JP2022074712A - Vacancy information acquisition method within tunnel - Google Patents

Abstract

To improve convenience so as to utilize spare time of a tunnel excavation cycle without being affected by duty convenience of a measurement staff/operation staff.SOLUTION: A vacancy information acquisition method within a tunnel includes: a moving body 10 freely traveling within a tunnel 1; traveling position measurement means 30, 12 of a moving body mounted on the moving body 10; and automatic traveling control means provided in the traveling body 10. In a position to which the traveling body 10 travels, the traveling position measurement means 30, 12 include a current position grasping step of grasping a current position of the traveling body 10 by correlation with a rear known position 40 within the tunnel of the traveling body 10, an automatic traveling step of allowing the traveling body 10 to travel relative to a traveling destination position on the basis of a current position obtained in the current position grasping step, and a tunnel interior vacancy information acquisition step of allowing the traveling body side to acquire vacancy information within the tunnel 1 in the traveling destination position.SELECTED DRAWING: Figure 5

Description

The present invention relates to a method for acquiring information on the sky inside a tunnel. For example, the present invention relates to a tunnel interior sky information acquisition method such as displacement measurement information of the tunnel interior sky and acquisition of the interior sky as information by an image.

In mountain tunnels, work to measure the shape of the tunnel cross section to find atari (parts with a diameter smaller than the radius of the planned cross section) and overdigging (parts with a diameter larger than the radius of the planned cross section), rock and concrete spraying conditions Is required to be acquired as an image.

In addition, measuring the displacement of the ground on the inner wall surface of the tunnel from the excavation of the face to the placement of the lining concrete and tracking the subsequent behavior, for example, determines the safety of the tunnel. It is also important for forming a stable tunnel lining. For example, when the displacement of the ground on the inner wall surface of the tunnel is measured and the displacement is preferably about 1 mm in 1 to 2 weeks, it is judged that the ground after excavation is stable, and the lining concrete is constructed. It is managed to be done.

In the conventional method of measuring the displacement of the ground on the inner wall surface of the tunnel, a plurality of targets are placed at predetermined positions on the inner wall surface of the tunnel covered with sprayed concrete after excavation, and these targets interfere with the work. As a position that is difficult to become, it is performed by collimating with a total station fixed to the shoulder of the tunnel, or by collimating with a total station installed on the roadbed in the tunnel mine by a worker using a tripod for each measurement work. (For example, see Patent Document 1).

On the other hand, by transferring the three-dimensional coordinates of the target measured by the total station to, for example, a management computer installed in the field office outside the tunnel via wireless communication via an information communication terminal or a wireless communication base station inside the tunnel. It has also been proposed to manage the displacement of the ground on the inner wall surface of the tunnel (see, for example, Patent Document 2).

In recent years, a technique of acquiring data on more points by using a 3D laser scanner to detect an empty displacement in a tunnel has also been proposed (Patent Document 3).

The method of acquiring point cloud data for more points using a 3D laser scanner is useful as detailed multi-point cloud data as information for detecting an empty displacement in a tunnel.

However, it is considered that the form in which the 3D laser scanner is installed on the bottom surface of the tunnel for measurement as in Patent Document 3, for example, is not sufficient to shorten the construction cycle.
Therefore, the applicant for this patent has jointly proposed a highly mobile measurement method using an automobile (Patent Document 4).

Japanese Unexamined Patent Publication No. 5-99670 Japanese Unexamined Patent Publication No. 2008-298432 Japanese Unexamined Patent Publication No. 2014-98704 Japanese Unexamined Patent Publication No. 2018-163063

Although the usefulness of the one in Patent Document 4 has been confirmed, it is because a measurer / operator with sufficient experience drives the vehicle to the target position of the vehicle and operates and measures at the destination position. The time zone for measurement is limited due to the work convenience of the measurer and operator, and the time required for measurement cannot be shortened sufficiently, which is a form that cannot be said to be agile.

A main object of the present invention is to provide a highly convenient tunnel in-air information acquisition method that can utilize the free time of the tunnel excavation cycle without being influenced by the work convenience of the measurer and the operator.

