JP6917784B2 - Side wall surface imaging method and side wall surface imaging device for tunnel digging - Google Patents

Description

The present invention relates to a technique for imaging a side wall surface of a tunnel digging portion.

In order to construct a tunnel safely and economically, it is important to understand the ground conditions around the tunnel. Especially in terms of safety, it is necessary to observe the condition of the face and predict the occurrence of rock collapse and exfoliation in advance. As a method of observing the face, sketching by visual observation and photography are generally performed.
Here, the face may fall off. Therefore, there is a problem that workers cannot invade the area around the bare digging part (unfinished part) of the face. In addition, the center of the bare digging part is at the highest position of the semicircular arc-shaped (horseshoe-shaped) tunnel wall surface. Therefore, it is desirable for the operator to avoid the center of the digging portion and its vicinity when imaging the side wall surface of the digging portion because the rock fall reaches the farthest when the cave-in is dropped.

On the other hand, in order to prevent the cave-in of the ground from falling in the bare digging part, concrete is sprayed to build a support work as soon as possible, and finish concrete is sprayed to close it. However, there is a problem that the timing of imaging the side wall surface of the tunnel digging portion is limited.
Therefore, for example, in the technique described in Patent Document 1, a fixed point camera is installed at the top of the tunnel. The document discloses a tunnel-front geological determination system that appropriately images the face from the front with the fixed-point camera, analyzes the geological pattern from a plurality of captured images, and predicts the geological condition in front of the face using this geological pattern. ing.

Further, as a technique for installing a camera in a tunnel, Patent Document 2 describes a light beam irradiating portion that irradiates a light ray in a horizontal direction, a refracting portion that refracts the light ray in a right angle direction, and a refracting portion that is rotated about a horizontal axis. A technique for mounting a camera at a desired position by using a light beam irradiation device including a drive unit for changing the irradiation direction is disclosed.

Japanese Unexamined Patent Publication No. 04-120495 Japanese Unexamined Patent Publication No. 04-286912

However, in the technique described in Patent Document 1, since the fixed point camera is installed at the top of the tunnel so as not to interfere with the tunnel construction, there is a problem that the camera installation process takes time and effort. Further, in the technique described in Patent Document 2, since it is necessary to install the light irradiation device and the camera individually, there is also a problem that the installation process takes time and effort.
Therefore, the present invention has been made by paying attention to such a problem, and is a method of imaging the side wall surface of the tunnel digging portion and the side wall surface imaging which can efficiently and safely image the side wall surface of the tunnel digging portion. The subject is to provide the device.

In order to solve the above problems, the method of imaging the side wall surface of the tunnel digging portion according to one aspect of the present invention includes a camera capable of capturing continuous images in the circumferential direction with respect to the tunnel digging portion, and the camera is an arm. Using a camera crane equipped at the tip and a laser pointer, the camera crane is installed at a position opposite to the face on which concrete is sprayed on the side wall surface, avoiding the digging part. After the camera arranging step, the camera arranging step of projecting the arm of the camera crane into the digging portion and arranging the camera equipped at the tip of the arm in the center or the vicinity of the digging portion, and after the camera arranging step. The camera is operated while indicating the boundary between the mirror of the face and the side wall surface with the laser pointer, and the side wall surface of the digging portion is imaged in the circumferential direction together with the point indicated by the laser pointer. It is characterized by including.

In the method of imaging the side wall surface of the tunnel digging portion according to one aspect of the present invention, the camera can be arranged in the center of the digging portion or in the vicinity thereof to capture continuous images in the circumferential direction. Therefore, it is possible to acquire the imaging information of the side wall surface of the bare digging portion. Then, when the camera is operated, the camera is operated while indicating the boundary between the mirror of the face and the side wall surface with the laser pointer, so that the point indicated by the laser pointer is reflected in the imaging information of the side wall surface.
Therefore, from this indication point, the boundary between the face mirror and the side wall surface can be known. Therefore, by performing image processing based on the image pickup information of the side wall surface, it is possible to obtain the inner peripheral surface information of the tunnel digging portion continuous in the circumferential direction. Further, the inner peripheral surface information of the tunnel digging portion continuous in the tunnel extending direction can be obtained by image processing in which the inner peripheral surface information of the adjacent digging portions in the tunnel extending direction is continuously continuous with each other.

