measuring point intervals by three-dimensional measurement and the measuring ranges and calculates the position coordinates of one or more parts in the tunnel on the basis of the position coordinates of the measurement means and the measuring result of the measurement means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a tunnel construction management system for managing tunnel construction and a method for determining a place where construction in a tunnel is necessary.

  In tunnel excavation work using the NATM (New Austrian Tunneling Method) method, blasting is carried out with explosives charged in the tunnel face, and the burrs generated by the blasting are carried out. An operation to remove the protrusion is performed.

  Conventionally, in clamming, an operator enters directly under the tunnel face, visually confirms where there is not enough excavation with respect to the design cross section, indicates with a laser pointer, etc., and breaks off the indicated location. . In this case, there is a problem that a worker is in danger due to a collapse of a natural ground and the work takes time.

  Therefore, in order to eliminate the need for visual judgment by workers and shorten the construction period, a technique has been proposed in which a drilling wall surface is measured using a three-dimensional scanner, compared with a reference cross section, and ridden based on the comparison result. (For example, refer to Patent Documents 1 and 2).

JP 2010-217017 A JP 2010-2107018 A

  In the techniques described in Patent Documents 1 and 2, since the absolute coordinates of the three-dimensional scanner are acquired by measuring the inside of the tunnel finely, it takes time to acquire the absolute coordinates, and as a result, the location where excavation is necessary There was a problem that it took time to judge. In addition, if the 3D scanner is placed on a tripod, the position of the 3D scanner interferes with the clamming work, so it is necessary to move the 3D scanner and tripod and acquire the absolute position again. There was also a problem of requiring labor and time.

  Therefore, it has been desired to provide a system and a method that can determine a portion that requires construction such as excavation in a tunnel in a short period of time and does not hinder hitting work.

The present invention has been made in view of the above problems, and is a tunnel construction management system for managing tunnel construction,
Measuring means for three-dimensional measurement in the tunnel;
Three or more spherical targets placed in the tunnel and having pre-measured position coordinates;
Computing means for calculating position coordinates of one or more points in the tunnel,
The measuring means measures three-dimensionally in a tunnel including three or more spherical targets by changing the measurement point interval and the measurement range.
The calculation means calculates the position coordinates of the measurement means based on the measurement results measured three-dimensionally by changing the measurement point interval and the measurement range, and based on the calculated position coordinates of the measurement means and the measurement results of the measurement means, A tunnel construction management system is provided that calculates the position coordinates of a plurality of locations.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to implement the determination of the location which needs construction in a tunnel for a short time.

The figure which showed the structural example of the tunnel construction management system. The figure which showed the structural example of the spherical target. The flowchart which showed the whole flow of the excavation work implemented by a tunnel construction management system. The figure explaining the operation | work which pinpoints the position of a measurement means by pattern matching. The flowchart which showed the flow of the operation | work which fixes the position of a measurement means using a spherical target. The figure explaining the operation | work which determines the position of a measurement means using a spherical target.

  FIG. 1 is a diagram illustrating a configuration example of a tunnel construction management system. The tunnel construction management system is used for tunnel construction management, for example, grasping the shape of a tunnel, collecting information, safety and security of construction, and attitude control of construction vehicles such as heavy machinery. The grasp of the tunnel shape includes the monitoring of clamming on the excavation wall before the primary lining on the face side, and the collection of information includes information on construction volume such as excavated soil volume and spray volume, rock bolts and steel Information such as the position of manufacturing supporters is collected, and for safety and security, displacement of the face and side walls is measured. Here, the tunnel construction management system will be described as a system that can determine a place where attrition is necessary and perform attrition.

  The tunnel by the NATM construction method is formed by excavating natural ground and underground using excavators such as blasting with explosives and free section excavators. The tunnel doorway is called a tunnel wellhead, and the excavation surface in the excavation direction is called a face 10. The primary lining is an operation to reinforce the tunnel wall surface by installing arch-shaped steel supporters 11 at regular intervals, spraying concrete, because there is a risk of collapsing when excavated. After the primary lining, the lock bolt 12 is driven in, the concrete wall surface is covered with a waterproof sheet, and concrete is placed further inside as a secondary lining. In FIG. 1, “SL” is a spring line, which is a line where the upper half arch starts in the sky section in the tunnel.

