JP2023144420A - Construction support method for bar-shaped member, construction support system for bar-shaped member, and program - Google Patents

Abstract

To efficiently and accurately specify the position and angle of an insertion hole for a rod-shaped member during tunnel construction.SOLUTION: A construction support method for a rod-shaped member 1 comprises steps of acquiring a photographed image of a wall surface 3 of the ground 2 into which the rod-shaped member 1 is to be inserted, detecting an insertion hole 5 already formed in the wall surface 3 as an elliptical area based on brightness information shown by the photographed image, and estimating the position and angle of the insertion hole 5 in the wall surface 3 based on the diameter and brightness information of the elliptical area shown by the photographed image corresponding to the elliptical area.SELECTED DRAWING: Figure 1

Description

Application for application of Article 30, Paragraph 2 of the Patent Act filed March 1, 2022 http://www. tc-iaip. org/dia/2022/

The present invention relates to a rod-shaped member construction support method, a rod-shaped member construction support system, and a program. Specifically, the present invention relates to a rod-shaped member construction support method, a rod-shaped member construction support system, and a program. Regarding technology that enables identification.

The NATM (New Austrian Tunneling Method) construction method, which utilizes the natural support function of the ground, is expanding its scope of application beyond traditional mountain tunnels by adopting new auxiliary construction methods as appropriate.
In this NATM construction method, concrete for the primary lining is sprayed onto the wall surface exposed by excavation or blasting of the ground, followed by placing rock bolts and concrete for the secondary lining. By carrying out such construction, the ground and shotcrete are integrated, and the strength of the tunnel is increased by the holding power of the ground.

Conventional techniques to improve the efficiency of tunnel construction, including the installation of rock bolts, include, for example, ensuring safety by mirror-blowing the concrete onto the face, while allowing construction workers to construct the ground on the mirror-blown concrete surface. A face information display method (see Patent Document 1) that allows construction work to be performed while visually confirming mountain conditions has been proposed.

This technology includes a face photographing step of photographing an area including the entire first face, which is an exposed surface of the ground of a tunnel face, with a digital camera, and a face photographing step of photographing an area including the entire first face, which is an exposed surface of the ground of the tunnel face, and the first face obtained by photographing with the digital camera. Data of an image portion of the first working face is extracted as working face image data from photographed image data of an area including the entire working face, and based on the said working face image data, at least the entire first working face is extracted. a face information image data generation step of generating face information image data including a face image that is a real image of the face, a mirror blowing step of mirror-blowing concrete on the first face, and the concrete surface after the mirror-blowing. The first working face is made to match the shape and size of the second working face by making at least the working face image, which is the image indicated by the working face information image data, match the shape and size of the second working face. The method includes a step of projecting a face information image in the actual size of the surface.

JP 2022-1732 Publication

Driving the rock bolts described above involves inserting the rock bolts into holes (filled with mortar) drilled in the wall through shotcrete. Inserting such a lock bolt is divided into the work of finding a hole in an uneven wall surface, the work of aligning the tip of the lock bolt to the hole position, and the work of inserting the entire lock bolt into the hole.
Currently, these tasks are carried out manually by workers who go to the vicinity of the hole. However, it is necessary to insert a long, heavy rock bolt into a long, narrow hole filled with highly viscous mortar, which does not provide good workability or efficiency.

On the other hand, various methods are being researched to mechanize the series of processes for driving rock bolts, including drilling holes in walls, injecting mortar into the holes, and driving rock bolts using the same arm. According to such a method, for example, a plurality of rock drilling machines are used to drill a hole and at the same time, a rock bolt is placed. Therefore, the efficiency of the construction can be improved.

However, it has not yet been possible to efficiently and automatically identify the correct hole position and insertion angle on a wall surface, and it remains difficult to automate the alignment of the tip of the lock bolt and the hole. Therefore, if the lock bolt is driven while the hole position and insertion angle are not correct, there are cases where the lock bolt is deformed or damaged in the hole.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a technique that enables efficient and accurate identification of the position and angle of a rod-shaped member insertion hole during tunnel construction.

