JP2019218740A - Cutting edge part boundary identification device and caisson immersion method - Google Patents

Abstract

To provide a cutting edge part boundary identification device for identifying a boundary between a region exposed to a workroom and a region intruded into the ground on an inner peripheral surface of a cutting edge part and a caisson immersion method using the device.SOLUTION: A cutting edge part boundary identification device 100 includes: an illumination unit 10 for illuminating the inside of a workroom R of a pneumatic caisson 1; an imaging unit 20 for imaging a film F of the inside the workroom R; and a film analysis unit 32 for the film F. The imaging unit 20 detects an intensity distribution of light in a predetermined wavelength band for each pixel of the film F. On the basis of the intensity distribution detected by the imaging unit 20, the film analysis unit 32 identifies a boundary W between an exposure region, of an inner peripheral surface 4a of a cutting edge part 4, exposed to the workroom R and an intrusion region, of the inner peripheral surface 4a, intruded into the ground G. A caisson immersion method includes installation by immersing the pneumatic caisson 1 to a predetermined depth from the ground surface side of the ground G while adjusting an amount of the cutting edge part 4 excavating a lower ground G2 using a result of identifying the boundary W of the cutting edge part boundary identification device 100.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a blade boundary specifying device for specifying a boundary between a region exposed to a work chamber and a region penetrating into the ground on an inner peripheral surface of a blade, and a caisson laying method.

  As one of construction methods for foundation work of a building structure, construction of an underground structure, and the like, for example, there is a caisson laying method disclosed in Patent Document 1 or the like. In this method, a caisson (box) such as a pneumatic caisson that is formed in a cylindrical shape with a bottom and has a working room for excavating the ground below the cylinder bottom or an open caisson that is formed in a cylindrical shape with no bottom is placed on the ground. Then, while excavating the ground inside the peripheral wall of the caisson and the ground below the cutting edge at the lower end of the peripheral wall, the caisson is gradually settled to a predetermined depth by its own weight or by applying a load, and the ground is installed. This is a construction method for building foundations and underground structures inside.

  In the caisson squatting method of this type of construction method, the sinking force (mainly the weight of the caisson), which is the force that causes the caisson to sink, balances the sinking resistance from the ground, which is the force that resists the sinking force. In the state, the caisson is stationary without sinking. The settlement resistance mainly includes a peripheral frictional force acting on the outer surface of the peripheral wall of the caisson and a ground reaction force (ground reaction force) acting on the inner peripheral surface of the caisson blade. In detail, the inner peripheral surface of the blade opening is formed in a tapered shape that is inclined closer to the central axis side of the caisson as going upward from the tip of the blade opening, and the inclined inner peripheral surface is formed from the ground. A reaction force is acting. And, in the caisson sinking method, for example, by excavating a part of the ground below the inner peripheral surface of the cutting edge from the inside of the caisson in a state where the caisson penetrates the cutting edge portion into the ground and is stationary. The reaction force from the ground acting on the caisson is appropriately reduced. As a result, the settlement resistance becomes lower than the settlement force, and the caisson begins to sink.

JP-A-10-37203

  Here, in this type of caisson squatting method, it is important for the construction management of the caisson settlement to grasp the state of penetration of the caisson blade into the ground.

  The present invention has been made by paying attention to such an actual situation, and as information capable of grasping the penetration state of the cutting edge portion into the ground in real time, the exposed region on the inner peripheral surface of the cutting edge portion and the ground are described. An object of the present invention is to provide a blade edge boundary specifying device that acquires information for specifying a boundary with a penetration region, and a caisson laying method using the same.

  In order to address the above-described problems, the cutting edge portion boundary specifying device according to the present invention is provided in a working chamber inside a cutting edge portion of a pneumatic caisson having a cutting edge portion at a lower end portion as one mode, An illuminating unit that illuminates, an imaging unit that is provided in the working room and captures an image of the working room, and for each pixel of the image, an imaging unit that can detect an intensity distribution of light in a predetermined wavelength band. Based on the intensity distribution detected by the imaging unit, penetrates into the ground of the exposed area and the inner peripheral surface of the inner peripheral surface of the blade opening portion that is exposed to the working chamber. And an image analysis unit for specifying a boundary with the intrusion area.

  In addition, the caisson squatting method according to the present invention, as one mode, adjusts the excavation amount of the ground below the cutting edge using the result of specifying the boundary of the cutting edge boundary specifying device, Is set down from the ground surface side of the ground to a predetermined depth.

  According to the above aspect of the blade edge boundary specifying device according to the present invention, the lighting unit illuminates the inside of the blade interior of the blade portion of the pneumatic caisson having the blade edge at the lower end, and is provided in the work room. An imaging unit that captures an image of the inside of the work room detects an intensity distribution of light in a predetermined wavelength band for each pixel of the image, and, based on the intensity distribution detected by the imaging unit, an image analyzing unit. The boundary between the exposed region of the inner peripheral surface of the portion that is exposed to the working chamber and the intrusion region that penetrates into the ground of the inner peripheral surface of the cutting edge is specified. With this, when the caisson is laid, the information of the specific result that specifies the boundary between the exposed area to the working chamber and the intrusion area into the ground on the inner peripheral surface of the cutting edge can always be obtained, Based on the information on the result of specifying the boundary, it is possible to grasp (monitor) the penetration state of the cutting edge portion into the ground in real time, and it is possible to more reliably and safely perform the construction management of the caisson subsidence.