  The tunnel is primarily lined every time a certain distance is excavated. The tunnel construction management system determines the location where it needs to be removed after excavating a certain distance, and performs the attack removal. After this crushing is completed, primary lining is performed. That is, a tunnel is formed by repeating blasting, excavation with an excavator, clawing, and primary lining.

  The tunnel construction management system includes a vehicle provided with excavation means for excavating a portion that requires excavation in order to determine a portion that requires clawing and to perform clawing. As a vehicle provided with excavation means, a breaker 20 that continuously hits a chisel used for cutting (removing) claws can be employed.

  The tunnel construction management system includes, for example, a three-dimensional (3D) scanner 21 as a measuring unit that three-dimensionally measures the inside of the tunnel in order to determine whether or not it is necessary to perform clamming. The 3D scanner 21 measures the time when the laser beam returns after irradiating the laser beam, and converts it to a distance. The 3D scanner 21 also measures the irradiation angle of the laser beam, and calculates the coordinates of the relative position of the measurement target with respect to the 3D scanner 21 based on the converted distance and the measured irradiation angle. The relative position coordinates are the coordinates of the measurement target when the coordinates of the 3D scanner 21 are (0, 0, 0). The 3D scanner 21 is mounted on the roof of the driver's seat of the breaker 20 via a base isolation frame. The base isolation frame is a frame including a base isolation device. As the base isolation device, one including a laminated rubber, a rolling bearing, and a sliding bearing, or one composed of these and a damper can be used.

  The 3D scanner 21 has three measurement modes. The three measurement modes include a first mode for measuring a wide range at a low density, a second mode for measuring a specific range narrower than the first mode at a higher density (medium density) than the first mode, and a second mode. In the third mode, a narrower range is measured at a higher density (high density) than in the second mode. Details of each mode and how to use each mode will be described later.

  The tunnel construction management system includes calculation means for calculating position coordinates of one or more locations on the face 10 in the tunnel based on the three-dimensional measurement result. In addition to the calculation of the position coordinates, the calculation means determines the location and the construction amount that require construction, for example, excavation, compared with the design data. The calculation means may be any device as long as it can perform the determination based on the calculation of the position coordinates and the comparison with the design data, and examples thereof include a PC 22 and a tablet terminal. The PC 22 is communicably connected to the 3D scanner 21 via a cable, a wireless LAN, or the like, and is disposed at the driver's seat in the breaker 20. Here, the calculation means will be described as the PC 22 that can be carried from the driver's seat, but the calculation means may be a computer with a monitor provided in the driver's seat. The construction amount is the amount of excavated soil or the amount of spraying described above.

  In order to calculate the position coordinates of the 3D scanner 21, the tunnel construction management system includes three or more spherical targets having position coordinates measured in advance in the tunnel, and the three or more spherical targets are, for example, a tunnel wellhead from the breaker 20. Placed on the side. The spherical target is, for example, a reference sphere 23 as shown in FIG. 2, and includes a spherical surface 24 and a notch 25 having a reflecting means for retroreflecting inside. FIG. 2A is a view of the reference sphere 23 viewed from one side, and FIG. 2B is a view of the reference sphere 23 viewed from the back side.

  The spherical surface 24 is coated with a special paint containing glass powder or the like in order to enhance the reflection function. The cutout portion 25 is a portion of the reference sphere 23 that is cut out in a circular shape so that its diameter expands toward the surface, and is the center of the reference sphere 23 and inside the cutout portion 25. A prism 26 is provided as a retroreflecting reflecting means. The passage 27 from the opening of the notch 25 to the prism 26 is white and has a smooth surface (curved surface) in order to enhance the light reflection function.

  The prism 26 in the notch 25 of the reference sphere 23 is used only when the position of the reference sphere 23 is measured by the light wave rangefinder. When the 3D measurement is performed by the 3D scanner 21, the spherical surface 24 is used, and thus the spherical surface 24 is arranged so as to be directed to the 3D scanner 21.

