JP4295737B2 - Excavator, excavation system and excavation method - Google Patents

Description

  The present invention relates to an excavator, an excavation system, and an excavation method, and more particularly, to an excavator, an excavation system, and an excavation method that perform excavation by grasping the state of a face surface using image processing.

There are two types of machines for excavating tunnels. A machine called a full-section tunnel boring machine (tunnel boring machine) and an excavator (hereinafter simply referred to as an excavator) that performs excavation by operating an arm.
The tunnel boring machine is safe because it is capable of high-speed excavation, is highly safe, has a circular cross-section, is hardly mechanically stable, and is mechanically stable, and does not allow people to approach the face. The advantages are known. However, because excavation in the fault fracture zone and soft layer is likely to cause troubles, the machine is large and the construction cost is high, and the cross-sectional shape is limited to a circle, etc. There are few opportunities for excavation of tunnels that are dug in shallow areas.

  On the other hand, the excavator is smaller than the tunnel boring machine, and the construction cost is reduced, and the cross-sectional shape of the tunnel can be increased depending on the operation of the arm that excavates the face, so the distance is short. It is often used for excavating tunnels. However, compared to the tunnel boring machine excavating the entire face at once, the excavator partially excavates the face with the arm, so the efficiency of the excavation is low. In addition, since the operator gets on and operates, the operator approaches the face and the tunnel boring machine is higher in terms of safety.

Patent Document 1 discloses that the excavator is remotely operated at a position away from the face as a method for improving the safety of tunnel excavation using the excavator. The method described in Patent Document 1 includes a camera capable of performing stereo photography on the body of an excavator configured to be remotely operated. Then, the three-dimensional image obtained by stereo-matching the two images obtained by the camera and the three-dimensional CAD data for tunnel design are superimposed, and the superimposed image data is displayed on the display means. Thereafter, the operator refers to the image data displayed on the display means and operates the arm of the excavator to excavate the tunnel.
Japanese Patent Laid-Open No. 6-317090

  If it is the method disclosed by patent document 1, the operator can grasp | ascertain the uneven | corrugated shape and excavation direction, without actually observing the face of a tunnel. For this reason, it is considered that tunnel excavation can be advanced by operating an unmanned excavator at a remote location. However, since accurate distance information cannot be obtained with only a three-dimensional image obtained by stereo matching, skill level is required when actually performing remote operation. In addition, it is necessary to grasp where the excavator is located on the three-dimensional CAD data. For this reason, a plurality of targets are provided around the excavator in advance, the coordinate points of each target are grasped, and a positioning operation based on the distance from these coordinate points to the excavator is required. Therefore, it is necessary to always arrange a plurality of targets whose coordinate positions are known around the excavator, which reduces work efficiency.

  In the present invention, an excavator capable of efficiently and accurately grasping the state of the face of the tunnel to be excavated, capable of safely performing excavation work without requiring skill in excavating the tunnel, and An object is to provide a drilling system and a drilling method.

In order to achieve the above object, an excavator according to the present invention includes a three-dimensional image information acquisition device that acquires a three-dimensional image data of a measurement target surface by performing distance measurement using a laser beam. An excavator that identifies excavation points based on 3D image data acquired via an information acquisition device and performs excavation, the 3D image information acquisition device comprising: a laser beam irradiation unit that irradiates a laser beam; Of the irradiated laser light, an optical unit that receives the laser light that is reflected by the measurement target surface and a phase difference between the laser light emitted from the laser light irradiation unit and the laser light received by the optical unit A radar circuit unit for indexing, and the optical unit includes a reflecting surface according to a different pattern selected for each pixel constituting three-dimensional image data to be acquired. Configured, characterized by comprising a spatial light modulator to direct the laser beam to the light receiving portion.

In addition, an excavation system according to the present invention for achieving the above object includes a three-dimensional image information acquisition device that acquires a three-dimensional image data of a measurement target surface by performing distance measurement using a laser beam, An excavation system comprising an excavator that identifies a excavation site based on three-dimensional image data acquired via an image information acquisition device and performs excavation; and an operation / monitoring unit that operates or monitors the operation of the excavator. The three-dimensional image information acquisition apparatus includes: a laser beam irradiation unit that irradiates laser light; an optical unit that receives laser light reflected from a measurement target surface among the irradiated laser beams; and the laser A radar circuit unit for determining a phase difference between the laser light emitted from the light irradiation unit and the laser light received by the optical unit; Includes a lens for irradiating a diffusion laser, and the optical unit has a reflecting surface according to a different pattern selected for each pixel constituting the acquired three-dimensional image data, and guides the laser light to the light receiving unit. A spatial modulator is provided.