  According to the above aspect of the caisson squatting method according to the present invention, the caisson is moved from the ground surface side of the ground while adjusting the amount of excavation of the ground below the blade edge using the measurement result of the blade edge boundary specifying device. This is a configuration in which it is installed by sinking to a predetermined depth. Therefore, for example, it is possible to estimate the penetration width of the cutting edge portion into the ground at the present time based on information on the result of specifying the boundary obtained by the cutting edge boundary identification device, and further, the estimated penetration width The total reaction force from the ground at the present time can be estimated based on the Then, so that the settlement resistance mainly consisting of the estimated total reaction force from the ground and the surface frictional force acting on the peripheral wall of the caisson is appropriately lower than the settlement force (mainly the weight of the caisson), By adjusting the amount of excavation of the ground below the cutting edge, the settlement of the caisson can be started. As a result, the caisson can be safely sunk and installed from the ground surface side of the ground to a predetermined depth.

  In this way, the blade that acquires the information that identifies the boundary between the exposed area on the inner peripheral surface of the cutting edge and the ground penetration area as information that can grasp the penetration state of the cutting edge into the ground in real time. An mouth boundary specifying device and a caisson laying method using the same can be provided.

BRIEF DESCRIPTION OF THE DRAWINGS It is a conceptual diagram for demonstrating the caisson squatting method using the schematic structure of the cutting-edge part boundary identification device which concerns on one Embodiment of this invention, and the identification result of the cutting-edge part boundary identification device. It is a conceptual diagram for explaining the schematic structure of the cutting edge part boundary specifying device. It is an expanded cross section including the tip of a blade part for showing an example of a penetration state of a blade part into the ground. It is an example of the image obtained by being imaged by the imaging part of the cutting edge boundary specification device. It is an example in which a plurality of images picked up by the image pickup unit were shown side by side. It is an example of the conceptual diagram for demonstrating the image analysis content in the image analysis part of the said blade part boundary identification apparatus. It is a conceptual diagram showing an example of the calculation result of the penetration width by the image analysis part. It is another conceptual diagram for demonstrating the caisson squatting method using the identification result of the said edge part boundary identification apparatus. It is an example of the conceptual diagram for demonstrating the modification of the image analysis of the said image analysis part. It is a conceptual diagram for explaining the modification of the model data memorize | stored in the memory | storage part of the said edge part boundary identification apparatus.

  Hereinafter, an embodiment of a blade edge boundary specifying device and a caisson laying method according to the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is a conceptual diagram for explaining a schematic configuration of a blade edge boundary specifying device 100 according to an embodiment of the present invention and a caisson laying method using a specification result of the blade edge boundary specifying device 100. In the present embodiment, when the caisson laying method using the identification result of the blade edge boundary specifying device 100 according to the present invention is applied to the caisson laying method for laying down the pneumatic caisson 1 and constructing a foundation such as a pier. Will be described below.

  First, the schematic structure and the like of the pneumatic caisson 1 will be described.

  The pneumatic caisson 1 has a predetermined cross-sectional shape such as a cylinder, a rectangular tube, or the like, and has a peripheral wall 2 that has a cylindrical shape and extends vertically. In the present embodiment, the pneumatic caisson 1 has a generally cylindrical shape as a whole, is divided into a predetermined number in the vertical direction, and a caisson base 3 and a caisson intermediate portion (not shown) are shown in order from the bottom. It consists of the caisson top omitted. FIG. 1 shows a state during the construction of the pneumatic caisson 1. More specifically, a state in which most of the caisson base 3 of the pneumatic caisson 1 sinks in the ground G and remains stationary is shown.

  The peripheral wall 2 includes an outer peripheral wall of a caisson base 3, the middle of the caisson, and the top of the caisson. For example, each of the caisson intermediate portion and the caisson top has an outer diameter slightly smaller than the maximum outer diameter of the caisson base 3.

  The caisson base 3 constitutes the lowermost end of the pneumatic caisson 1 and includes a cylindrical portion 3a and a partition 3b.

  The cylindrical portion 3 a is formed in a cylindrical shape, extends in the vertical direction, and forms a lower end portion of the peripheral wall 2 of the pneumatic caisson 1. The inner space in the radial direction inside of the cylindrical portion 3a is vertically divided into two by the partition wall portion 3b, and the lower space constitutes a below-described working room R for excavating the ground. The lower end of the cylindrical portion 3a constitutes the blade opening 4. The blade opening 4 is provided at the lower end of the pneumatic caisson 1. As shown in FIG. 1, the blade opening 4 is a portion that penetrates into the ground G (specifically, a lower ground G2 described later) when the caisson sinks, and is formed in a substantially cylindrical shape. The inner peripheral surface 4a of the blade opening 4 is formed in a tapered shape that is inclined so as to be closer to the center axis Z side of the pneumatic caisson 1 as it goes upward (in other words, toward the partition wall 3b) from the blade opening tip 4b. ing. Specifically, the inclination angle of the inner peripheral surface 4a at the lowermost end of the blade opening 4 (that is, the inclination angle of the inner peripheral surface 4a with respect to the center axis Z) is, for example, smaller than the inclination angle of the upper inner peripheral surface 4a. Is also set to be large.

  The cylindrical portion 3a is specifically formed to have a stepped outer peripheral surface such that the outer diameter on the upper end side is slightly smaller than the outer diameter on the lower end side. The outer peripheral wall of the caisson intermediate portion and the caisson top is formed with an outer diameter that matches the outer diameter of the upper end side of the cylindrical portion 3a. The outer peripheral surface of the cylindrical portion 3a is not limited to a stepped shape, and may have the same outer diameter. In this case, the peripheral frictional force acting on the cylindrical portion 3a (peripheral wall 2) constituting a part of the settlement resistance against the pneumatic caisson 1 is larger than that in the case of the stepped shape.

