JP3031542B2 - TBM face image processing system - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a technique for quickly acquiring an image of an excavation face when performing tunnel excavation using a tunnel boring machine (hereinafter referred to as "TBM").

[0002]

2. Description of the Related Art In the construction of a mountain tunnel, a blasting method has been generally used in the past, and face observation (sketching and photographing) is performed at every blasting, and it has been used as a record at the time of construction and as a prediction material of the front geology. .

However, in the construction using a TBM which has recently been practiced, it is difficult to observe the geology at a face like a blasting method, and it is necessary to perform visual observation on a side wall of the TBM or a small space behind the TBM. Not get.

[0004] Regarding the method of acquiring an image of the side wall behind the TBM, a system that installs a plurality of digital cameras to record and save the state of the excavation wall as an image, and a “developed image creation device of a pit wall (Japanese Patent No. 2562059) ) "And a TBM wall image analysis system according to the present inventors. However, in these methods, an image of a wall surface is photographed, and a continuous developed image of a pit wall is obtained by image processing, and not an image of a face on the front surface of a cutter head of a TBM.

[0005]

In the excavation using the TBM, a limited space (about 1 m in width) behind the TBM main body,
When the excavation stops, the ground can only be observed visually from the small opening for taking in the excavation waste, and the observation time (about several minutes) is limited because the work is performed immediately after the excavation.

Some proposals have already been made on a method of acquiring an image behind the TBM, but the location and time constraints hinder the excavation work to some extent.
Therefore, there is a need for a face observation system capable of observing the geology at a position as close to the face as possible without affecting the work and capable of promptly feeding back the construction. But TB
A method of capturing an image of the face in front of M has not yet been proposed.

[0007] The present invention has never been performed before.
An object of the present invention is to provide a method capable of continuously obtaining a circular image of the entire face from the inside of the M main body for each ring.

[0008]

According to the present invention, a TBM is provided.
By installing a line sensor camera behind the cutter head, taking a face image through a slit opening for taking in the shear of the cutter head, the line sensor camera rotates together with the cutter head and scans, A continuous circular image of the face is obtained, and the image is
Input to the data recording device together with the distance data and rotation data from the main body control unit of M, and from the recording device to the analysis computer via the recording medium, perform image processing, and perform geological plan view and cross-sectional view continuous in the excavation direction. Obtain and print out.

[0009] Further, a circular image continuous with the photographed face is output to the underground monitor of the TBM main body via the data recording device.

[0010] From the inside of the TBM main body, a circular image of a face can be rapidly acquired continuously for each ring. Also, since it has an accurate address (location information),
By connecting the images obtained for each ring in the excavation direction, it is possible to create a geological situation change map in the longitudinal direction.

Alternatively, a line sensor camera is installed behind the cutter head of the TBM, and a face image is taken through a slit-shaped opening for taking in the shear of the cutter head, and the line sensor camera rotates together with the cutter head. The scan timing is synchronized with an encoder that detects the rotation angle of the TBM cutter head to acquire image data, transmit the image data to an analysis computer via a transmission unit, perform coordinate conversion by image processing, and convert an image of the face. Obtain and print out.

Then, the image of the face obtained by the image processing of the analysis computer is output to a monitor and / or a recording medium.

In this processing system, the image data obtained from the camera is scanned in synchronization with the rotation angle of the cutter head. Therefore, by converting the coordinates by the analysis computer, a circular image of the face can be easily obtained. And
The data is output to a monitor or a recording medium via the analysis computer.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described.
This will be described with reference to the drawings. 1 and 2, the cutter head 1 has a roller bit 2 and a scraper 3 on the front surface thereof, and a slit-shaped opening 4 for taking in a slip. In the TBM body behind the cutter head 1, there are provided a cutter driving motor 5, a shearing-out conveyor 6, and the like.

The above is the conventional TBM. A line sensor camera 7 and an illuminator 8 are installed in the space behind the cutter head 1 of the TBM, and the line sensor camera 7 and the illuminator 8 rotate together with the cutter head 1.

The image is obtained by taking an image of the face K through the slit-shaped opening 4 of the cutter head 1 by the line sensor camera 7. When the cutter head 1 is rotated, the camera 7 rotates together with the cutter head 1 for scanning, so that a continuous circular image can be obtained over the entire face as shown in FIG. 3, the arrow A indicates the rotation direction of the cutter head 1, and thus the line sensor camera 7, and the arrow B indicates one image data.

Since this image has an accurate address (position information), as will be described in detail later,
By connecting images acquired for each ring (about 1 m to 1.5 m) in the direction of excavation, a geological situation change map in the longitudinal direction can be created.

FIG. 4 is a block diagram of the present system. The rotation control of the cutter head 1 and the face image photographing device (the line sensor camera 7 and the illumination device 8) uses the controller 9 of the TBM main body. As the distance data in the excavation direction, the movement amount data from the controller 9 of the TBM body is used. Thus, the face image obtained by the line sensor camera 7 has accurate addresses (position information) in the face circumferential direction and the excavation direction.