  Further, the excavation method for achieving the above object is to set the laser irradiation range by receiving the laser light and receiving the laser light reflected on the measurement target surface and acquiring the distance data to the measurement target surface. The three-dimensional image data is created by applying the distance data to each pixel, the excavation point on the measurement target surface is specified based on the three-dimensional image data, and the excavation means is moved to the excavation point to move the measurement target surface. In an excavation method for excavation, incoming laser light is reflected and received by a spatial modulator that forms a reflection surface according to different patterns determined for each pixel of image data to be acquired.

In the excavation method having the characteristics as described above, the excavation location may be specified by comparing an average distance based on distance data to the measurement target surface and distance data for each pixel.
Further, the excavation may be performed in accordance with the 3D image data of the measurement target surface so that the uneven portion is within a predetermined threshold range with respect to the average value of the distance data in pixel units constituting the 3D image data. .

  In the excavator, the excavation system, and the excavation method of the present invention, since the three-dimensional image data is obtained by measuring the distance to the measurement target surface with the laser beam, the uneven state of the face surface of the tunnel to be excavated can be accurately grasped. can do. Further, since the reflection surface of the spatial modulator that guides the laser beam to the light receiving portion is formed according to a pattern determined for each pixel, three-dimensional image data can be obtained simply by specifying a pixel corresponding to the pattern and applying distance data. Therefore, the image data creation process is fast. In addition, since the laser beam to be irradiated is a diffusion type, it is not necessary to change the irradiation angle of the laser beam for each pixel. Also, by irradiating the irradiated diffused laser light with a plurality of reflectors and guiding it to the light receiving unit, light with sufficient intensity can be obtained even with the diffused laser light.

Furthermore, by proceeding with excavation so that the unevenness of the face surface is uniform or within a certain range, the face surface is mechanically stabilized.
In addition, by automating excavation work, it becomes possible to excavate a tunnel without requiring skill. Moreover, according to the excavation system of this invention, since an operator does not approach a face face, the safety | security in an operation | work is high.

  Hereinafter, embodiments of the excavator and the excavation system of the present invention will be described with reference to the drawings. In addition, embodiment shown below shows a part of suitable embodiment which concerns on this invention, and this invention is not limited to the following embodiment.

  FIG. 1 is a block diagram showing a schematic configuration of an embodiment according to the excavator and excavation system of the present invention. The excavation system 10 of this embodiment has a basic configuration of an excavator 12 that excavates a tunnel and an operation / monitoring unit 14 that operates or monitors the excavator 12.

  The excavator 12 includes a three-dimensional image information acquisition device (hereinafter referred to as a three-dimensional laser radar) 16 that acquires, as three-dimensional image information, an uneven shape on the face of a tunnel to be excavated (surface to be measured in the drawing). A drive control device 70 for operating the machine 12 itself, and a signal processing device (hereinafter referred to as a computer) for processing control signals between the three-dimensional radar radar 16, the drive control device 70 and the operation / monitoring means 14. 80, excavating means 74 controlled by the drive control device 70 to excavate the face, and moving means 72 for moving the excavator 12.

The three-dimensional laser radar 16 includes a laser light irradiation unit 20, an optical unit 30, and a radar circuit unit 50.
The laser light irradiation unit 20 is a unit that irradiates laser light onto the face of a tunnel to be excavated. Specifically, a laser output unit 24 including a laser oscillator composed of a laser diode, a mirror, and the like, and a driver for operating the laser diode by giving a signal output from the radar circuit unit 50; and the laser output unit 24 And an optical lens 22 for diffusing the laser light output from. In the present embodiment, for example, a biconvex lens may be used as the optical lens 22 in order to diffuse the irradiated laser light.