In order to solve the above problems, the present invention is a method of acquiring information on the inside of a tunnel in the tunnel.
A mobile body that moves freely in the tunnel,
The moving position measuring means of the moving body mounted on this moving body,
An automatic movement control means provided on the moving body is provided.
At a certain position where the moving body has moved, the moving position measuring means has a current position grasping step of grasping the current position of the moving body by correlation with a known position in a tunnel behind the moving body.
Based on the current position obtained in the current position grasping step, the automatic movement step in which the moving body moves with respect to the movement target position and the automatic movement step.
It is characterized in that, at the movement target position, the moving body side includes a tunnel inside sky information acquisition step for acquiring tunnel inside sky information.

According to the present invention, it is possible to use the free time of the tunnel excavation cycle without being influenced by the work convenience of the measurer / operator (for example, unmanned), and it is possible to provide a highly convenient method for acquiring tunnel airborne information. ..

It is a schematic perspective view for explanation in the tunnel. It is a schematic perspective view for demonstrating the form in which a moving body moves in a tunnel. It is a front view of the moving vehicle example in 1st Embodiment. It is a top view of the moving vehicle example. It is a schematic front view of the measurement situation example. It is a front view of the moving vehicle example in 2nd Embodiment. It is a top view of the moving vehicle example. It is a front view of the moving vehicle example in 3rd Embodiment. It is a top view of the moving vehicle example. It is a schematic front view of a measurement situation and an example of an information transmission system. It is a flow chart of the automatic control system of a moving vehicle. It is a flow chart of the data processing step example.

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

Each cross-sectional condition (in-tunnel condition) of the tunnel 1 changes with the excavation of the tunnel. For example, as shown in FIG. 1, the cross-sectional shape, internal air surface displacement, surplus moat condition, etc. in each cross-section S1 and S2 in front of the face F are measured for each cycle time of tunnel excavation by various surveys. As the measurement method, for example, Japanese Patent No. 3418682 according to the present applicant can be mentioned.

Depending on the conventional measurement method and the tunnel excavation plan (cycle time), the conditions inside the tunnel include, for example, a large change in the inner sky in the cross section S1, a large amount of surplus moat in the cross section S2, and the excavation equipment M associated with the tunnel excavation plan. Information such as the arrangement of the tunnel can be obtained.
However, even if the outline of each cross section S1 and S2 can be grasped, the details cannot be grasped.

Therefore, it is desirable to obtain tunnel interior sky information at positions near the cross sections S1 and S2.
In this case, examples of the "tunnel in-air information" of the present invention include the above-mentioned cross-sectional shape, inner air surface displacement, surplus moat condition, surface condition of face F, and each of these image information.

In addition, as "tunnel sky information", it is desirable to obtain detailed information about each cross section (region) using a 3D laser scanner from the viewpoint that a large amount of data can be obtained with higher accuracy than conventional surveying. ..

The three-dimensional laser scanner is a measuring device capable of acquiring three-dimensional coordinates of a surface shape and its point cloud data as an image by irradiating a measurement target with a laser radially. For example, non-contact measurement can be performed at a speed of tens of thousands of points or more per second, and high-density and surface point cloud data can be acquired.
The three-dimensional coordinates can be calculated from the distance to the measurement target and the irradiation angle obtained from the reflection time of the laser. Furthermore, even on the back side of the measurement target or a wide area where measurement cannot be performed from one place, it is possible to combine and coordinate the targets as common points among a plurality of scan data.

From this point of view, the method of acquiring point cloud data for many points in the tunnel using a 3D laser scanner can accurately obtain information on the displacement of the ground on the inner wall surface of the tunnel, the surplus moat condition, and the surface condition of the face. It is effective to get it well.

In Patent Document 4, the installation position is known (for example, the position information of the total station can be acquired by measuring a target whose installation position behind the tunnel is known). The total station is integrated with the 3D laser scanner. It detects at least three targets and acquires the three-dimensional coordinates of the 3D laser scanner.
In this state, if the local point cloud data of the inner wall surface of the tunnel is obtained by scanning with a 3D laser scanner, the local point cloud data can be converted into point cloud data on absolute coordinates by the three-dimensional coordinates of the 3D laser scanner. It can be converted into point cloud data in the tunnel coordinate system.
Therefore, being able to finally obtain a large number of point cloud data in the tunnel coordinate system based on the basic data obtained by scanning with a 3D laser scanner greatly contributes to improving the accuracy of displacement measurement.