The rod-shaped member construction support method of the present invention that solves the above-mentioned problems includes the steps of acquiring a photographed image of a wall surface into which a rod-shaped member is to be inserted; a step of detecting the hole as an elliptical region; and a step of estimating the position and angle of the insertion hole in the wall surface based on the diameter and brightness information of the elliptical region shown by the photographed image corresponding to the elliptical region. It is characterized by containing.
According to this, unlike various conventional methods using visual servo technology, which tend to be expensive to introduce, locking can be achieved using a method using a monocular camera that is easy to introduce to tunnel construction sites from both a technical and cost perspective. It becomes possible to efficiently and precisely specify the position and angle of a hole that is a target for bolting or charging. Further, it can be expected to have the effect of reducing the possibility of damage or deformation of the lock bolt etc. due to insertion into the hole.

In addition, in the step of detecting the elliptical area that is the insertion hole of the rod-shaped member construction support method of the present invention, the outline of each area in the photographed image is detected, and the detected outline is approximated to an elliptical shape. a step of converting each region into an elliptical region; and a step of identifying an elliptical region darker than other elliptical regions or a predetermined standard as the insertion hole based on the luminance information of each of the elliptical regions. You can also say "execute".

According to this, even if many elliptical areas are included in the photographed image of the peripheral wall surface of the tunnel, the insertion hole for a rock bolt or the like can be specified with good accuracy. As a result, the position and angle of the rod-shaped member insertion hole during tunnel construction can be specified more efficiently and accurately. It is basically assumed that this photographed image was obtained under conditions in which only one insertion hole is photographed, but if the elliptical area is darker than a predetermined standard, it can be identified as an insertion hole. Therefore, there is no limitation on the number of insertion holes to be specified. Specifically, the above-mentioned conditions correspond to an environment in which photographing conditions such as the arrangement of the photographing device with respect to the peripheral wall of the tunnel, lens direction, focal length, and angle of view are adjusted in advance.

Further, in the step of estimating the position and angle of the insertion hole in the rod-shaped member construction support method of the present invention, the position of the insertion hole is specified based on the diameter of the elliptical area and the known diameter of the rod-shaped member. However, it may be determined that the insertion hole extends at an angle where the brightness becomes dark based on the change in brightness in the minor axis direction of the elliptical area.

According to this, the similarity relationship between the shape in the image (the elliptical area corresponding to the hole) seen from the coordinate system of the imaging device and the shape on the actual tunnel wall surface (the actual hole) is By appropriately using the known hole diameter as a key, the hole position can be estimated with good accuracy. Further, based on the relationship between the brightness gradation in the elliptical region and the extending direction of the hole, the angle of the hole (from the peripheral wall surface of the tunnel toward the inside of the ground) can be efficiently specified. That is, the position and angle of the insertion hole of the rod-shaped member during tunnel construction can be specified more efficiently and accurately.

Further, the rod-shaped member construction support method of the present invention may further include a step of setting information on the position and angle of the insertion hole in the rod-shaped member construction device.

In this way, by setting information on the position and angle of the insertion hole in a construction device such as a computer jumbo, it becomes possible to insert a lock bolt or the like into the hole without relying on human power. This eliminates the need for manual work at high or dangerous locations such as the upper part of tunnels, reducing various burdens and risks on workers. Further, it can be expected to have the effect of reducing the possibility of damage or deformation of the lock bolt etc. due to insertion into the hole. As a result, the position and angle of the rod-shaped member insertion hole during tunnel construction can be specified more efficiently and accurately.

Further, the rod-shaped member construction support system of the present invention includes a photographing device that photographs a wall surface into which a rod-shaped member is to be inserted, and a photographed image obtained by photographing with the photographing device, and brightness information indicated by the photographed image is used. the position of the insertion hole on the wall based on the diameter and brightness information of the elliptical area shown by the photographed image corresponding to the elliptical area; and an information processing device that executes a process of estimating an angle.

According to this, it is possible to provide a system that can efficiently and accurately specify the position and angle of the insertion hole of the rod-shaped member during tunnel construction.

In the rod-shaped member construction support system of the present invention, the information processing device detects the contour of each region in the captured image in the process of detecting the elliptical region that is the insertion hole, and detects the contour of each region in the photographed image. a process of converting each region into an elliptical region by approximating it to an elliptical shape, and inserting one of the elliptical regions that is darker than other elliptical regions or a predetermined standard based on the luminance information of each of the elliptical regions. It is also possible to perform processing to identify the hole.