  The working chamber R is a space inside the cutting edge portion of the pneumatic caisson 1, that is, a space for excavating the ground by an operator or an excavator 5 described later, and the like. It is partitioned by the surface 4a and the partition 3b. Air and the like are supplied from outside to the working chamber R, and the working chamber R is in a compressed state. Thereby, the inflow of groundwater, mud, gas, and the like from the ground into the work room R is suppressed or prevented, and the safety and efficiency of the excavation operation are improved. The lift pressure generated by the air in the work chamber R constitutes a part of the settlement resistance force against the settlement force of the pneumatic caisson 1.

  As described above, the partition wall portion 3b is a portion that divides the internal space radially inside the cylindrical portion 3a into two in the vertical direction and serves as a ceiling wall of the work room R. In the present embodiment, a guide rail 6 for traveling guide of the excavator 5 is attached to a wall surface (lower surface) of the partition wall portion 3b on the work room R side. The excavator 5 excavates the ground G1 inside the cutting edge 4 and the lower ground G2 located below the cutting edge 4 in the ground G. The excavator 5 is configured to be able to travel along the guide rail 6 and move to the vicinity of the excavation target area, and excavate the ground G1 and the lower ground G2, for example, by remote operation from outside the work room R. Note that the boundary between the ground G1 inside the blade opening 4 and the lower ground G2 is not strictly divided.

  In the partition 3b, a through hole 3b1 is opened at a position where it does not interfere with the guide rail 6 or the like. The through hole 3b1 communicates between the internal space of the cylindrical man lock 7 and the material lock 8 installed on the upper wall surface of the partition wall 3b and the work room R. FIG. 1 shows a through hole 3b1 for communication with the inner space of the man lock 7 and a through hole 3b1 for communication with the inner space of the material lock 8. Although not shown in the drawings, a pipe for compressed air in the working chamber R and a through hole for gas monitoring in the working chamber R are formed at appropriate positions. The man lock 7 is formed with a stair that reaches the work room R from the upper opening through the lower opening, and the worker can enter the work room R through the stairs. . The man lock 7 is provided with a decompression chamber on the way, and after finishing the work in the pressurized work room R, the worker can retreat to the ground side via the decompression chamber. The material lock 8 is used when the earth and sand excavated in the work room R is discharged by a crane or the like.

  Here, at the time of caisson laying work, the blade opening 4 of the caisson base 3 penetrates into the lower ground G2 as shown in FIG. Since the inner peripheral surface 4a of the blade opening 4 is inclined, the penetration width B, which is the width of the blade opening 4 penetrating into the lower ground G2, is the penetration depth of the blade opening 4 into the lower ground G2. (In other words, as the height range H of the portion of the inner peripheral surface 4a that penetrates into the ground G from the blade edge tip 4b increases). In other words, the penetration width B increases as the height range H of the portion of the inner peripheral surface 4a penetrating into the ground G from the blade tip 4b increases. More specifically, the penetration width B is a width in the horizontal direction (that is, a direction orthogonal to the central axis Z of the pneumatic caisson 1) of the inner peripheral surface 4 a of the cutting edge portion 4 that is in contact with the lower ground G2. Say. Also, the penetration width B can be said to represent the width in which the reaction force from the lower ground G2 acts on the caisson base 3, that is, the action width (action area) of the ground reaction force forming a part of the settlement resistance force. In a sense, it is one of the important parameters for the construction management of caisson settlement. As the penetration width B becomes smaller, the total ground reaction force acting on the blade opening 4 becomes smaller, and the settlement resistance becomes smaller. Such a penetration width B can be calculated (measured) by the blade edge boundary specifying device 100 described in detail below.

  Next, the blade edge boundary specifying device 100 will be described with reference to FIGS. 1 to 5. FIG. 2 is a conceptual diagram for explaining a schematic configuration of the blade edge boundary specifying device 100. FIG. 3 shows an enlarged sectional view of the blade opening 4. FIG. 4 shows an example of an image F obtained by being imaged by the image pickup unit 20 described later of the blade edge boundary specifying device 100, and FIG. 5 shows an example in which a plurality of obtained images F1 to F12 are arranged.

  As shown in FIGS. 1 and 2, in the present embodiment, the blade edge boundary specifying device 100 includes an illumination unit 10, an imaging unit 20, and a main unit 30.

  In the present embodiment, the main body unit 30 includes a display unit 31, an image analysis unit 32, and a storage unit 33.

  As shown in FIG. 3, the blade-portion boundary specifying device 100 includes an exposed region S1 of the inner peripheral surface 4a of the blade port 4 that is exposed to the work chamber R and a ground G of the inner peripheral surface 4a. This is a device for specifying a boundary W with the penetration region S2 penetrating into the hole.

  The lighting unit 10 is a lighting device provided in the work room R and illuminating the inside of the work room R. For example, as shown in FIG. 1, the illuminating unit 10 includes at least a plurality of inner circumferential surfaces 4 a of the blade opening 4 at circumferentially spaced locations on an outer edge of a wall surface of the partition wall 3 b on the working chamber R side. Each is attached to illuminate.