  The position coordinates of the prism 26 provided in the center of the reference sphere 23 are measured in advance by a light wave rangefinder, and the coordinate values are given. The position coordinates are absolute coordinates, and the coordinate values are values composed of, for example, latitude, longitude, and altitude. The distance to the measurement point measured by the 3D scanner 21 is the distance to the spherical surface 24, but since the radius of the reference sphere 23 is known, the radius of the reference sphere 23 is added to the distance to the spherical surface 24. Thus, the distance to the center of the reference sphere 23 can be obtained, and the position coordinates of the center can be obtained based on the distance.

  Referring again to FIG. 1, the 3D scanner 21 first three-dimensionally measures the tunnel wellhead side where three or more reference spheres 23 exist. Then, the PC 22 calculates the position coordinates of the 3D scanner 21 based on the measurement result obtained by three-dimensionally measuring the tunnel wellhead side and the position coordinates of three or more reference spheres 23.

  Thereafter, the 3D scanner 21 measures the face side three-dimensionally. The PC 22 calculates the position coordinates of a plurality of locations on the face 10 based on the measurement result obtained by three-dimensionally measuring the face side and the position coordinates of the 3D scanner 21 previously calculated, and acquires them as point cloud data. . The point cloud data is stored in a storage device such as an HDD provided in the PC 22.

  The PC 22 also stores tunnel design data in the storage device. The design data includes the position coordinates of each point on the design excavation wall surface (design cross section) 13 indicated by a broken line in FIG. For this reason, PC22 compares the acquired point cloud data with design data, specifies the location which protrudes more than a threshold value to the inner side of a tunnel, and determines that the specified location is a location which needs excavation. The threshold value can be arbitrarily set.

  The PC 22 has a monitor as display means, and displays the determined result on the monitor. Specifically, the PC 22 displays the part determined as the place where excavation is necessary so that it can be distinguished from other parts that do not need excavation, and presents the place to perform the catching to the worker. Examples of the display method that can be distinguished include a method of coloring the portion, a method of changing the color, and the like. Since this is an example, it is not limited to this method.

  Next, the excavation work performed by the tunnel construction management system will be described in detail with reference to FIG. The breaker 20 is stopped at an arbitrary position in the tunnel (S300). At this time, the engine of the breaker 20 may not be stopped. This is because vibration caused by the engine can be absorbed by the base isolation frame. The reference sphere 23 is scanned by the 3D scanner 21 mounted on the breaker 20, the position coordinates of the 3D scanner 21 are calculated by the PC 22, the face side is scanned, a plurality of points on the face 10 are measured, and the point cloud Data is acquired (S301). Here, the operation of S301 is called natural ground measurement.

  After obtaining the point cloud data, it is compared with the design data (S302). That is, the ground cross section of the face 10 measured three-dimensionally and the design cross section are compared. As a result, a place where it is necessary to remove the hitting is determined. The determined result is displayed as a comparison result on the monitor of the PC 22 (S303). The comparison result is displayed by displaying the portion that needs to be ridden in a color so that it can be distinguished from other portions.

  The presence or absence of an excavation insufficient part can be confirmed based on the presence or absence of a portion that can be distinguished by coloring or the like (S304). If there is an insufficient excavation part, it can be distinguished while checking on the monitor. The displayed portion is excavated and the claws are removed (S305). During this time, the crushing operation is stopped several times, the three-dimensional measurement by the 3D scanner 21 and the comparison with the design cross section are performed, and the display of the comparison result is updated. On the other hand, if there is no insufficient excavation, excavation is completed and primary lining is performed (S307).

  When the claw removal cannot be performed on the entire face 10 due to restrictions such as the length of the arm of the breaker 20, the breaker 20 is moved (S306). After the movement, the process returns to the operation in S300, the arm is lowered to stop the operation, and the ground measurement in S301 is performed.