According to this, even if many elliptical areas are included in the photographed image of the peripheral wall surface of the tunnel, it is possible to provide a system that accurately identifies insertion holes for rock bolts and the like. In turn, this system allows the position and angle of the insertion hole for the rod-shaped member to be specified more efficiently and accurately during tunnel construction. It is basically assumed that this photographed image was obtained under conditions in which only one insertion hole is photographed, but if the elliptical area is darker than a predetermined standard, it can be identified as an insertion hole. Therefore, there is no limitation on the number of insertion holes to be specified. Specifically, the above-mentioned conditions correspond to an environment in which photographing conditions such as the arrangement of the photographing device with respect to the peripheral wall of the tunnel, lens direction, focal length, and angle of view are adjusted in advance.

In the rod-shaped member construction support system of the present invention, in the process of estimating the position and angle of the insertion hole, the information processing device estimates the position and angle of the insertion hole based on the diameter of the elliptical region and the known diameter of the rod-shaped member. The position of the insertion hole may be specified, and based on the change in brightness in the minor axis direction of the elliptical region, the insertion hole may be specified as extending at an angle where the brightness becomes dark.

According to this, the similarity relationship between the shape in the image (the elliptical area corresponding to the hole) seen from the coordinate system of the imaging device and the shape on the actual tunnel wall surface (the actual hole) is By appropriately considering the known hole diameter as a key, it is possible to provide a system that estimates the hole position with good accuracy. In addition, the system enables efficient identification of the angle of the hole (from the peripheral wall surface of the tunnel into the ground) based on the relationship between the brightness gradation in the elliptical region and the extending direction of the hole.

In the rod-shaped member construction support system of the present invention, the information processing device may further execute a process of setting information on the position and angle of the insertion hole in the rod-shaped member construction device. good.

In this way, the system sets information on the position and angle of the insertion hole in a construction device such as a computer jumbo, thereby making it possible to insert a lock bolt or the like into the hole without manual effort. This eliminates the need for manual work at high or dangerous locations such as the upper part of tunnels, reducing various burdens and risks on workers. Further, it can be expected to have the effect of reducing the possibility of damage or deformation of the lock bolt etc. due to insertion into the hole. As a result, the position and angle of the rod-shaped member insertion hole during tunnel construction can be specified more efficiently and accurately.

Further, the program of the present invention includes, in an information processing device, a process of acquiring from a photographing device a photographed image of a wall surface into which a rod-shaped member is to be inserted; A process of detecting the hole as an elliptical area, and a process of estimating the position and angle of the insertion hole in the wall surface based on the diameter and brightness information of the elliptical area shown by the captured image corresponding to the elliptical area. It is what makes it happen.

According to this, it becomes possible to implement in the information processing system a function of efficiently and accurately specifying the position and angle of a hole to be subjected to rock bolt driving, charging, etc. Furthermore, by linking an information processing system with such functions with construction equipment such as a computer jumbo, it becomes possible to efficiently automate the insertion of lock bolts into holes with appropriate precision. This can also lead to the effect of reducing the possibility of damage or deformation of the lock bolt or the like that occurs when the lock bolt or the like is inserted into the hole.

According to the present invention, it is possible to efficiently and accurately specify the position and angle of the insertion hole of a rod-shaped member during tunnel construction.

FIG. 2 is a diagram showing an example of an environment in which the construction support method according to the present embodiment is applied. FIG. 1 is a diagram showing an example of the overall configuration of a construction support system according to the present embodiment. 1 is a diagram illustrating an example of a hardware configuration of an information processing device according to an embodiment. FIG. FIG. 3 is a diagram showing an example of the definition of a coordinate system and each vector in this embodiment. It is a figure showing an example of a flow of a construction support method in this embodiment. It is a figure showing the gradation in the insertion hole in the photographed image of this embodiment. FIG. 3 is a top view showing the photographing position in this embodiment. It is a figure showing an example of an insertion hole in this embodiment. FIG. 3 is a diagram showing how checkerboard photography is performed in this embodiment. It is a figure which shows the insertion hole detection result in this embodiment. FIG. 3 is a diagram showing a brightness situation (condition 1) on the short axis of an ellipse in this embodiment. FIG. 7 is a diagram showing the brightness situation (condition 2) on the short axis of the ellipse in this embodiment.