  The imaging unit 20 is provided in the work room R and captures an image F in the work room R. The imaging unit 20 is a device that can detect a distribution of light intensity I in a predetermined wavelength band (hereinafter, referred to as an intensity distribution) for each pixel (Pnm) of the image F. The intensity distribution, that is, the spectrum will be described later in detail. As the number of pixels of the image F of the imaging unit 20, for example, a predetermined number of pixels from several hundred thousand to several million can be adopted. In FIG. 4, each pixel is exaggerated and enlarged for easy understanding of the unit of each pixel, but the range (size) of each pixel is actually smaller (smaller) than that shown in FIG. 4. In the image F shown in FIG. 4, the exposed area S1 of the inner peripheral surface 4a of the blade opening 4 is shown on the upper side, and the working room R of the lower ground G2 is shown on the lower side (shaded in the figure). The exposed ground surface G2 ′ that is exposed to the outside is projected. Therefore, in this image F, the region on the far side of the paper surface of the region where the exposed ground surface G2 'is projected is a region corresponding to the penetration region S2 of the inner peripheral surface 4a.

  Specifically, as shown in FIGS. 1 and 5, for example, the imaging unit 20 is located at the radial center (that is, the position where the central axis Z of the pneumatic caisson 1 intersects) on the wall surface of the partition wall 3 b on the working room R side. ). Specifically, the guide rail 6 is attached to the partition wall 3b at a position avoiding the center in the radial direction, and the imaging unit 20 rotates around the central axis Z at the radial center of the partition wall 3b that does not interfere with the guide rail 6. ° It is configured to be rotatable. The rotation of the imaging unit 20 is configured to be executable by, for example, a remote operation command or the like from the main unit 30.

  When capturing the entire circumference of the inner peripheral surface 4a of the blade opening 4 by the imaging unit 20, the imaging unit 20 divides and captures the inner peripheral surface 4a for each predetermined angular range around the central axis Z, for example. In FIG. 5, for each of the images F1 to F12 obtained by imaging the inner peripheral surface 4a in 12 times, a part of the adjacent images are superimposed on each other to form an image as an entire peripheral image of the inner peripheral surface 4a. Have been. That is, the imaging unit 20 is rotated about the central axis Z by 30 degrees at a time, and the center axis of the image F obtained by one imaging is set so that the regions on both sides of the image F overlap the adjacent images F. The angle of view range around the Z direction is set to be slightly larger than 30 degrees. The full-circle image and each of the images F1 to F12 are configured to be able to be displayed on the display unit 31, for example. The operator of the excavator 5 recognizes the boundary between the exposed area S1 on the inner peripheral surface 4a and the exposed ground plane G2 ′ based on each of the images F1 to F12 displayed on the display unit 31 and the entire peripheral image. The boundary W (the thick line in FIG. 4) between the exposed area S1 and the penetration area S2 can be roughly grasped visually. In other words, the operator or the like grasps in real time the state of penetration of the cutting edge 4 into the ground G by visual information such as an all-around image displayed on the display unit 31 and performs construction management of caisson settlement. Can be.

  Here, just by the operator or the like looking at the full-circle image or each of the images F1 to F12 displayed on the display unit 31 or the like, the boundary W between the exposed region S1 and the penetration region S2 on the inner peripheral surface 4a can be accurately determined. It is also assumed that it is difficult to grasp the situation. In this regard, as will be described in detail below, in the present embodiment, a hyperspectral camera, which will be described later, is employed as the imaging unit 20, and the boundary W is more reliably identified objectively without relying on the operator's visual subjectivity. It is configured to provide possible information.

  In the present embodiment, the imaging unit 20 separates light in a predetermined wavelength band in a wavelength band of 350 nm to 1100 nm at a predetermined wavelength interval of 1 nm to 10 nm, and detects the intensity distribution at this wavelength interval, a so-called hyper. It consists of a spectrum camera. In other words, the hyperspectral camera is, in other words, a camera capable of acquiring information (hyperspectral information) of the intensity distribution (spectrum) of light that has been dispersed in wavelengths of several tens of bands (types) or more. The imaging unit 20 including a hyperspectral camera, for example, separates a wavelength of 350 nm (near ultraviolet) to 1100 nm (near infrared) at 5 nm intervals, and can acquire the hyperspectral information for each pixel (Pnm) of the image F. It is configured. This hyperspectral information is information that can capture human eyes, characteristics of an imaging target that cannot be captured by a general RGB digital camera, and the like. The display unit 31 displays, for example, each of the images F1 to F12 and the full-circumference image as an image for each wavelength with different colors or the like for each wavelength, or a wavelength having the highest intensity I in each pixel. Is designated as a representative wavelength, and an image showing each pixel in a color or the like corresponding to the representative wavelength can be displayed.

  For example, when the caisson base 3 including the cutting edge 4 is made of concrete, the inner peripheral surface 4a is a substantially gray concrete surface. In the hyper spectrum acquired at a predetermined pixel (for example, P11 in FIG. 4) on which the exposed surface S1 of the inner surface 4a is projected on the concrete surface in the image F, for example, a change in the intensity I for each wavelength λ is obtained. It has specific features such as showing a small and almost flat spectrum (the upper diagram of FIG. 6B described later). On the other hand, in the hyper spectrum acquired at a predetermined pixel (for example, Pnm in FIG. 4) on which the exposed ground surface G2 ′ of the lower ground G2 in the image F is projected, for example, the intensity I increases as the wavelength λ increases. It has a specific characteristic different from that of a concrete surface such as a spectrum (lower figure in FIG. 6B described later).