The method of Patent Document 4 is an excellent method, but since a measurer / operator with sufficient experience drives the vehicle to the target position of the vehicle and operates and measures at the target position of the vehicle. The time zone for measurement is limited due to the work convenience of the measurer and operator, and it is difficult to say that it is agile.
Furthermore, it is desirable to avoid driving a car in a tunnel by personnel from the viewpoint of safety, and to be able to obtain "in-tunnel sky information" without limiting the working hours of a measurer / operator. Is desirable.

Therefore, in the present invention, a moving body (for example, an automobile) that moves freely in a tunnel is equipped with an automatic movement control means so that the moving body automatically moves with respect to a moving target position. ..

In this automatic movement process, GPS (GNSS) cannot be used inside the tunnel as it is outdoors. There is also a proposal to combine GPS (GNSS) information and vehicle driving information (IMU: dry positioning), but it cannot be used while updating the position information of vehicles that have already entered from the tunnel entrance, and the position accuracy. There are many problems in that respect.

In the embodiment of the present invention, at a certain position where the moving body has moved, the moving position measuring means grasps the current position of the moving body by correlation with a known position in the tunnel behind the moving body. In the grasping step, the automatic moving step of moving the moving body with respect to the moving target position based on the current position obtained in the current position grasping step while operating the automatic moving control means, and the moving target position, the above-mentioned The moving body side has a tunnel inside sky information acquisition step for acquiring tunnel inside sky information.
A more specific form will be described below.

The moving body of the present invention includes, but is not limited to, a vehicle (including a robot traveling vehicle), a monorail vehicle, a flying object such as a drone, and the like.
In advance, as a typical embodiment, the moving body includes an automobile, the moving position measuring means includes a total station, a front target and a back target (which constitutes a known position), and the automatic moving step is for automatic driving including, for example, steering. Including an automated steering system, the in-tunnel position measurement step uses a 3D laser scanner.

Then, for example, as shown in FIG. 2, the automobile 10 automatically travels at an appropriate time in the tunnel excavation cycle while avoiding the excavation equipment M, for example, and acquires detailed data of the surplus moat status of the cross section S2 at the P3 position. Then, at the P2 position, detailed data on the internal air displacement status of the cross section S1 is acquired, and at the P1 position, detailed data on the face status of the face F cross section is acquired, and the data is retracted backward at an appropriate time in the excavation cycle. It waits for the next excavation cycle.

<First Embodiment>
The first embodiment for carrying out this will be described with reference to FIGS. 3 to 5.
A 3D laser scanner 20 and a first target 12 are provided in the automobile 10, and a total station 30 installed at a rear position separated from the automobile 10 (for example, 50 to 100 m) is installed.

For example, the installation table 11 is attached to the roof of the automobile 10, and the 3D laser scanner 20 is mounted on the installation table 11.
Further, the installation table 11 is provided with a target (for example, a reference ball) 12 for the total station 30. For example, one target 12 is attached to the 3D laser scanner 20 installed on the front side of the mobile vehicle 10, and two targets 12 are provided on both sides of the rear portion in pairs.
The pair of targets 12 and 12 at the rear are provided with an expansion / contraction mechanism (provided with respect to the base 14 on the installation base 11 but a detailed mechanism is not shown) 13 installed as needed, so that the separation interval in the width direction is three-dimensional. In order to improve the accuracy of determining the coordinates of the original position (position, direction, inclination), it is expanded so that it can be expanded, and it is reduced so that it does not interfere with running.
By increasing the distance between the targets 12 and 12, the measurement accuracy of the 3D laser scanner 20 is improved.
If necessary, the base 14 can be moved back and forth along the installation base 11. Further, the number of targets 12 can be increased and installed in other places.

On the other hand, the installation position information of the total station 30 is acquired in advance or at an appropriate time. For example, the installation position information of the total station 30 is acquired based on the positional relationship (separation distance and azimuth θ) with the rear target 40 (see FIG. 4) whose rear position on the entrance side is known, which is obtained according to the tunnel survey. ..

In the first embodiment, the 3D laser scanner 20 provided in the automobile (moving body) 10 and at least three first targets 20 provided at different positions are separated from the automobile (moving body) 10. The total station 30 installed at the position constitutes the moving position measuring means of the moving body.
Then, in the current position grasping step, the total station 30 catches each of the first targets 20, and the total station 30 uses the known underground reference point (rear target 40 position) information as a basis for the 3D laser scanner 20 or the automobile (moving object). ) 10 is a step of detecting a three-dimensional position (position, direction, inclination).