<Summary>
First, an overview of the environment and technology to which the rod-shaped member construction support method of this embodiment is applied will be described. As illustrated in FIG. 1, a rock bolt 1, which is a rod-shaped member, is driven into an insertion hole 5 provided in a peripheral wall surface 3 of a tunnel in a ground 2 on which a tunnel is to be constructed. This insertion hole 5 is drilled into the ground 2 through shotcrete 6 applied to the peripheral wall surface 3 of the tunnel. Furthermore, prior to driving the lock bolt, the inner space of the insertion hole 5 is filled with mortar.

Driving the rock bolt 1 in this manner involves inserting the rock bolt 1 into the insertion hole 5 (filled with mortar) that has been drilled as described above. Conventionally, this work would have been performed manually, but in an environment where the construction support method of this embodiment is applied, it can be automated with sufficient accuracy using a construction device such as the computer jumbo 60.

In other words, by appropriately coordinating with the construction equipment, the work of finding the insertion hole 5 from the uneven peripheral wall surface 3 of the tunnel, which constitutes the insertion work of the rock bolt 1, and the work of inserting the tip of the rock bolt 1 into the insertion hole 5. The work of adjusting the opening position and the work of inserting the entire lock bolt into the insertion hole 5 can be automated.
<System configuration>
Embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 2 is a diagram showing a configuration example of a construction support system 100 (the same applies hereinafter) for the rod-shaped member 1 in this embodiment.

The construction support system 100 for the rod-shaped member 1 in this embodiment is a system that can efficiently and accurately specify the position and angle of the insertion hole 5 of the rod-shaped member such as the rock bolt 1 during tunnel construction.

As illustrated in FIG. 2, the construction support system 100 includes at least the digital camera 20, the information processing device 50, and the computer jumbo 60.

Among these, the digital camera 20 is a monocular camera that is generally available on the market, and there is no need to employ a special camera unit such as a depth camera. However, since the vicinity of the peripheral wall surface 3 of the tunnel is affected by spring water and mortar, appropriate consideration is required when mounting a general digital camera 20 (which does not have strict dustproof or waterproof functions).

Therefore, it is necessary to take pictures from a distance 5 to 10 meters away from the peripheral wall surface 3 of the tunnel. Therefore, as the lens 21 attached to the digital camera 20, it is preferable to use a variable focus lens with a variable focal length (for example, 70 to 200 mm) in order to be able to cope with various photographing conditions.

This digital camera 20 has a storage medium 22 that stores and holds photographed data, and the photographed data 23 held in this storage medium 22 is transmitted to an external device via close proximity wireless communication means 24 such as Bluetooth (registered trademark). Delivery is possible. In this embodiment, the external device to which this imaging data is distributed is the information processing device 50.

Of course, the method of distributing photographic data from the digital camera 20 to the information processing device 50 is not limited to such wireless/wired communication means.

If it is difficult to use either wireless or wired communication means due to the environment inside the tunnel or the various resources that can be introduced, for example, a worker may take out the storage medium 22 of the digital camera 20 and set it on the reader 25. Alternatively, a method may be adopted in which the information processing device 50 is made to read the photographic data. Note that the reader 25 is a device that is connected to the information processing device 50 through a suitable interface and is capable of reading and writing data to and from the storage medium 22 .

The information processing device 50 is a general computer device, and includes a storage device 51, a memory 53, a calculation device 54, an input device 55, an output device 56, and a communication device 57, as shown in FIG. ing.

Among these, the storage device 51 is composed of a nonvolatile storage element such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores programs 52 and data necessary for processing, or processing results.

Note that the program 52 held in the storage device 51 is a program for implementing functions necessary for the information processing device 50 that constitutes the construction support system 100 of this embodiment. Therefore, the program 52 implements algorithms that perform various analyzes using various formulas (formulas 1 to 10, etc.) to be described later, settings for the computer jumbo 60, and the like.

Furthermore, the memory 53 is composed of a volatile storage element such as a RAM (Random Access Memory).

Further, the arithmetic unit 54 is a CPU (Central Processing Unit) that executes the program 52 held in the storage device 51 by reading it out to the memory 53, performs overall control of the device itself, and performs various judgments, calculations, and control processing. be.