  The main body 30 is a main body that controls the entire cutting edge boundary specifying device 100, and is provided on the ground side together with a device (not shown) for remote control of the excavator 5, for example. It is configured to include an analysis unit 32 and a storage unit 33.

  The display unit 31 is formed of, for example, a liquid crystal display, and can display each of the images F1 to F12 and the all-around image as described above, and displays a result of the acquired spectrum, a calculation result of the penetration width B described later, and the like. It is a display device that is configured to be possible.

  The image analysis unit 32 is configured to expose an exposed area of the inner peripheral surface 4 a of the blade opening 4 that is exposed to the work chamber R based on the intensity distribution (hyper spectrum in the present embodiment) detected by the imaging unit 20. It is configured to specify a boundary W between S1 and a penetration area S2 penetrating into the ground G (lower ground G2) of the inner peripheral surface 4a. An example of a method of specifying the boundary W in the image analysis unit 32 will be described later in detail.

  The storage unit 33 stores at least first model data of the intensity distribution (spectrum) of the reflected light from the inner peripheral surface 4a of the blade opening 4 in advance. The first model data may be acquired in advance by the imaging unit 20, for example, or data at another construction site, document data, or the like may be used. As described above, when the hyper spectrum of each pixel in the region (the exposed region S1) corresponding to the concrete surface (the inner peripheral surface 4a) to be imaged has a feature that shows a substantially flat spectrum, the storage unit 33 As the first model data, data representing a flat model spectrum as shown in FIG. 6C described later is stored.

  In the present embodiment, the storage unit 33 stores structural data such as dimensions of the pneumatic caisson 1 and data such as the angle of view of the imaging unit 20. Specifically, it is assumed that the inner peripheral surface 4a of the blade opening 4 is displayed in the entirety of the image F obtained by a single imaging at a predetermined angular position around the central axis Z. The storage unit 33 stores data of the actual spatial coordinate position (for example, a three-dimensional coordinate position) of the inner peripheral surface 4a of each pixel of the image F in this case, and the width of the blade 4 at this spatial coordinate position. (That is, the penetration width B) is stored in association with each pixel. The image data including the hyperspectral data of each of the images F1 to F12 is input to and stored in the storage unit 33 so that it is possible to determine at which angular position around the central axis Z the image data is.

  Next, a method of specifying the boundary W by the image analysis unit 32 will be described in detail with reference to FIG. FIG. 6 is an example of a conceptual diagram for explaining the image analysis contents in the image analysis unit 32.

  In the present embodiment, the image analysis unit 32 calculates a difference between the first model data stored in the storage unit 33 and the data of the intensity distribution (hyper spectrum) acquired by the imaging unit 20 based on the difference value. Identify the boundary W.

  For example, as shown in FIG. 6A, an image F in which the boundary between the exposed region S1 and the exposed ground surface G2 ′, that is, the boundary W between the exposed region S1 and the penetrating region S2 is unclear compared to FIG. It is assumed that it is difficult to accurately specify the boundary W in the image F by the acquired human vision alone. The exposed region S1 is shown in the upper region of the image F shown in FIG. 6A, and the exposed ground surface G2 'is shown in the lower region.

  Here, specifically, the image analysis unit 32 acquires, for each pixel in the image F, hyperspectral data representing a spectrum illustrated in FIG. Then, the image analysis unit 32 reads out the first model data representing the model spectrum shown in FIG. Then, the image analysis unit 32 performs an arithmetic process of subtracting the first model data from the acquired data of the hyperspectrum (acquired spectrum) for each wavelength λ for all the pixels of one image F. Then, the image analysis unit 32 determines whether the maximum value ΔImax of the difference between the acquired spectrum data calculated for each wavelength λ and the first model data is smaller than a predetermined difference threshold ΔIc. I do. When the image analysis unit 32 determines that the maximum value ΔImax of the difference value is smaller than the difference threshold value ΔIc (in the case of the upper diagram in FIG. 6D), the pixel (for example, P11) is a pixel of the exposed area S1. And specify. When the image analysis unit 32 determines that the maximum value ΔImax of the difference value is equal to or larger than the difference threshold value ΔIc (in the case of the lower diagram of FIG. 6D), the pixel (for example, Pnm) is located within the penetration region S2. It is specified as a pixel. Then, the image analysis unit 32 draws a boundary line that emphasizes the boundary W between the exposure region S1 and the penetration region S2 on the image F shown in FIG. The display unit 31 displays an image that can easily and visually specify a proper boundary W. The image analysis unit 32 performs the calculation, determination, and drawing processing for specifying the boundary W for each of the images F1 to F12. Then, the image analysis unit 32 displays (draws) the boundary line as a result of specifying the boundary W on the display unit 31 with the boundary line emphasized by a thick line or the like. At this time, for example, the image analysis unit 32 determines the actual state of the inner peripheral surface 4a for each pixel along the boundary W (hereinafter, referred to as a boundary-corresponding pixel) among the plurality of pixels specified as the pixels in the penetration region S2. Is stored in the storage unit 33 for each boundary-corresponding pixel as information on the result of specifying the boundary W.

  Further, in the present embodiment, the image analysis unit 32 is configured to calculate the penetration width B of the blade opening 4 into the ground G based on the result of specifying the boundary W.