Then, in the method of imaging the side wall surface of the tunnel digging portion according to one aspect of the present invention, a camera crane is installed at a position opposite to the face on which concrete is sprayed on the side wall surface while avoiding the digging portion, and a camera is installed. Since the arm of the crane is projected into the digging part and the camera is placed in the center of the digging part or its vicinity, the operator avoids the center of the digging part or its vicinity when imaging the side wall surface of the digging part. can do. Therefore, according to the method for imaging the side wall surface of the tunnel digging portion according to one aspect of the present invention, the side wall surface image of the tunnel digging portion can be imaged efficiently and safely.
Here, in the vicinity of the face, the wind speed is high because the inside of the tunnel is forcibly ventilated, and therefore, the support state of the camera crane that supports the camera may not be stable. Therefore, in the method of imaging the side wall surface of the tunnel digging portion according to one aspect of the present invention, the camera crane is provided with a support leg (for example, a monopod) projecting downward from the tip of the arm, and in the camera arranging step, the camera crane is described. It is preferable to support the camera with the support legs to stabilize the posture of the camera at the time of imaging.

With such a configuration, the camera can be operated after the camera is supported by the support legs and the posture of the camera at the time of imaging is stabilized, so that the wind speed can be increased. It is suitable for operating the camera in a fast tunnel.
Further, in order to solve the above problems, the side wall surface imaging device of the tunnel digging portion according to one aspect of the present invention includes a camera capable of capturing images continuous in the circumferential direction with respect to the side wall surface of the tunnel digging portion. The camera is configured so that the camera can be mounted on the tip of the arm and can be transported by hand by an operator, and an arm of a predetermined length is projected into the bare digging portion from a self-installed position away from the bare digging portion and equipped on the tip of the arm. It is characterized by including a camera crane that can be arranged at or near the center of the digging portion, and a laser pointer that indicates the boundary between the mirror of the face and the side wall surface at the time of imaging with the camera.

The side wall surface imaging device for the tunnel digging portion according to one aspect of the present invention can capture images continuously in the circumferential direction by arranging a camera in the center of the digging portion or in the vicinity thereof. Therefore, the imaging information of the side wall surface of the bare digging portion can be easily acquired. Then, when operating the camera, the camera can be operated while indicating the boundary between the mirror of the face and the side wall surface with the laser pointer, so that the point indicated by the laser pointer can be reflected in the imaging information of the side wall surface. .. Therefore, from this indication point, the boundary between the face mirror and the side wall surface can be known. Therefore, by performing image processing based on the image pickup information of the side wall surface, it is possible to obtain the inner peripheral surface information of the tunnel digging portion continuous in the circumferential direction. Further, the inner peripheral surface information of the tunnel digging portion continuous in the tunnel extending direction can be obtained by image processing in which the inner peripheral surface information of the adjacent digging portions in the tunnel extending direction is continuously continuous with each other.

Then, in the side wall surface imaging device of the tunnel digging portion according to one aspect of the present invention, a camera crane is installed at a position away from the digging portion, and an arm having a predetermined length is projected into the digging portion to form a camera. Is configured to be able to be arranged at or near the center of the bare digging portion, so that the operator can work while avoiding the center of the bare digging portion or its vicinity when imaging the side wall surface of the bare digging portion. Therefore, according to the side wall surface imaging device for the tunnel digging portion according to one aspect of the present invention, it is possible to efficiently and safely image the digging side wall surface image.

As described above, according to the present invention, it is possible to efficiently and safely capture an image of the side wall surface of the digging portion.

It is a schematic diagram explaining one Embodiment of the side wall surface image pickup apparatus of the tunnel digging part which concerns on one aspect of this invention. It is a schematic diagram explaining the main part of the side wall surface image pickup apparatus shown in FIG. It is a schematic plan view explaining the side wall surface image pickup method of the tunnel digging part using the side wall surface image pickup apparatus shown in FIG. It is a schematic plan view explaining the side wall surface image pickup method of the tunnel digging part using the side wall surface image pickup apparatus shown in FIG. It is a schematic plan view explaining the modification of FIG. It is a schematic plan view explaining the instruction point by a laser pointer. It is a figure ((a)-(q)) which shows an example of a plurality of side wall surface captured images before a continuation process. It is a figure which shows an example of the side wall surface image capture image after the continuation processing by image processing.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate. The drawings are schematic. Therefore, it should be noted that the relationship, ratio, etc. between the thickness and the plane dimension are different from the actual ones, and there are parts where the relationship and ratio of the dimensions are different between the drawings. Further, the embodiments or modifications shown below exemplify devices and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is based on the material, shape, and shape of the constituent parts. The structure, arrangement, etc. are not specified in the following embodiments or modifications.