Then, it has an automatic movement step in which the automobile (moving body) 10 moves with respect to a movement target position (for example, any of the above-mentioned points P1 to P3) based on the current position obtained in the current position grasping step.
This automatic movement step includes an automatic steering system that directs steering toward a travel route, controls travel speed, and includes travel stop and start control, and as shown in FIG. 2, the vehicle (moving body) 10 moves. Drive to the destination position.

In this case, it is desirable that the vehicle (moving body) 10 be moved by unmanned driving, but a driver who has no or little surveying experience gets on the vehicle (moving body) 10 and travels along a predetermined lane. It may move to the target position while using the function.

When the target position is reached, the 3D laser scanner 20 is operated according to the position measurement step in the tunnel to obtain local point cloud data. This local point cloud data can be acquired as tunnel interior sky information, and thus the tunnel interior sky information acquisition step is configured.

In order to execute the current position grasping step and the automatic movement step, as shown in FIG. 10, the automobile (moving body) 10 side is equipped with a first information processing terminal 31 such as a tablet personal computer, and the total station 30 is provided. The side can also be equipped with a second information processing terminal 36 such as a personal computer.

Then, the total station 30 can be wirelessly operated from the first information processing terminal 31 on the automobile (moving body) 10 side to detect the three-dimensional position (position, orientation, tilt) of the 3D laser scanner 20.
As the total station 30, an automatic collimation / automatic tracking type motor-mounted total station having a function of automatically finding and measuring the center of the target 12 integrated with the 3D laser scanner 20 can be used.

A second information processing terminal 36 such as a personal computer mainly used for the operation can be provided on the total station 30 side. If necessary, it is desirable that this second information processing terminal (not shown) be used in combination with the total station 30 for a face marking system or the like. The installation position of the second information processing terminal 36 is not limited, and may be carried by an operator.

As shown in FIG. 10, the automobile (mobile body) 10 is equipped with a wireless terminal 33, and the total station 30 is remotely controlled by the first information processing terminal 31 via the wireless terminal 32 provided on the total station 30 side wirelessly. It is preferable to operate it.
On the contrary, the total station 30 can catch the target 12 of the automobile (moving body) 10 and quickly acquire the position information of the 3D laser scanner 20 or the automobile (moving body) 10.

At the final target position, the 3D laser scanner 20 operates to acquire three-dimensional point group data in the vicinity of the installation position (the scanning range is schematically shown by halftone dots in FIG. 3).
The local point cloud data by the 3D laser scanner 20 is wirelessly transmitted to the wireless terminal 32 via the wireless terminal 33, and is transmitted by the known signal transmission system 34 in the tunnel premises and by the personal computer 35 in the office outside the office. To.

FIG. 12 shows a processing flow of local point cloud data by the 3D laser scanner 20.
That is, it has step S2 for converting the local point cloud data into an absolute coordinate system based on the three-dimensional position (position, orientation, tilt) of the 3D laser scanner 20 by the total station 30.
In this case, as shown in FIG. 12, the search condition of the reference sphere (target) is given in advance so that the three-dimensional position of the 3D laser scanner 20 by the total station 30 is detected.

Subsequently, there is a step S3 of converting the point cloud data converted into the absolute coordinate system into the point cloud data of the tunnel coordinate system based on the tunnel alignment, the tunnel cross-section condition, etc. set in advance.

Next, in order to exclude the influence of obstacles (various pipes such as wind pipes) in the tunnel premises in advance, the tunnel cross-sectional radius, reflectance, and the like are set, and only valid data is selected and processed in step S4.

The number of point cloud data is enormous. Therefore, an error is likely to occur and the processing time becomes long. Therefore, there is a step S5 for error correction using a (known) error factor removing method such as pattern matching processing.

After going through the above steps, S6 calculates the displacement.

These series of processes can be processed in the tablet PC 31 possessed by the measurement worker, but if necessary, the series of processes can also be processed in the personal computer 35 in the office.

The personal computer 35 in the office creates a drawing of the sky inside the tunnel and uses it for managing the change over time. In this case, it is effective to extract the singular points of the sky surface in the tunnel and capture the changes over time, and to create each cross-sectional view in the tunnel direction.
Here, the internal air displacement of the tunnel has been mainly described, but as described above, the above-mentioned cross-sectional shape, internal air surface displacement, surplus moat condition, surface condition of the face F, and the mode of acquiring each of these image information are described. It includes.