  In the natural ground measurement in S301, only the first measurement scans the reference sphere 23 and calculates the position coordinates of the 3D scanner 21. In the second and subsequent measurements after moving the breaker 20, the position of the 3D scanner 21 is specified by pattern matching of the shape pattern before and after the movement obtained by the scan on the face side, and the position coordinates of the position are calculated.

  The pattern matching will be described with reference to FIG. In the pattern matching, scanning is performed before and after the movement, the same feature portion in the shape pattern of the face 10 formed from the obtained point cloud data is extracted, and the position of the 3D scanner 21 is specified based on the feature portion. . Specifically, the position coordinates of the feature portion are calculated based on the position coordinates of the 3D scanner 21 before the movement, and the position coordinates of the feature portion do not change after the breaker 20 is moved. Therefore, based on the position coordinates of the feature portion. The position coordinates of the 3D scanner 21 are calculated. As a characteristic part, it can be set as the support 11a, the lock bolt 12a, etc. which were installed in the face side from the breaker 20 by the primary lining.

  While tunnel excavation continues, primary lining is performed, and after excavation for a certain distance, operations from S300 to S306 are performed again.

  Next, a method for specifying the position of the 3D scanner 21 will be described with reference to FIGS. 5 and 6. FIG. 5 is a flowchart showing a flow of work for specifying the position of the 3D scanner 21, and FIG. 6 is a diagram for explaining the work.

  In this operation, the mode of the 3D scanner 21 is set to the first mode, the inside of the tunnel is measured with low density, and the tunnel axis direction is specified (S500). In the low density measurement, as shown in FIG. 6, the wide area in the tunnel is roughly three-dimensionally measured with the breaker 20 facing the face. “Rough” means increasing the measurement point interval and reducing the number of measurement points per unit area. In the low density measurement, for example, the distance from the 3D scanner 21 is about 90 ° in the horizontal direction behind the breaker 20 so that the distance between the measurement points is about 60 mm in the horizontal direction and about 420 mm in the vertical direction. Then, three-dimensional measurement is performed by changing the direction within an angle range of about 4 ° in the vertical direction. Thereby, the tunnel axis direction is specified, and it can be specified which direction is the face side or the tunnel wellhead side. In the low density measurement, although it is a wide range, since the measurement points are sparse and the number is small, the measurement is completed in a short time (several seconds). Incidentally, the time taken to measure the center direction of the tunnel is about 1 to 2 seconds. Since only the tunnel axis direction is specified, the first mode that is completed in a short time is used.

  After specifying the tunnel axis direction, the position of the reference sphere 23 arranged on the tunnel well side from the breaker 20 is specified (S501). When the position of the reference sphere 23 is specified, the mode of the 3D scanner 21 is set to the second mode, and the tunnel wellhead side including the spherical surface 24 of the reference sphere 23 is measured at medium density. In the medium density measurement, since the tunnel axis direction is specified, as shown in FIG. 6, the range is narrowed down from the low density measurement, and limited to the direction in which the reference sphere 23 exists, the three-dimensional measurement is denser than the low density measurement. To do. The term “dense” refers to reducing the measurement point interval and increasing the number of measurement points per unit area. If the diameter of the reference sphere 23 is about 150 mm, for example, four or more points are measured for each reference sphere 23. Therefore, in the medium density measurement, for example, the distance from the 3D scanner 21 is 30 m and the measurement point interval is Tertiary by changing the direction within an angle range of ± 12 ° horizontally to the tunnel axis and ± 2 ° vertically to the horizontal plane so that the interval is about 50 mm horizontally and about 50 mm vertically. Original measurement. Thereby, the position of the reference sphere 23 is specified. Incidentally, it takes about 6 to 7 seconds to specify the positions of the three reference spheres 23. In order to detect the reference sphere 23 and specify its position, a certain degree of accuracy is required, so the second mode is used.