First, the side wall surface imaging device will be described. The side wall surface imaging device of the present embodiment is a device that photographs the side wall surface of the ground along the circumferential direction in the bare digging portion of the tunnel face.
As shown in FIG. 1, the side wall surface imaging device 10 is manually operated by the camera 1, the camera crane 2 capable of equipping the camera 1 at the tip of the arm 21, and the operator Op in the digging portion of the tunnel face. The laser pointer 3 is provided. Although the laser pointer 3 and the camera crane 2 constituting the side wall surface imaging device 10 are separate bodies, they are always used simultaneously as the side wall surface imaging device 10, so that the wires are flexible to each other. It is preferable to connect with a connecting member such as.

The camera 1 uses a dome camera capable of capturing images continuous in the circumferential direction with respect to the side wall surface of the tunnel digging portion. The camera crane 2 is configured so that the operator Op can carry it by hand, and the arm 21 is projected into the bare digging portion on the face side from its own installation position away from the bare digging portion S, and the camera equipped at the tip of the arm 21 is equipped. The one that can arrange 1 in the center of the digging part or in the vicinity thereof is used. The laser pointer 3 is for the operator Op to indicate the boundary between the mirror of the face and the side wall surface at the time of imaging with the camera 1.
Specifically, as shown in the figure, the camera crane 2 is pivotally supported by a tripod 25, a support 27 erected on a rotary table 28 in the center of the upper part of the tripod, and an intermediate portion of the support 27. It has an arm 21 having a predetermined length (for example, D1 = about 2 to 3 m described later), and the arm 21 can be raised and lowered and swiveled.

The arm 21 is provided with a camera mounting portion 26 to which the camera 1 can be attached and detached at its tip, and a counterweight 22 is mounted at its rear end. Here, the camera crane 2 is equipped with support legs 24 that project downward from the camera mounting portion 26 at the tip of the arm 21. The support leg 24 of this embodiment is a monopod.
Further, a horizontal posture maintaining mechanism 23 for maintaining the posture of the camera 1 is attached to the tip end side of the arm 21. The horizontal posture maintaining mechanism 23 of the present embodiment includes a first pulley 23a pivotally supported on the support column side, a second pulley 23b pivotally supported on the camera mounting portion side and having the same diameter as the first pulley 23a, and these pulleys. It has an interlocking wire 23c hung around.

The horizontal posture maintaining mechanism 23 maintains the posture of the camera mounting portion 26 regardless of the depression / elevation angle of the arm 21 by rotating the first pulley 23a and the second pulley 23b in synchronization with the elevation of the arm 21. It is supposed to be done. The horizontal posture maintaining mechanism 23 of the present embodiment is an example of a pulley type, but the present invention is not limited to this, and if the posture of the camera mounting portion 26 can be maintained, for example, the horizontal posture maintaining mechanism 23 is configured by a parallel link mechanism. You may.

As shown in an enlarged view of a main part in FIG. 2, the camera 1 has a base portion 11, a camera portion 12 supported by the base portion 11 and having a photographing optical system including a CCD image sensor, and a camera unit 12 as a horizontal support axis. The rotating mechanism 13 that rotates around the axis of each of the vertical support shafts, the hemispherical dome cover 14 that protects the camera unit 12, the rotation processing of the rotating mechanism 13, and the dome cover 14. It includes a controller 15 that executes an imaging process including a focus correction process in consideration of the lens effect. From the controller 15, a cable 16 for supplying electric power and exchanging signals necessary for the operation of the camera 1 is led out to the outside of the base portion 11. The cable 16 is connected to an imaging computer 32, which will be described later.

The rotation mechanism 13 is configured to shift the center of rotation of the camera unit 12 in the tilt direction (vertical direction) from the center of the dome cover 14 toward the zenith. As a result, the camera 1 has an imaging range of the camera unit 12 in the tilt direction wider than 180 °, and can image a continuous image in the circumferential direction with respect to the uncut portion of the tunnel.

Next, a method of imaging the side wall surface of the tunnel digging portion using the side wall surface imaging device 10 described above will be described.
When imaging the side wall surface of the tunnel digging portion, first, as shown in FIG. 3, the imaging work vehicle 30 is stopped at a safe place near the face K. The imaging work vehicle 30 is equipped with a lighting device 31 and an imaging computer 32.
Next, the worker Op installs the camera crane 2 of the side wall surface imaging device 10 described above at a position away from the bare digging portion S (crane installation step). The cable 16 led out from the camera 1 is connected to the connector portion of the imaging computer 32. As shown in the figure, the tripod 25 of the camera crane 2 is installed with a steel tape measure for the reach of the arm 21 of the camera crane 2 (predetermined length D1 = 2300 mm in the example of this embodiment) from the center CL of the excavation surface. Measure with and install the tripod 25.