<Second embodiment>
Regarding the configuration of the automatic movement control means provided on the moving body and the configuration of the current position grasping step for grasping the current position of the moving body, the second embodiment shown in FIGS. 6 and 7 may be used.

That is, in the second embodiment, the moving position measuring means is located at a position separated from the 3D laser scanner 20 and the first target 12F provided on the automobile (moving body) 10 and the automobile (moving body) 10. It has a total station 30 installed and a second target 12B.

Then, in the current position grasping step, the total station 30 catches the first target 12F of the 3D laser scanner 20, the 3D laser scanner 20 catches the second target 12B, and the total station 30 catches the known underground reference point (rear target 40). ) Based on the information, the three-dimensional position (position, orientation, tilt) information of the 3D laser scanner 20 or the automobile (moving body) 10 is acquired. It is a step to detect.

<Third embodiment>
Further, the third embodiment shown in FIGS. 8 and 9 may be used.

In the third embodiment, the moving position measuring means is separated from the 3D laser scanner 20, the first target 12F, the gyro compass 50, and the automobile (moving object) 10 provided in the automobile (moving object) 10. It has a total station 30 installed at the position.

Then, in the current position grasping step, the total station 30 catches the first target 12F of the 3D laser scanner 20, and the total station 30 uses the known underground reference point (rear target 40) information as a basis for the 3D laser scanner 20 or the automobile (the vehicle (rear target 40)). In the step of detecting the three-dimensional position of the moving body) 10, the gyro compass 50 further detecting the orientation of the automobile (moving body) 10 or the 3D laser scanner 20, and detecting the three-dimensional position (position, orientation, tilt). be.

As in the above embodiment, the 3D laser scanner is mounted on the moving body and the target is integrated. Since the moving body moves to the target position while using the unmanned driving movement or the lane assist function, it is not affected by the work convenience of the measuring staff and the operator, and can be unmanned or by inexperienced personnel. , It is possible to measure the inside of the tunnel by using the free time of the tunnel excavation cycle.

In each embodiment, by using a total station, highly accurate movement (running) is possible without GNSS.

It is desirable to provide a pedestal on the moving body and to provide a leveling mechanism between the pedestal and the 3D laser scanner that automatically leveles the posture of the 3D laser scanner provided on the pedestal. As the leveling mechanism, for example, the one described in Japanese Patent Application Laid-Open No. 2015-7567 can be used.
By providing the leveling mechanism, the preparation time until the start of scanning by the 3D laser scanner can be shortened.

FIG. 11 shows an outline of an automatic movement step in which the automobile 10 as a moving body moves.
The automobile 10 is provided with, for example, a gyro compass 50 and a traveling control processing unit (CPU) 51, and in addition to an automatic steering operation and an automatic speed control device, a front camera device 52 on the front and millimeter waves on the front and sides. External environment monitoring means such as a radar 53 and an infrared radar are provided.

Then, in order to obtain more detailed information based on the tunnel alignment plan (including cross-sectional shape information), tunnel excavation progress, current displacement status, current surplus moat status, excavation cycle time, etc., point group data acquisition points (measurement) Select the location), determine the measurement timing based on the progress of tunnel excavation, etc., and start automatic operation.
The start command of the automatic operation is given to the traveling control processing unit (CPU) 51, and while traveling, the current position information by the above-mentioned current position grasping step is obtained moment by moment, and the direction information from the gyro compass 50 is obtained. However, the steering automatic operation and the automatic speed control device are operated. At this time, the traveling direction and the speed are changed while the current position data is sequentially fed back.
External environment monitoring means such as the front camera device 52 and the millimeter wave radar 53 are used for safe driving.

The total station has a function of acquiring face distance, cross-sectional shape, deformation measurement, excavation cycle time, and the like. As a result, it becomes possible to control the tunnel according to the actual situation of the tunnel, as compared with the position information such as GNSS seen in the prior art and the automatic vehicle running by the external environment monitoring means such as the millimeter wave radar.
That is, for example, from the face distance information acquired by the total station, it is possible to determine how far the vehicle should be automatically driven in order to acquire excavation data and image data in the vicinity of the face.
In addition, it is possible to improve work efficiency because it is sufficient to perform detailed measurement with a 3D scanner only at a location where abnormal data can be seen from the cross-sectional shape information and deformation measurement information acquired by the total station.
Furthermore, based on the acquired excavation cycle time information, detailed measurement may be performed with a 3D scanner during rock bolt construction where the air is clean, and since a heavy machine exists in the center of the face during rock bolt construction, the vicinity of the face is in the center. It is also possible to make a detailed judgment such as having to take the course of a moving object (for example, a car) shifted from.