  The optical unit 30 is a unit that receives laser light that has been reflected by the face of the tunnel that is the target of irradiation among the laser light emitted by the laser light irradiation unit 20. Specifically, an optical lens 32, a prism 33, a micromirror array spatial modulator (hereinafter referred to as a spatial modulator) 34, a photodetector (photoelectric converter) 40, etc. are provided, and incoming reflected light (laser light) is received. This unit receives light. In general, the optical unit 30 used for laser distance measurement is provided with a band-pass filter (not shown) that transmits only the light in the frequency band of the output laser light before the optical lens 32.

  The optical lens 32 collects the laser beam that has passed through the band-pass filter and guides it to the prism 33. The prism 33 changes the path of the incident laser light, guides it to the micromirror 34a (see FIG. 2) of the spatial modulator 34, and transmits the laser light properly reflected by the micromirror 34a to the photodetector 40. Lead. The spatial modulator 34 has a plurality of micromirrors (reflectors) 34 arranged on a plane. For example, in the micromirror array arranged as shown in FIG. 2, the laser light guided by the prism 33 is directed in an appropriate direction (photodetector) by tilting the reflecting surface of each micromirror 34a in a predetermined direction (direction). 40 light receiving surface). The spatial modulator 34 is connected to a micromirror control circuit 36 for individually controlling the operation of the micromirror 34a. The micromirror control circuit 36 has a timing controller 38 for timing for controlling the micromirror 34a. Provided. The timing controller 38 receives a control signal output from the computer 80, and controls the micromirror 34a according to the control signal. When the micromirror 34a of the spatial light modulator having such a control unit is turned on by control (state A in FIG. 2), the reflecting surface is tilted in a predetermined direction and the control is not performed. In the OFF state (state B in FIG. 2), the reflecting surface is tilted to the opposite side to ON. For this reason, the laser light incident on the micromirror 34a in the OFF state is not reflected in an appropriate direction and is not received by the photodetector 40.

  For pattern control of ON / OFF of the micromirror array 34a, a plurality of patterns corresponding to the desired number of pixels of the three-dimensional image are selected. In the ON / OFF pattern of the micromirror array 34a of this embodiment, it is preferable that about 50% of the micromirrors 34a are turned on in each pattern in order to efficiently collect the diffused laser light. As a result, the S / N ratio of the received light signal is improved, and it is less likely that the signal is buried in noise during processing such as amplification and detection in the radar circuit unit 50 described later in detail.

  For controlling the ON / OFF pattern of the micromirror array 34a, Hadamard transformation using a Hadamard matrix may be used. When a Hadamard matrix is used for pattern control, the position of the corresponding pixel can be specified by inversely transforming each pattern, so that arithmetic processing when creating a three-dimensional image is facilitated. For this reason, it is possible to speed up a series of processes from scanning of the measurement surface using laser light to creation of a three-dimensional image. In addition, when using a Hadamard matrix for control of a micromirror array, a micromirror array will be arrange | positioned at matrix form.

  As described above, by providing the spatial modulator 34 with a micromirror array, laser light having sufficient light intensity can be incident on the photodetector 40 even when a diffusion laser is used. Further, by adopting a diffusion laser as a distance measuring laser, there is little processing for changing the irradiation angle like a spot laser, or processing itself is not necessary. For this reason, a mechanism and a control circuit for changing the laser irradiation angle are not required, and the apparatus can be miniaturized. In addition, by using a Hadamard matrix for the control pattern of the micromirror array, the calculation process for obtaining the array for each pixel from which distance data is obtained is facilitated, so that the processing speed from data acquisition to three-dimensional image creation is improved. .

  The radar circuit unit 50 supplies an output signal to the laser beam irradiation unit 20 and gives the same signal as the output signal as a reference signal on the light receiving side, and the reference signal and a signal detected by the optical unit 30 It is a unit which takes out the phase difference with. Specifically, a high frequency oscillator (RF) 52, power splitters 54 and 68, RF amplifiers 56 and 66, a hybrid 58, a mixer 60 (60a and 60b), and a low pass filter (LPF). 62 (62a, 62b) and an A / D converter 64.

  The RF oscillator 52 oscillates a signal having a single frequency. The power splitter 54 divides the signal output from the RF oscillator 52 into a signal to be supplied to the laser light irradiation unit 20 and a reference signal on the light receiving side, and outputs the same signal in two directions. A signal output as a supply signal to the laser light irradiation unit 20 is input to the RF amplifier 56, amplified, and then input to the laser light irradiation unit 20.