The input device 55 is a device such as a keyboard, microphone, or mouse that receives key input and voice input from the user.

Further, the output device 56 is a device such as a display or a speaker that displays the data processed by the arithmetic device 54.

Further, the communication device 57 is assumed to be the short-range wireless communication means 24 of the digital camera 20 or an interface card that connects to the computer jumbo 60 via an appropriate network and handles communication processing.

Further, the computer jumbo 60 performs drilling of the insertion hole 5 in the peripheral wall surface 3 of the tunnel, injection of mortar into the insertion hole 5, and driving of the lock bolt 1 into the insertion hole 5 using the same arm. This is a mechanized construction device.

This computer jumbo 60 includes a plurality of arms and mechanisms such as a rock jackhammer and a rock bolt gripping unit provided at the tips thereof, a control unit 61 that controls the mechanisms, and a communication unit that is responsible for communicating with external devices. 62.

The computer jumbo 60 receives information settings regarding the position and angle of the insertion hole 5 from the information processing device 50, and the control unit 61 moves and fixes the arm and operates/operates the rock drill according to the contents of the information settings. Automatically performs operations such as stopping, gripping, and inserting lock bolts.
<Hole detection in photographed images>
From the above, in this embodiment, the position and angle of the drilled insertion hole 5 in the peripheral wall surface 3 of the tunnel is assumed to be mechanized by the computer jumbo 60, which is a machine dedicated to driving the rock bolt 1. A technique for estimating by photographing with the digital camera 20 from a predetermined distance or more from the peripheral wall surface 3 of the tunnel will be described.

In this embodiment, lock bolt driving involves aligning the tip of the lock bolt within the camera coordinate system of the digital camera 20 with the image coordinates (uc, vc) of the detected insertion hole center (hereinafter referred to as hole center); This can be realized by aligning the center axis of the lock bolt 1 with the center axis of the insertion hole 5. Therefore, it is required to measure the image coordinates (uc, vc) of the hole center in the above camera coordinate system and the central axis of the insertion hole 5.

Based on these assumptions, the insertion hole 5 is detected from the photographed image of the peripheral wall surface 3 of the tunnel by the digital camera 20, and the insertion hole 5 is inserted using the detected hole diameter and the known hole diameter (the prescribed hole diameter for the insertion hole 5). A method for estimating the position and angle of the hole 5 will be described below.

The diameter of the drilled insertion hole 5 is known because it depends on the diameter of the rod used for drilling, and the drilled insertion hole 5 is perpendicular to the peripheral wall surface 3 of the tunnel, and Assume that it looks like a perfect circle above. Further, in this embodiment, it is assumed that the photographing range of the digital camera 20 is set in advance so that only one insertion hole 5 is included in the photographed image of the peripheral wall surface 3 of such a tunnel. However, the number of insertion holes that can be included in a photographed image is not limited. Since an elliptical region darker than a predetermined standard can be identified as an insertion hole, there is no need to set a condition on the number of insertion holes to be identified.

Here, the procedure for specifying the insertion hole 5 in the photographed image will be described below based on the flow of FIG. 5. It is assumed that the information processing device 50 acquires data of a photographed image of the peripheral wall surface 3 of the tunnel from the digital camera 20, and stores this data in the storage device 51 or the memory 53 as a processing target.

Therefore, the information processing device 50 uses an existing threshold selection method (for example, N. Otsu, "A threshold selection method from gray-level histograms," IEEE Transactions on Systems, Man, and Cybernetics, vol. 9, no. , pp. 62-66, 1979) to the above-mentioned photographed image to create a binarized image (s1).
Next, the information processing device 50 performs contour detection processing (for example, S. Suzuki and K. Abe, "Topological structural analysis of digitized binary images by border following," Computer Vision , Graphics, and Image Processing, vol.30, no.1, pp.32-46, 1985) (s2).

Further, the information processing device 50 performs ellipse fitting on all the contours detected in s2, and determines one of the obtained ellipses as the insertion hole 5 (s3).

The above-mentioned ellipse fitting shall be performed in the following steps. When the coefficients of the ellipse equation are set as a1, a2, a3, a4, and a5, a−[a1, a2, a3, a4, a5] _T is minimized using the least squares method as shown in equation (1).
[Formula 1]
Here, N _j is the total number of points forming the j-th contour.