The continuous circular image of the face from the line sensor camera 7 is input to the data recording device 12 together with the distance data 10 and the rotation data 11 from the main body control unit 9 of the TBM, and is output to the underground monitor 13 of the TBM main body. At the same time, the data is input from the data recording device 12 via the recording medium 14 to an analysis computer (a personal computer equipped with face image processing software) 15. In the input image, the center axis is corrected and the absolute position is corrected, and the color and the like are adjusted using image processing software. And printer output 1
6

Further, by using a “face image processing system” on the face image, tracing a crack or a stratum boundary using a mouse on the image, and performing geometric data processing, as shown in FIG. Geological sectional view (upper view in Fig. 5), geological plan, and geological forecast in front of the face (dotted line)
(Lower view in FIG. 5). A comment on rock types and types of fractures (opening, close contact, filling, mineral veins, etc.), comments on the locus of the disk cutter, rock hardness, etc. are added to this and displayed as a geological observation map.

FIG. 6 shows another embodiment of the present invention. The external trigger generator 18 generates an external trigger (pulse) in accordance with the rotation angle based on the output of the encoder 17 which is a TBM rotation angle detector, and the line sensor camera 7A synchronizes with the external trigger to generate one line of image data. To get. The image data is transmitted by the image data transmission unit 19 to the analysis computer 15 via the data recording device 12. In the analysis computer 15, while rotating with the line sensor camera 4 </ b> A,
As shown in FIG. 7, the image data captured line by line is represented by rotation angle Θ on the horizontal axis and one line data on the vertical axis in the radial direction. Is obtained. The result is output by the color printer 16 and observed on the monitor 13. Then, it is recorded on the recording medium 14, and can be inputted from the medium 14 to the analysis computer 15 to be reproduced or another analysis. The image processing software can also perform lens distortion correction, illuminance correction, image density correction, and the like.

[0022]

According to the TBM face image processing system according to the present invention described above, from the inside of the TBM main body,
A circular image of the face can be quickly acquired continuously for each link. Also, since it has an accurate address (position information), the images obtained for each link are connected in the direction of excavation to create a geological plan view, a cross-sectional view in the longitudinal direction, and a geological forecast map in front of the face. You can do it.

[Brief description of the drawings]

FIG. 1 is a front view of a TBM viewed from the front of a cutter disc.

FIG. 2 is a cross-sectional view taken along the line BB of FIG.

FIG. 3 is a circular image diagram that is continuous over the entire face taken.

FIG. 4 is a block diagram of a face image processing system.

FIG. 5 is a vertical view of the geological situation change, in which the lower part is a geological plan view and the upper part is a cross-sectional view of the lower geological plan view as viewed from each arrow direction.

FIG. 6 is a block diagram of another embodiment of the face image processing system.

FIG. 7 is an explanatory diagram of an image acquired by the system of FIG. 6;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Cutter head 2 ... Roller bit 3 ... Scraper 4 ... Opening 5 ... Cutter drive motor 6 ... Conveyor 7 ... Line sensor camera 8 ... Illuminator 9. ..TBM main unit controller 10 ・ ・ ・ Distance data 11 ・ ・ ・ Rotation data 12 ・ ・ ・ Data recording device 13 ・ ・ ・ Underground monitor 14 ・ ・ ・ Recording medium 15 ・ ・ ・ Analysis computer 16 ・ ・ ・ Printer output 17 ... Encoder 18 ... External trigger generator 19 ... Image data transmission unit

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) E21D 9/10

Claims (4)

(57) [Claims] 1. A line sensor camera is installed behind a cutter head of a TBM, and a face image is taken through a slit-shaped opening for taking in a slip of the cutter head, and the line sensor camera rotates together with the cutter head. By scanning, a continuous circular image of the face is obtained, and the image is input to the data recording device together with the distance data and the rotation data from the main control unit of the TBM, and is input from the recording device to the analysis computer via the recording medium. A TBM face image processing system, wherein the image processing is performed to obtain a geological plan view and a sectional view that are continuous in the excavation direction, and print out. 2. A continuous circular image of a face taken is taken by TB
The TBM face image photographing processing system according to claim 1, wherein the TBM face image is output to an underground monitor of the M body. 3. A line sensor camera is installed behind the cutter head of the TBM, and a face image is taken through a slit-shaped opening for taking in the shear of the cutter head, and the line sensor camera rotates together with the cutter head. The scan timing is synchronized with an encoder that detects the rotation angle of the TBM cutter head to acquire image data, transmit the image data to an analysis computer via a transmission unit, perform coordinate conversion by image processing, and convert an image of the face. TBM obtained and printed out
Face image processing system. 4. The TBM face image processing system according to claim 3, wherein an image of the face obtained by the image processing of the analysis computer is output to a monitor and / or a recording medium.