  On the other hand, the signal output as the reference signal on the light receiving side is input to the 90 ° hybrid 58 and is divided into two signals (0 ° and −90 °) having the same frequency and 90 ° out of phase. Is input. In addition to the output signal from the 90 ° hybrid 58, each mixer 60 is configured to receive a received light signal input by the photodetector 40 via an RF amplifier 66 and a power splitter 68. An intermediate frequency signal (IF (Intermediate Frequency) signal) is output from each mixer 60 to which two signals are input. The IF signal (sum: high frequency and difference: low frequency) output from the mixer 60 passes through the LPF 62. The difference signal that has passed through the LPF 62 is input to the A / D converter 64. In addition to the signal from the LPF 62, the A / D converter 64 receives a control signal for the spatial modulator 34 from the timing controller 38 of the optical unit 30. The two input signals are each converted into a digital signal and output to the computer 80.

The real part and the imaginary part of the complex data fetched into the computer 80 as described above are individually inverse transformed according to the Hadamard matrix used for the control pattern of the micromirror array. Thereby, complex number data for each pixel is obtained. The amplitude and phase are obtained from these data. The distance from the phase data to the face surface that is the measurement target surface is calculated. In this way, three-dimensional image data is created.
The created three-dimensional image data is transmitted to the operation / monitoring means and output to the monitoring monitor.

The drive control device 70 receives a drive control signal from the computer 80, and sends a drive signal for operating the excavating means 74 and the moving means 72 provided in the excavator 12 to each driving motor (not shown). ) Etc.
The excavation means 74 has a basic configuration including a head 74b having a cutter, a drill, a pick, and the like for excavating the face of the tunnel, and an arm 74a for moving the head 74b to a predetermined position. The moving means 72 may be constituted by a roller, a caterpillar or the like.

  When the computer 80 outputs a signal to the drive control device 70, the following processing is performed. First, based on the distance to the face surface measured in pixel units, an average distance L (see FIG. 3) to the face surface is calculated. Next, the distance data for each pixel is compared with the average distance L. The comparison may be performed by subtraction.

The computer 80 stores, as a threshold, a distance that is shifted from the average distance L to the excavator 12 by a specific distance (L ₁ ). If the comparison result is outside the range of the threshold L ₁ , Is set at a specific excavation point as a singular point. For example, the average distance L result of subtracting the distance data supplied to a particular pixel from the data of the L ₂ is, when the larger than the threshold value L _1, the pixel is set to a specific drilling locations.

Thereafter, sets the virtual plane a from excavator 12 (distance defined as for example a threshold) L ₁ a predetermined distance, to synthesize three-dimensional data for a particular excavation point on the virtual planes a, operation and monitoring means 14 (See FIG. 4).
After that, a control signal is output to the drive control device 70 so as to perform excavation from an area where a pixel having a small given distance data exists among the specific excavation points (see FIG. 5).

On the other hand, when the L ₂ as shown in FIG. 6 is determined that any particular drilling portion does not exist less than L ₁ outputs a control signal to the effect that the whole drilling working face surface to the drive control unit 70. In this case, in order to determine the drilling of the working face surface, wherein the average distance L set virtual plane b at a predetermined distance extended position (eg L ₃ only extended position) than to perform drilled to the virtual plane b To.
When the excavation within the predetermined range is completed, the computer 80 again performs three-dimensional measurement of the face surface or outputs a signal to the excavator 12 to be moved by the moving means 72 to the drive control device 70.

By excavating the face according to such a process, the unevenness of the face can be kept uniform or within a certain range. For this reason, an excessive load is not added to the specific location of the face, and excavation can be performed in a mechanically stable state.
The operation / monitoring unit 14 is connected to a computer 80 provided in the excavator 12 by wireless or wired, and can be a monitoring monitor that can refer to three-dimensional image data created during excavation, start or stop excavation, etc. Basic operation signal transmitting means for transmitting the basic operation signal.