Therefore, the center point (uc, vc) of the ellipse to be sought is expressed by equations (2) and (3), and the angle θ of the major axis from the u axis is expressed by equation (4).
[Formula 2]
[Formula 3]
[Formula 4]
Further, the insertion hole 5 is determined from among the plurality of ellipses by utilizing the fact that the inside of the insertion hole 5, that is, the elliptical area, appears dark in the image. Therefore, the information processing device 50 calculates the average value of the brightness within each of the detected ellipses. Next, the information processing device 50 selects the elliptical region with the lowest calculated average brightness value as the insertion hole 5 .
<Position estimation using known hole diameter>
Here, FIG. 4 shows the coordinate system and the definition of each vector assumed in this embodiment. The assumed coordinate systems are an image coordinate system (u,v) and a camera coordinate system (x,y,z), as shown in FIG. Also, at the end points of the long axis of the ellipse determined in s3 above, the points on the Z=S plane are x1 and x2, the points on the Z=1 plane are r1 and r2, and the center point of the ellipse is, respectively. Let Xc (Z=on the S plane) and rc (Z=on the 1 plane).

Among these, the center point Xc of the ellipse is taken as the hole position vector, and the vector a coaxial with the central axis of the insertion hole 5 and in the depth direction of the insertion hole 5 is taken as the direction vector of the insertion hole 5.

Here, since the diameter of the insertion hole 5 is known, the information processing device 50 calculates the hole position vector Xc of the insertion hole 5 from the relationship between the diameter of the insertion hole 5 in the image and the actual diameter of the insertion hole 5. Find (s4). Here, since corresponding ellipses on two planes have a similar relationship as shown in FIG. 4, the relationships of equations (5), (6), and (7) hold true.
[Formula 5]
[Formula 6]
[Formula 7]
Further, from the above-mentioned similarity relationship, Zr=S can be obtained by equation (8).
[Formula 8]
Therefore, the information processing device 50 can calculate the hole position vector Xc by substituting equation (8) into equation (7).
<Estimation of hole angle>
As already mentioned, when the insertion hole 5 drilled in the peripheral wall surface 3 of the tunnel is perpendicular to the peripheral wall surface 3 of the tunnel, it is a perfect circle on the peripheral wall surface 3 of the tunnel. In that case, the shape of the insertion hole 5 becomes an ellipse that varies depending on the photographing angle of the digital camera 20. Therefore, the information processing device 50 estimates the angle at which the insertion hole 5 extends in the ground 2 based on these conditions (s5). Note that the above-mentioned angle at which the insertion hole 5 extends in the ground 2 means the angle between the position of the opening of the insertion hole 5 and the hole axis in the camera coordinate system.

The angle θ (0deg≦θ≦180deg) from the u-axis, which is the long axis of the ellipse (specified from the photographed image as the insertion hole 5 in s3), when the ellipse is rotated around the long axis, the above-mentioned Assuming that the angle at which the shape becomes a circle (=looks like a circle) due to the change in shape due to the photographing angle is φ (-90deg≦φ≦90deg), the information processing device 50 calculates the direction vector a of the insertion hole 5 using the formula ( Determine based on 9).
[Formula 9]
Here, R is a rotation matrix calculated from the normal and the angle using Rodriguez's formula. Further, the angle φ is obtained as in equation (10) using the length a of the major axis and the length b of the minor axis of the ellipse.
[Formula 10]
Here, since the angle φ can be considered in two ways, positive or negative, depending on the direction of rotation, it is necessary to uniquely determine the angle for angle estimation. FIG. 6 shows an oblique view of the insertion hole 5 opened in the peripheral wall surface 3 of the tunnel.

As shown in FIG. 6, when the insertion hole 5 is viewed obliquely, the insertion hole 5 has an elliptical shape with the length of the major axis equal to the hole diameter. At this time, on one side of the short axis, the wall inside the hole is continuous with the wall outside the hole, so it appears bright, whereas on the other side, light does not reach the inside of the hole and it appears dark, resulting in a gradation.

Therefore, by considering that the direction vector a of the insertion hole 5 is directed towards the darker side of the gradation on the short axis of the ellipse, the angle φ can be uniquely determined as follows.