  Specifically, for example, the image analysis unit 32 stores the data of the penetration width B of the blade 4 in the storage unit 33 in advance in the storage unit 33 as the information of the result of specifying the boundary W in the data of the penetration width B of the blade unit 4. The data of the penetration width B in the storage unit 33 corresponding to the data of the spatial coordinate position is read out for each boundary corresponding pixel. Then, the image analysis unit 32 displays the read data of the penetration width B for each boundary corresponding pixel on the display unit 31 as a calculation result of the penetration width B. At this time, for example, based on the read-out data of the penetration width B for each boundary-corresponding pixel and the data of the spatial coordinate positions of these boundary-corresponding pixels, the image analysis unit 32, as shown in FIG. The state of change of the penetration width B over the entire circumference may be displayed on the display unit 31.

  Here, at the time of caisson laying construction, when a predetermined number of the caisson intermediate portions corresponding to the laying depth are sequentially stacked vertically in the upper part of the caisson base 3, the caisson base 3 is together with the caisson intermediate portion. It sinks in the ground G. When the caisson top is further stacked on the uppermost part of the caisson middle part, the caisson base 3 sinks into the ground G together with the caisson middle part and the caisson top. As a result, the pneumatic caisson 1 extending from the ground surface side to a predetermined sinking depth is constructed in the ground G. And a pier etc. will be installed in the upper part of the pneumatic caisson 1 (that is, the caisson top). More specifically, the excavation of the inner ground G1 and the lower ground G2 in the work room R and the caisson subsidence due to the excavation are sequentially repeated up to the submerged depth of the pneumatic caisson 1. That is, when the lower ground G2 or the like is excavated in the work chamber R and the settlement resistance becomes lower than the settlement force in a state where the blade opening 4 penetrates the lower ground G2 and is stationary, the caisson base 3 is settled. And stops when it sinks by an expected predetermined amount. Thereafter, excavation is performed again to settle down by a predetermined amount, and this is repeated a plurality of times, and the caisson intermediate portion and the caisson top portion are sequentially stacked on the way.

  Moreover, when excavating the lower ground G2 which is in contact with the inner peripheral surface 4a of the cutting edge portion 4 at the time of excavation in the caisson laying work, the settlement resistance rapidly decreases and the caisson base 3 is not intended. There is a possibility of sinking or sinking (excessive sinking) to a depth greater than expected. Therefore, in order to safely start or resume caisson subsidence, it is necessary to contact the inner peripheral surface 4a of the cutting edge 4 while leaving a part of the lower ground G2 appropriately even after excavation. Therefore, the current penetration width B of the cutting edge portion 4 into the lower ground G2 calculated based on the result of specifying the boundary W by the image analysis unit 32 remains below the inner peripheral surface 4a at the current time and comes into contact therewith. It is also a parameter that allows you to grasp the width of the moat and the remaining soil, in other words, the magnitude of the reaction force from the ground. In this sense, the information on the specified result of the boundary W and the penetration width B are useful information when determining the excavation amount and the like as to how far the ground G2 below the cutting edge 4 can be excavated. The moat-remaining soil is the lower ground G2 itself, which is in contact with the entire circumference of the inner peripheral surface 4a of the cutting edge portion 4 in the working chamber R and exists below the inner peripheral surface 4a of the cutting edge portion 4. This is a generally annular remnant.

  Next, an embodiment of a caisson laying method according to the present invention, in which a pneumatic caisson 1 is used, will be described with reference to FIGS. FIG. 8 is an example of an enlarged view of the blade port 4 for explaining the caisson squatting method of the present embodiment.

  As described above, in caisson laying work, excavation and settlement are repeated. That is, when the subsidence of the caisson base 3 is stopped and the caisson base 3 is at rest, it is necessary to excavate the lower ground G2 again to restart the subsequent subsidence. This excavation needs to be performed with an appropriate excavation amount or the like.

  Therefore, in the caisson laying method according to the present embodiment, the pneumatic caisson 1 is adjusted while adjusting the excavation amount of the ground G2 below the blade portion 4 using the result of specifying the boundary W of the blade portion boundary specifying device 100 described above. Is set down from the ground surface side of the ground G to a predetermined depth and installed.

  Specifically, as shown in FIG. 8, in the state where the blade opening 4 penetrates into the lower ground G2 and the caisson base 3 is stationary, the boundary W is specified by the blade opening boundary specifying device 100. At the same time, the penetration width B at the present time is calculated based on the specified result, and the calculation result of the penetration width B is obtained. Then, from the obtained penetration width B, the acting width of the ground reaction force acting on the caisson base 3 (the cutting edge portion 4) at the present time can be determined, and therefore, the total of the ground reaction forces acting on the cutting edge portion 4 can be estimated. . Then, the excavation amount of the ground G2 below the blade opening portion 4 such that the settlement resistance, which is mainly composed of the sum of the estimated ground reaction forces and the presumable circumferential friction force, is appropriately lower than the settlement force. To determine. Then, the slope (that is, the exposed ground surface G2 ′) of the lower ground G2 (remaining excavated soil) exposed to the work chamber R side is directed toward the inner peripheral surface 4a of the blade opening 4 in accordance with the determined excavation amount. Excavate. The area shaded in FIG. 8 is the excavation area. A portion shown by a two-dot chain line in FIG. 8 is a slope (exposed ground surface G2 ') of the (excavated remaining soil) of the lower ground G2 after excavation. Since the penetration width B after the excavation is appropriately narrower than the penetration width B before the excavation, the settlement resistance is appropriately reduced, and the settlement is slowly restarted. Then, the calculation (measurement) of the penetration width B is continued even during the subsidence, and the penetration width B increases with the subsidence. This is repeated a plurality of times, and the pneumatic caisson 1 extending from the ground surface side to a predetermined sunk depth is constructed in the ground G by sequentially stacking the caisson middle part and the caisson top partway.