  According to the excavation system 10 having such a configuration, when tunnel excavation, the worker does not approach the face surface, so that safety is high. In addition, since the processing speed for obtaining the three-dimensional image data of the face is fast, excavation work can be performed smoothly and work efficiency is good. In addition, since the micromirror array is used for the spatial modulator 34 of the optical unit 30, the apparatus can be reduced in size as compared with those using a galvano mirror or a polygon mirror. Furthermore, since the laser beam irradiated from the laser beam irradiation unit 20 is diffused, safety is high.

In the excavation system 10 having the above configuration, the tunnel face is excavated according to the following procedure.
First, in accordance with a command input to the operation / monitoring means 14 by an operator, three-dimensional measurement of the entire face face to be excavated is performed (step 100).

After finishing the three-dimensional measurement of the face, the average distance L from the excavator 12 (three-dimensional laser radar 16) to the face from the number of pixels measured for the face and the distance data obtained for each pixel. Is calculated (step 110).
After calculating the average distance from the excavator to the face, the distance data acquired for each pixel is compared with the data of the average distance L (step 120).
Result of comparing the distance data and the average distance data for each pixel, if the pixel having the distance data to be pre-stored range of threshold L ₁ is present, to extract the corresponding portion as a specific drilling point (step 130 ).

Thereafter, a virtual plane a having a uniform distance to the face is defined. Virtual plane a may for example may be set from the average distance L at a position shifted by the excavator 12 side distance stored in the computer 80 as the threshold value L _1. When the virtual excavation location exists and the virtual plane a is set, the specific excavation location is expressed in a state protruding from the virtual plane a as shown in FIG. 4 (step 140).

  Then, the computer 80 sends a signal to the drive control device 70 of the excavator 12, operates the arm 74a and the head 74b, and excavates the specific excavation site. The excavation of the specific excavation site is preferably performed at least up to the virtual plane a (step 150).

  After the excavation of the specific excavation point is completed, for example, the CAD data created for tunnel excavation is compared with the position of the face surface to be excavated to determine whether the planned excavation has been completed ( Step 170). Here, when it is determined that excavation has ended, the excavation work of the tunnel ends.

On the other hand, if it is determined that the planned excavation has not ended, the process is fed back to step 100 and the face surface is three-dimensionally measured again.
As a result of the extraction of the specific excavation site in step 130, if it is determined in step 140 that there is no specific excavation site (see, for example, FIG. 5), the process proceeds to step 160 and the entire face is excavated. . Even in this case, a virtual plane is set for the face, but the virtual plane set in this step may be set at a position extended by a predetermined distance (L ₃ ) from the average distance L to the face. . This is because the tunnel excavation can be efficiently performed by setting the virtual plane b in this way. Then, after the excavation of the face has been completed, the routine proceeds to step 170, where it is determined whether or not the excavation has been completed.

  It should be noted that the extension amount when the virtual plane is set in step 160 is set in consideration of the difference in soil quality of the face to be excavated, the difference in excavation means, and the like. About soil quality, you may make it acquire outline information by investigating beforehand, and may obtain information, attaching a sensor etc. to an excavator and performing an inspection suitably.

  In the above embodiment, the number of laser beams emitted from the laser beam irradiation unit 20 is one. However, when the tunnel to be excavated is dark and sufficient light intensity cannot be obtained by the photodetector, a plurality of laser beams are irradiated. You may do it. In this case, it is difficult to specify the phase difference of the laser beam at the time of light reception due to the difference in the irradiation position of the laser beam, and the created three-dimensional image may be distorted. In order to prevent this, when a plurality of laser beams are irradiated, it is preferable to superimpose an identification signal for each laser beam. Thereby, it becomes possible to specify the deviation of the irradiation source for each laser beam, and the created three-dimensional image becomes normal. When the identification signal is superimposed on the laser light, it is necessary to perform demodulation processing by the radar circuit unit 50 or the computer 80 and specify the irradiation source of the incoming laser light. The identification signal may be a PN (Pseudo Noise) signal or the like.

  In the above embodiment, the operation / monitoring unit 14 is described as a unit that mainly performs monitoring. However, the operator may operate the excavator 12 while referring to the three-dimensional image displayed on the monitoring monitor. In this case, the excavator 12 may be separately equipped with a two-dimensional imaging camera or the like, and the monitoring monitor may display a two-dimensional image in addition to a three-dimensional image.