  After specifying the position of the reference sphere 23, the relative coordinates of the reference sphere 23 with respect to the 3D scanner 21 are calculated (S502). The relative coordinates are the center coordinates of the reference sphere 23. In the calculation of the center coordinates of the reference sphere 23, the mode of the 3D scanner 21 is set to the third mode, and the periphery of the spherical surface 24 of the reference sphere 23 is measured with high density. In the high-density measurement, as shown in FIG. 6, the range is further narrowed down compared to the medium-density measurement, and the measurement is limited to the reference sphere 23 to perform three-dimensional measurement more densely. In the high-density measurement, in order to finely measure the periphery of the spherical surface 24, for example, at a distance of 30 m from the 3D scanner 21, the measurement point interval is about 5 mm in the horizontal direction and about 5 mm in the vertical direction. The periphery of the spherical surface 24 of the reference sphere 23 is three-dimensionally measured by changing the direction within an angle range of 0.6 ° in the horizontal direction and 0.6 ° in the vertical direction. Thereby, the distance to the center of the spherical surface 24 of the reference sphere 23 is specified, and the relative coordinates of the reference sphere 23 are calculated by adding the radius of the reference sphere 23. Incidentally, the time taken to measure the three reference spheres 23 is about 3 to 4 seconds. Since high accuracy is required to calculate the coordinates, the third mode is used.

  As described above, when the three reference spheres 23 are measured from the identification of the tunnel axis direction by sequentially changing to the first mode, the second mode, and the third mode, the measurement time is about 10 to 13 seconds. . By the way, if the measurement range of the second mode is measured finely in the high-density measurement of the third mode, it takes about 190 to 200 seconds. Therefore, the absolute coordinates of the reference sphere 23 can be obtained by switching the mode in this way. Can be acquired in a short time. In these examples, the positions of the 3D scanner 21 and the reference sphere 23 are at the same height and the separation is 30 m. However, depending on the installation height and separation of the 3D scanner 21 and the reference sphere 23, The measurement range can be set arbitrarily.

  After calculating the center coordinates of each reference sphere 23, the position coordinates (absolute coordinates) of the 3D scanner 21 are calculated based on the position coordinates (absolute coordinates) measured in advance for each reference sphere 23 and the calculated center coordinates. (S503).

  By narrowing down the range in this way, the center coordinates of the reference sphere 23 can be calculated in a short time, the position coordinates of the 3D scanner 21 can be obtained in a short time, and a plurality of points on the face 10 measured by the 3D scanner 21 can be obtained. Since the coordinates of the location can be calculated as absolute coordinates and compared with the design data as they are, the location where excavation is necessary can be determined in a short time.

  In addition, since it is possible to perform clamming without an operator entering directly under the face, it is possible to prevent disasters caused by collapse of natural ground. Moreover, since it replaces with the scanning by the 3D scanner 21 and the determination by PC22 about the location which needs a clam removal, it can dig quantitatively irrespective of a worker's skill.

  Moreover, since excavation can be performed while confirming on the monitor how much excavation should be performed, surplus excavation can be reduced and the amount of remaining soil carried out can be reduced. Since the claw removal can be performed appropriately, the unevenness of the excavation wall surface is reduced, the excess blow can be reduced, and the amount of shotcrete can be reduced.

  By the above quantitative excavation and reduction of surplus digging and surplus blow, it becomes possible to manage the amount of excavated soil, the amount of concrete spray, the surplus blow rate, the shape of excavation, the planned number of lining concrete placement, and the like.

  The 3D scanner 21 can measure three-dimensionally at any time, compare the design data with the PC 22 and update the display of the comparison result to monitor the deformation of the face 10 and alarm according to the amount of movement of the face. Can be issued. The alarm may be emitted from a speaker included in the PC 22 as an alarm sound, or may be emitted from a speaker provided separately in the driver's seat.

  It should be noted that inverted ground and long-term degraded ground, etc., an invert is provided as a lining part where the bottom of the tunnel is finished in a reverse arch shape as a countermeasure against deformation, Deformation monitoring or the like can also be performed for invert.

  Since the position coordinates of one or more places in the tunnel can be calculated, the distance from the heavy machinery to the nearby worker can be calculated. Thereby, it can be detected that the heavy machinery is approaching the worker, and an alarm can be issued to prevent the approach. In addition, since the position coordinates of the arm of the heavy machinery can be calculated, the posture can be detected and the posture can be controlled.