  In addition, it is required that the caisson base 3 be settled in a substantially vertical direction during the laying work. Therefore, a part of the lower ground G2 is excavated so that the excavated amount of the lower ground G2 (in other words, the remaining soil width of the moat) becomes substantially uniform in the circumferential direction of the inner peripheral surface 4a. Due to this excavation, the caisson base 3 sinks in a substantially vertical direction without tilting. At this time, as shown in FIG. 7, the penetration width B of the blade opening 4 may be slightly varied in the circumferential direction of the inner peripheral surface 4a, but if it is within a predetermined variation range, the caisson base portion may be used. 3 can be settled in a substantially vertical direction without tilting.

  According to the blade edge boundary specifying device 100 according to the present embodiment, the illumination unit 10 illuminates the inside of the work room R of the pneumatic caisson 1 and is provided in the work room R to capture an image in the work room R. The imaging unit 20 detects the intensity distribution (spectrum) of the light in a predetermined wavelength band for each pixel Pnm of the image F, and the image analyzing unit 32 determines the blade opening based on the intensity distribution detected by the imaging unit 20. The boundary W between the exposed area S1 of the inner peripheral surface 4a of the inner peripheral surface 4a that is exposed to the work chamber R and the penetrating area S2 of the inner peripheral surface 4a of the inner peripheral surface 4a of the blade opening 4 that penetrates into the ground G is specified. Is done. Thereby, when the caisson is laid, the information of the specific result specifying the boundary W between the exposed area S1 and the penetration area S2 can always be obtained. It is possible to grasp (monitor) the state of intrusion into the building in real time, and thus, it is possible to more reliably and safely perform construction management of caisson settlement.

  According to the above-described aspect of the caisson setting method according to the present invention, the pneumatic caisson is adjusted while adjusting the excavation amount of the ground G2 below the cutting edge portion 4 using the result of specifying the boundary W of the cutting edge boundary specifying device 100. 1 is set down from the ground surface side of the ground G to a predetermined depth. Therefore, for example, the penetration width B of the cutting edge portion 4 into the ground G at the present time can be calculated based on the information on the specification result of the boundary W obtained by the cutting edge portion boundary specifying device 100, and furthermore, The total reaction force from the ground G at the present time can be estimated based on the calculated penetration width B. The settlement resistance mainly consisting of the estimated total reaction force from the ground G and the peripheral frictional force acting on the peripheral wall 2 of the pneumatic caisson 1 is appropriately lower than the settlement force (mainly the caisson's own weight). Thus, the caisson subsidence can be started by adjusting the excavation amount of the ground G2 below the cutting edge 4. As a result, the pneumatic caisson 1 can be safely sunk and installed from the ground surface side of the ground G to a predetermined depth.

  In this manner, the boundary W between the exposed region S1 on the inner peripheral surface 4a of the blade opening 4 and the penetration region S2 into the ground G is provided as information that can grasp the penetration state of the blade opening 4 into the ground G in real time. Can be provided, and a caisson squatting method using the same.

  In the present embodiment, the image analysis unit 32 is configured to calculate the penetration width B of the blade portion 4 into the ground G based on the result of specifying the boundary W. As a result, based on the calculated penetration width B, the width of the remaining moat remaining under the inner peripheral surface 4a and the magnitude of the reaction force acting on the pneumatic caisson 1 from the ground at the present time are determined. Therefore, the caisson laying work can be performed more safely and reliably.

  In the present embodiment, the imaging unit 20 includes a so-called hyperspectral camera that separates light in a predetermined wavelength band at a predetermined wavelength interval from 1 nm to 10 nm and detects an intensity distribution (hyperspectrum) at the wavelength interval. And As a result, the boundary W between the exposed area S1 and the penetrating area S2 on the inner peripheral surface 4a can be accurately determined only by the operator or the like looking at the full-circle image or the images F1 to F12 displayed on the display unit 31 or the like. Even when it is difficult to grasp the boundary W, it is possible to provide information capable of objectively and more reliably specifying the boundary W without depending on the visual subjectivity of the operator or the like.

  In this embodiment, the wavelength band of the spectrum is from 350 nm to 1100 nm, and the wavelength interval of the spectrum is 5 nm. However, the present invention is not limited to this, and the material of the inner peripheral surface 4a of the blade opening 4 and the lower ground G2 An appropriate wavelength band and an appropriate wavelength interval can be adopted depending on the soil properties and the like.