As mentioned above, the method of acquiring point cloud data for more points using the 3D laser scanner 20 accurately measures the displacement of the ground on the inner wall surface of the tunnel, the surplus moat condition, the face condition, and the like. It is effective for.
As the 3D laser scanner, a commercially available one can be used, for example, "Focus3D" available from FARO can be used.

In the above example, the moving body is a car, but a drone, a monorail, or the like may be used.
Further, as a moving body, when the heavy machine used for tunnel construction is equipped with an automatic operation function, the heavy machine is regarded as the moving body according to the present invention, and the moving body (heavy machine) is equipped with a moving position measuring means. The embodiment of the present invention can be adopted.
Considering that the moving body is in a tunnel with a lot of dust and water, it is desirable to provide a protection mechanism for the measuring instrument. As a protection mechanism, a case that opens and closes automatically or a case that has an automatic dust removal mechanism on glass with high transmittance can be used.

1 ... tunnel, 10 ... mobile vehicle (moving body), 12, 12F, 12B ... target, 20 ... 3D laser scanner, 30 ... total station, 31 ... tablet PC, 35 ... office personal computer, 50 ... gyro compass.

Claims (7)

It is a method to acquire the inside sky information in the tunnel in the tunnel.
A mobile body that moves freely in the tunnel,
The moving position measuring means of the moving body mounted on this moving body,
An automatic movement control means provided on the moving body is provided.
At a certain position where the moving body has moved, the moving position measuring means has a current position grasping step of grasping the current position of the moving body by correlation with a known position in a tunnel behind the moving body.
Based on the current position obtained in the current position grasping step, the automatic movement step in which the moving body moves with respect to the movement target position and the automatic movement step.
A method for acquiring tunnel interior sky information, which comprises a tunnel interior sky information acquisition step in which the moving body side acquires tunnel interior sky information at the movement destination position. The moving position measuring means includes a measuring device provided on the moving body, at least three first targets provided at different positions, and a surveying instrument installed at a position separated from the moving body. death,
In the current position grasping step, the surveying instrument captures each of the first targets, and the surveying instrument detects a three-dimensional position of the measuring device or the moving body based on known underground reference point information. It's a step
The in-tunnel position measurement step is a step in which the measuring device obtains in-tunnel sky information data.
The in-tunnel measurement method according to claim 1. The moving position measuring means has a measuring device and a first target provided on the moving body, and a surveying instrument and a second target installed at a position separated from the moving body.
In the current position grasping step, the surveying instrument captures the first target of the measuring instrument, the measuring instrument captures the second target, and the surveying instrument captures the known underground reference point information. This is a step of detecting the three-dimensional position of the measuring instrument or the moving body.
The in-tunnel position measurement step is a step in which the measuring device obtains in-tunnel information.
The in-tunnel measurement method according to claim 1. The moving position measuring means has a measuring device provided on the moving body, a first target and a gyro compass, and a surveying instrument installed at a position separated from the moving body.
In the current position grasping step, the surveying instrument catches the first target, and the surveying instrument is based on known underground reference point information and based on the orientation of the moving body by the gyro compass. Or, it is a step of detecting the three-dimensional position of the moving body.
The in-tunnel position measurement step is a step in which the measuring device obtains in-tunnel information.
The in-tunnel measurement method according to claim 1. The moving body is an automobile, and a pedestal is provided for the automobile, and a leveling mechanism between the pedestal and the measuring device for automatically leveling the posture of the measuring device provided for the pedestal is provided. The in-tunnel measurement method according to any one of claims 1 to 4. The moving body is provided with an external environment detecting means around the traveling path and is provided with an automatic steering device.
In the automatic movement step, the moving body moves according to the automatic steering device under the external environment by the external environment detecting means with respect to the movement target position based on the current position obtained in the current position grasping step. Has an automatic move step,
The in-nel measurement method according to claim 1. 2. The in-tunnel measurement method according to any one of 6.

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