First, the information processing device 50 acquires the luminance information of the pixels on the minor axis of the ellipse specified in s3 (attached to the data of the photographed image), and obtains a first-order approximation equation by the least squares method. If the slope of the straight line indicated by the approximate expression approximated here is positive, φ is positive, and on the other hand, if the slope of the straight line is negative, φ is negative.

The information processing device 50 transmits the thus obtained information on the position and angle of the insertion hole 5 in the peripheral wall surface 3 of the tunnel to the computer jumbo 60 via the communication device 57, and sets it in the computer jumbo 60 (s6). . Computer jumbo 60 receives such information via communication unit 62 and passes it on to control unit 61 . The control unit 61 sets this as control information for mechanisms such as arms and rock drills, guides the tip of the rock bolt 1 to the opening of the insertion hole 5 in the peripheral wall surface 3 of the tunnel, and inserts it at an appropriate angle. Insertion into the hole will be performed.
<Experimental conditions>
In order to verify the effectiveness of the construction support method of this embodiment, an experiment was conducted in a tunnel under construction. FIG. 7 shows the positional relationship between the digital camera 20 and the insertion hole 5 under each condition, and FIG. 8 shows the measured insertion hole 5. As shown in FIG. 7, images were taken using the digital camera 20 from positions of 45 degrees and 90 degrees with respect to the insertion hole 5 having a diameter of 47 mm in the peripheral wall surface 3 of the tunnel.

Furthermore, based on the above-mentioned premise, the experiment was conducted under the condition that only one insertion hole 5 for the lock bolt 1 would fall within the angle of view of the digital camera 20.

In order to obtain the true value of the experimental results, images were taken multiple times under each condition with the origin of the checkerboard 70 aligned with the center of the insertion hole 5, as shown in FIG. The position and direction of the checkerboard 70 were estimated from the photographed images, and the hole position vector and the direction vector of the insertion hole 5 calculated from each photographed image were averaged to obtain the true value.
<Experiment results>
FIG. 10 shows how the insertion hole 5 is detected using the method in this embodiment. After contour detection was performed on the acquired photographic image and ellipse fitting was performed, the ellipse region with the darkest average brightness was detected as the insertion hole 5. As a result, it was confirmed that the correct insertion hole 5 could be detected under all conditions.

The brightness on the short axis of the ellipse detected under condition 1 and its first-order approximation are shown in FIG. 11, and the brightness on the short axis of the ellipse detected under condition 2 and its first-order approximation are shown in FIG.

It can be seen from FIGS. 11 and 12 that a brightness gradation occurs on the short axis of the ellipse detected as the insertion hole 5. Also, from the slope of the straight line obtained by first-order approximation of the luminance using the least squares method, the angle φ of condition 1 shown in FIG. 11 is positive, and the angle φ of condition 2 shown in FIG. 12 is negative. It was estimated that

Table 1 shows the error between the distance estimated using the detection results of the insertion hole 5 and the distance calculated from the checkerboard image.
[Table 1]
From this, among the hole position vectors estimated using the detection results of the insertion holes 5, the error of the x component, which is considered important for driving the lock bolt 1, is within ±20 mm. On the other hand, it can be seen that the error in the y component has become larger than the target. This is considered to be due to the fact that when the insertion hole 5 was detected, the contour was detected to be large because the machined shape of the hole opening was not ideal.

Furthermore, it is considered that the error in the z component, which is not used in driving the rock bolt 1, becomes large because it largely depends on the contour detection result.

Further, Table 2 shows the value of the direction vector of the insertion hole 5 estimated using the detection result of the insertion hole 5 and the error between the direction vector of the insertion hole 5 calculated from the checkerboard image.
[Table 2]
In this way, an error also occurred between the estimated value and the true value of the direction vector of the insertion hole 5. The cause is that the measured insertion hole 5 was not perpendicular to the peripheral wall surface 3 of the tunnel, and the shape of the insertion hole 5 on the face surface 5 was not a perfect circle.

As shown in the above results, although errors occurred in each component of the hole position vector and the direction vector of the insertion hole 5, the direction of the insertion hole 5 was successfully identified.