  So far, the excavation work and determination method performed by the tunnel construction management system of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited to the above-described embodiments. However, other embodiments, additions, changes, deletions, and the like can be changed within a range that can be conceived by those skilled in the art, and as long as the effects and advantages of the present invention are exhibited in any aspect, the present invention It is included in the range.

10 ... face 11, 11a ... support 12,12a ... lock bolt 20 ... breaker 21 ... 3D scanner 22 ... PC
23 ... reference sphere 24 ... spherical surface 25 ... notch 26 ... prism 27 ... passage

Claims (10)

A tunnel construction management system for managing tunnel construction,
Measuring means for three-dimensional measurement in the tunnel;
Three or more spherical targets placed in the tunnel and having pre-measured position coordinates;
Computing means for calculating position coordinates of one or more points in the tunnel,
The measuring means measures the inside of the tunnel including the three or more spherical targets by changing the measurement point interval and the measurement range in a three-dimensional manner,
The calculation means calculates the position coordinates of the measurement means based on the measurement results measured three-dimensionally by changing the measurement point interval and measurement range, and the calculated position coordinates of the measurement means and the measurement results of the measurement means A tunnel construction management system that calculates position coordinates of one or more locations in the tunnel based on the above.   The tunnel construction management system according to claim 1, wherein the calculation means determines a location that requires construction in comparison with design data.   The tunnel construction management system according to claim 2, wherein the calculation means calculates a construction amount at a location where construction is required in comparison with design data. Including a vehicle comprising means for constructing a place where the construction is necessary,
The tunnel construction management system according to claim 2 or 3, wherein the measuring means is mounted on the vehicle via a base isolation frame.   The calculation means calculates the position coordinates of the measurement means after movement using the position coordinates of the measurement means calculated before the movement and the measurement result obtained by three-dimensional measurement in the tunnel before and after the movement of the vehicle. The tunnel construction management system according to claim 4.   The tunnel construction management system according to claim 4 or 5, wherein the calculation means specifies the position of the measuring means after the movement by pattern matching of the shape pattern before and after the movement obtained as a result of three-dimensional measurement in the tunnel. . Including display means for displaying the determination result of the computing means,
The tunnel construction management system according to any one of claims 2 to 6, wherein the display means displays a place where the construction is necessary so as to be distinguishable from other places. The measurement means measures the first measurement range including the three or more spherical targets at a first measurement point interval, three-dimensionally,
The calculation means specifies the position of each spherical target based on a measurement result obtained by three-dimensionally measuring the first measurement range at the first measurement point interval,
The measurement means measures a second measurement range different from the first measurement point interval at a second measurement point interval different from the first measurement point interval, and three-dimensionally measures the second measurement range.
The computing means calculates position coordinates of the spherical targets based on measurement results obtained by three-dimensionally measuring the second measurement range at the second measurement point intervals, and based on the position coordinates of the spherical targets. The tunnel construction management system of any one of Claims 1-7 which calculates the position coordinate of the said measurement means. The measurement means has a third measurement point interval different from the first measurement point interval and the second measurement point interval, and a third measurement point interval different from the first measurement range and the second measurement range. Three-dimensional measurement of the measurement range,
The tunnel construction management system according to claim 8, wherein the calculation means specifies a tunnel axis direction based on a three-dimensional measurement result. It is a method to determine the location where construction is necessary in the tunnel,
Three-dimensionally measuring the inside of a tunnel including three or more spherical targets having pre-measured position coordinates by measuring means by changing the measurement point interval and the measurement range;
Calculating the position coordinates of the measuring means based on the measurement results measured three-dimensionally by changing the measurement point interval and the measurement range;
A step of measuring three-dimensionally in the tunnel by the measuring means;
Calculating the position coordinates of a plurality of locations in the tunnel based on the measurement result of three-dimensional measurement in the tunnel and the calculated position coordinates of the measuring means;
A step of comparing the position coordinates of the plurality of locations with design data to determine a location where the construction is necessary.