  In the above embodiment, it is described that a micromirror is employed as the spatial modulator. However, if electrical control is possible, the micromirror is a half mirror that partially changes the surface state according to a pattern. Also good. For example, it is conceivable to apply liquid crystal technology.

It is a block diagram which shows the structure of the excavation system and excavator of this invention. It is a figure which shows the operation state of a micromirror array. It is a figure which shows a mode that three-dimensional measurement of a face surface is performed with an excavator. It is a figure which shows a mode that the specific excavation location was displayed on the virtual plane. It is a figure which shows a mode that a face surface is excavated with an excavator. It is a figure which shows a mode that the face surface with few unevenness | corrugations measures three-dimensionally. It is a flowchart in the case of excavating by operating the system.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 10 ......... Excavation system, 12 ......... Excavator, 14 ......... Operation and monitoring means, 16 ......... 3D image information acquisition device (3D laser radar), 20 ......... Laser light irradiation unit, 22 ..... optical lens, 24 ..... laser output unit, 30 ........ optical unit, 32 .... optical lens, 33 ..... prism, 34 ..... micromirror spatial modulator (spatial modulator), 36. ............ Micromirror control circuit 38... Timing controller 40... Photodetector 50... Radar circuit unit 52 52 High frequency oscillator (RF oscillator) 54 54 Power splitter 56 ……… RF amplifier, 58 ……… 90 ° hybrid, 60 (60a, 60b) ……… Mixer, 62 (62a, 62b) ……… Low pass filter (LPF), 64 ……… A / D converter Over data, 66 ......... RF amplifier, 68 ......... power splitter, 70 ......... drive control device, 72 ......... moving means 74 ......... drilling means 80 ......... computer.

Claims (5)

A three-dimensional image information acquisition device that acquires a three-dimensional image data of a measurement target surface by performing distance measurement using a laser beam is provided, and excavation is performed based on the three-dimensional image data acquired through the three-dimensional image information acquisition device. An excavator that identifies a location and performs excavation,
The three-dimensional image information acquisition apparatus includes a laser beam irradiation unit that irradiates a laser beam,
Of the irradiated laser light, an optical unit that receives the laser light that is reflected by the measurement target surface, and
A radar circuit unit that calculates a phase difference between the laser beam irradiated from the laser beam irradiation unit and the laser beam received by the optical unit;
The optical unit is provided with a spatial modulator that forms a reflection surface according to different patterns selected for each pixel constituting three-dimensional image data to be acquired and guides laser light to a light receiving unit. Machine. A three-dimensional image information acquisition device that obtains three-dimensional image data of a measurement target surface by performing distance measurement using a laser beam, and excavation based on the three-dimensional image data acquired through the three-dimensional image information acquisition device An excavation system comprising an excavator for identifying a location and excavating, and an operation / monitoring means for operating or monitoring the operation of the excavator,
The three-dimensional image information acquisition apparatus includes a laser beam irradiation unit that irradiates a laser beam,
Of the irradiated laser light, an optical unit that receives the laser light that is reflected by the measurement target surface, and
A radar circuit unit that calculates a phase difference between the laser beam irradiated from the laser beam irradiation unit and the laser beam received by the optical unit;
The laser light irradiation unit includes a lens for irradiating a diffusion type laser,
The optical unit is provided with a spatial modulator that forms a reflection surface according to different patterns selected for each pixel constituting three-dimensional image data to be acquired and guides laser light to a light receiving unit. system. Receives laser light reflected on the measurement target surface by irradiating the laser light and obtains distance data to the measurement target surface,
3D image data is created by applying the distance data for each pixel set in the laser irradiation range,
Identify the excavation point on the measurement target surface based on the three-dimensional image data,
In the excavation method for excavating the measurement target surface by moving the excavation means to the excavation point,
An excavation method characterized in that incoming laser light is reflected and received by a spatial modulator that forms a reflecting surface in accordance with different patterns determined for each pixel of image data to be acquired.   4. The excavation method according to claim 3, wherein the excavation location is specified by comparing an average distance based on distance data to the measurement target surface and distance data for each pixel.   Excavation is characterized in that, according to the 3D image data of the measurement target surface, the uneven portion is advanced so as to be within a predetermined threshold range with respect to the average value of the distance data in pixel units constituting the 3D image data. The excavation method according to claim 3.

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