  In the present embodiment, the image analysis unit 32 acquires the first model data of the intensity distribution of the reflected light from the inner peripheral surface 4a of the blade 4 stored in the storage unit 33 and the image data obtained by the imaging unit 20. The boundary W is specified based on the difference value between the obtained intensity distribution data and the data, but the present invention is not limited to this. For example, the second model data of the intensity distribution of the reflected light from the exposed ground surface G2 'is stored in the storage unit 33 in advance. If the hyperspectrum of each pixel in the region corresponding to the exposed ground surface G2 ′ of the lower ground G2 has a feature that the intensity I increases as the wavelength λ increases, the storage unit 33 stores the second data. As model data, data representing a model spectrum having a constant gradient as shown in FIG. 9C is stored. The image analysis unit 32 may specify the boundary W based on a difference value between the second model data and the data of the intensity distribution acquired by the imaging unit 20. In this case, as shown in FIGS. 9A and 9B, the image analysis unit 32 acquires hyperspectral data for each pixel in the image F, and acquires the acquired hyperspectral (acquired spectrum) data. The arithmetic processing of subtracting the second model data for each wavelength λ from is performed for all the pixels of one image F. Then, the image analysis unit 32 determines whether or not the maximum difference value ΔImax calculated for each wavelength λ is smaller than a predetermined difference threshold value ΔIc. When the image analysis unit 32 determines that the maximum difference value ΔImax is equal to or larger than the difference threshold value ΔIc (in the case of the upper diagram in FIG. 9D), the pixel (for example, P11) is a pixel of the exposure area S1. Identify that there is. When the image analysis unit 32 determines that the maximum value ΔImax of the difference value is smaller than the difference threshold ΔIc (in the case of the lower diagram of FIG. 6D), the pixel (for example, Pnm) is a pixel in the penetration area S2. Is specified. Further, the image analysis unit 32 is not limited to the difference value between the acquired spectrum data and the first model data or the second model data. Difference processing of both the difference between the spectrum data and the second model data may be executed. The image analysis unit 32 calculates a difference value between at least one of the first model data and the second model data stored in the storage unit 33 and the data of the intensity distribution (acquired spectrum) acquired by the imaging unit 20. Based on this, the boundary W may be specified.

  Further, in the present embodiment, the image analysis unit 32 specifies the boundary W based on the difference between the acquired spectrum data and the first model data or the second model data. The boundary W may be specified based on the correlation value between the spectrum data and the model data.

  Further, in the present embodiment, the spectrum of the reflected light from the inner peripheral surface 4a of the blade opening 4 has a characteristic of showing a substantially flat distribution, and the spectrum of the reflected light from the exposed ground surface G2 'of the lower ground G2 is Although the characteristic has a characteristic indicating a distribution of a constant gradient, the characteristic of the spectrum is not limited to this. For example, as shown in FIG. 10, there may be a case where a characteristic has a distribution having a peak at a predetermined wavelength. Therefore, the first model data and the second model data may be determined according to the characteristics of the spectrum distribution determined according to the material of the inner peripheral surface 4a of the blade opening 4 and the soil properties of the lower ground G2. .

  In addition, teacher data is created from data acquired by a hyperspectral camera as the imaging unit 20, and deep learning or the like is performed so that a boundary W of image data captured by a general RGB digital camera matches a boundary W of teacher data. Learning can also be performed by the method described in the above. By this learning, if an algorithm for specifying the boundary W with a certain degree of certainty only from the information of the imaging data of the RGB digital camera is constructed, the imaging unit 20 will be replaced by an inexpensive hyperspectral camera instead of an expensive hyperspectral camera. There is a merit that a specific RGB digital camera can be adopted and the boundary specification can be evaluated.

  In the above description, the pneumatic caisson 1 is used as the foundation of the pier. However, the pneumatic caisson 1 can be used not only for the pier but also for other building structures. Further, the pneumatic caisson 1 is not limited to a foundation of a building structure, and can be used as an underground structure. Further, the pneumatic caisson 1 can apply not only a cylindrical shape but also any shape such as a rectangular tube shape.

  As described above, the embodiments of the present invention and the modifications thereof have been described. However, the present invention is not limited to the above embodiments and the modifications, and further modifications and changes are possible based on the technical idea of the present invention. Of course.

DESCRIPTION OF SYMBOLS 1 ... Pneumatic caisson 4 ... Blade part 4a ... Inner peripheral surface 10 ... Illumination part 20 ... Imaging part 32 ... Image analysis part 33 ... Storage part 100 ... Blade part boundary specifying device B ... Penetration width G ... Ground G2 ... Downside Ground G2 ': Exposed ground surface R: Work chamber S1: Exposed area S2: Penetration area W: Boundary

Claims (5)

An illumination unit that is provided in a working chamber inside the blade opening in the pneumatic caisson provided with the blade opening at the lower end, and illuminates the working room.
An imaging unit provided in the working room and capturing an image of the working room, for each pixel of the image, an imaging unit capable of detecting the intensity distribution of light in a predetermined wavelength band,
Based on the intensity distribution detected by the imaging unit, the blade penetrates into the ground of the inner peripheral surface of the inner peripheral surface and the exposed area of the inner peripheral surface of the blade opening portion that is exposed to the work chamber. An image analysis unit for specifying a boundary with the intrusion area,
And a cutting edge boundary specifying device.   The blade edge boundary specifying device according to claim 1, wherein the image analysis unit calculates a penetration width of the blade edge into the ground based on a result of specifying the boundary. First model data of the intensity distribution of the reflected light from the inner peripheral surface of the cutting edge, and reflection from the exposed ground surface exposed to the work chamber on the ground into which the cutting edge penetrates. A storage unit that stores in advance at least one of the intensity distribution of the light and the second model data,
The image analysis unit is configured to calculate a difference between at least one of the first model data and the second model data stored in the storage unit and data of the intensity distribution acquired by the imaging unit. The blade edge boundary specifying device according to claim 1 or 2, wherein the boundary is specified.   The blade according to any one of claims 1 to 3, wherein the imaging unit disperses light in a predetermined wavelength band at a predetermined wavelength interval from 1 nm to 10 nm, and detects the intensity distribution at the wavelength interval. Mouth boundary identification device. The caisson is used for the ground while adjusting the excavation amount of the ground below the blade using the boundary specifying result of the blade edge boundary specifying device according to any one of claims 1 to 4. A caisson squatting method, in which the sill is sunk to a predetermined depth from the ground surface side.