As described above, according to the present embodiment, the position and angle of a hole into which a rod-shaped member such as a rock bolt or a charge is inserted can be efficiently and precisely specified during tunnel construction. Further, by setting information on the position and angle of the hole in a construction device such as a computer jumbo, it becomes possible to insert a lock bolt or the like into the hole without relying on human power. This eliminates the need for manual work at high or dangerous locations such as the upper part of tunnels, reducing various burdens and risks on workers. Further, it can be expected to have the effect of reducing the possibility of damage or deformation of the lock bolt etc. due to insertion into the hole.

Although the embodiments of the present invention have been specifically described based on the embodiments, the present invention is not limited thereto, and various changes can be made without departing from the gist thereof.

1 Lock bolt (rod-shaped member)
2 Ground 3 Peripheral wall surface of tunnel (wall surface)
5 (Rock bolt) insertion hole 20 Digital camera (photographing device)
21 Lens 22 Storage medium 23 Shooting data 24 Short-range wireless communication means 25 Reader 50 Information processing device 51 Storage device 52 Program 53 Memory 54 Arithmetic device 55 Input device 56 Output device 57 Communication device 60 Computer jumbo (rod-shaped member construction device)
61 Control unit 62 Communication unit 100 Construction support system

Claims (9)

a step of acquiring a photographed image of a wall surface into which a rod-shaped member is to be inserted;
Detecting an insertion hole already formed in the wall surface as an elliptical area based on brightness information shown by the captured image;
estimating the position and angle of the insertion hole in the wall surface based on the diameter and brightness information of the elliptical area shown by the captured image corresponding to the elliptical area;
A method for supporting construction of a rod-shaped member, the method comprising: In the step of detecting the elliptical area that is the insertion hole,
detecting the contour of each region in the photographed image, approximating the detected contour to an elliptical shape to convert each region into an elliptical region; Among them, performing a step of identifying another elliptical area or one darker than a predetermined standard as the insertion hole;
The method for supporting construction of a rod-shaped member according to claim 1. In the step of estimating the position and angle of the insertion hole,
The position of the insertion hole is specified based on the diameter of the elliptical area and the known diameter of the rod-shaped member, and based on the change in brightness in the short axis direction of the elliptical area, the insertion hole is located at an angle where the brightness becomes dark. identify that it is extending,
The method for supporting construction of a rod-shaped member according to claim 1. further comprising the step of setting information on the position and angle of the insertion hole in the rod-shaped member construction device;
The method for supporting construction of a rod-shaped member according to claim 1. a photographing device for photographing a wall surface into which the rod-shaped member is inserted;
A process of acquiring a photographed image obtained by photographing with the photographing device, and detecting the insertion hole already formed in the wall surface as an elliptical area based on brightness information shown by the photographed image, and the photographed image corresponding to the elliptical area. an information processing device that executes a process of estimating the position and angle of the insertion hole in the wall surface based on the diameter and brightness information of the elliptical area indicated by;
A construction support system for rod-shaped members, comprising: The information processing device includes:
In the process of detecting the elliptical area that is the insertion hole,
A process of detecting the outline of each area in the photographed image, approximating the detected outline to an elliptical shape and converting each area into an elliptical area, and converting the elliptical area based on the luminance information of each of the elliptical areas. Among them, a process is performed to identify another elliptical area or one darker than a predetermined standard as the insertion hole.
The construction support system for a rod-shaped member according to claim 5. The information processing device includes:
In the process of estimating the position and angle of the insertion hole,
The position of the insertion hole is specified based on the diameter of the elliptical area and the known diameter of the rod-shaped member, and based on the change in brightness in the short axis direction of the elliptical area, the insertion hole is located at an angle where the brightness becomes dark. It is identified as extending,
The construction support system for a rod-shaped member according to claim 5. The information processing device includes:
further performing a process of setting information on the position and angle of the insertion hole in the rod-shaped member construction device;
The construction support system for a rod-shaped member according to claim 5. In an information processing device,
a process of acquiring from a photographing device a photographed image of a wall surface into which a rod-shaped member is to be inserted;
a process of detecting an insertion hole already formed in the wall surface as an elliptical area based on brightness information indicated by the photographed image;
A process of estimating the position and angle of the insertion hole in the wall surface based on the diameter and brightness information of the elliptical area indicated by the photographed image corresponding to the elliptical area;
A program to run.

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