For the excavation surface center CL, the lock bolt located at the center of the support work in front of the face K is positioned as a mark. The operator Op uses a spirit level to level the rotary table 28 of the tripod 25 (that is, the level of the camera mounting portion 26). As shown in the figure, the worker Op mounts the camera 1 on the camera mounting portion 26 in a posture in which the camera crane 2 is orthogonal to the tunnel axial direction while ensuring the safety distance D2 of the worker Op. As a result, the camera mounting portion 26 is also made horizontal by the horizontal posture maintaining mechanism 23 of the camera crane 2.

Here, the tripod 25 can be installed at the center of the face K without being placed at the center CL of the excavation surface. For example, as shown in FIG. 5, it is preferable to install the tripod 25 on either the left or right side with respect to the excavation surface center CL.
That is, the center of the bare digging portion S is the highest position of the semicircular arc-shaped (horseshoe-shaped) tunnel wall surface. Therefore, since the rockfall reaches the farthest point at the excavation surface center CL at the time of cave-in, it is desirable that the operator Op avoids the center of the excavation portion and its vicinity when imaging the side wall surface H of the tunnel excavation portion S. In FIG. 5, the broken line portion indicated by the reference numeral Da indicates an image of the range covered by falling rocks.

Next, as shown in FIG. 3, the operator Op manually rotates the arm 21 of the camera crane 2 to bring the camera 1 to the bottom of the face, and brings the camera 1 closer to the face K, as shown in FIG. .. The arm 21 of the camera crane 2 is projected into the bare digging portion S on the face K side, and the camera 1 equipped at the tip of the arm is placed in or near the center of the bare digging portion S (camera placement step). Reference numeral R in the figure indicates an image in which the operator Op manually rotates the arm 21 of the camera crane 2.
Here, in the present embodiment, as shown in FIG. 1, the camera crane 2 is provided with the support legs 24 projecting downward from the tip of the arm. Therefore, in the camera arranging step, the camera 1 is provided with the support legs 24. It is possible to stabilize the posture of the camera 1 at the time of imaging.

Next, behind the face K, the lighting device 31 is turned on, and the imaging direction of the camera 1 is operated by the imaging computer 32 to confirm the set position of the camera 1 with respect to the face K. Using the boundary B2 between the spray surface F and the digging part S as a guide, if the boundary B2 is not visible on the "right", "left", and "heaven", check the fixed direction of the camera 1 or the horizontal posture of the tripod 25. Then reset the camera 1.
Regarding the posture adjustment of the camera 1 in the tunnel axis direction, when the image pickup computer 32 was used to rotate and confirm the image pickup direction of the camera 1 in the horizontal direction, "the boundary B2 between the sprayed surface and the bare digging portion" was confirmed. If you can see, it is judged that there is no problem (OK). After the fact, for example, in the office, the image can be adjusted with a computer for photo editing, and the boundary between the strata of the adjacent bare digging parts can be adjusted by image processing.

Next, after the camera arrangement step, as shown in FIG. 4, the operator Op operates the camera 1 while instructing the boundary B1 between the mirror of the face and the side wall surface by the laser pointer 3, and is instructed by the laser pointer 3. Along with the point P, the side wall surface H of the digging portion S is sequentially and continuously imaged in the circumferential direction (bare digging surface imaging step). The number of worker Ops may be one or a plurality of workers. FIG. 7 shows an example ((a) to (q)) of a plurality of inner peripheral surface information obtained by automatically continuously imaging in the circumferential direction by automatic photographing.

Here, as shown in FIG. 6, the boundary B1 between the mirror M and the side wall surface H is not a right-angled corner, but an R shape in which irregularities are compounded and continuous. In the form, the designated point P by the laser pointer 3 is photographed in the photograph (plurality of inner peripheral surface information) after the photographing. Therefore, the designated point P can be determined to be the boundary B1 and the photograph can be easily processed.
That is, in the image processing executed by the imaging computer 32, the boundary B1 is determined from the point P indicated by the laser pointer 3 for the plurality of inner peripheral surface information, and the image on the face mirror M side of the boundary B1 is displayed. By deleting and processing a continuous image so that the indicated points P of the laser pointer 3 are lined up in a straight line, the inner peripheral surface information of the tunnel digging portion S continuous in the circumferential direction (the circumference of one digging portion S). A developed image of the wall surface) can be obtained (see FIG. 8). Further, it is possible to create a developed image of the peripheral wall surface continuous in the axial direction of the tunnel T by image processing in which the inner peripheral surface information of the adjacent bare digging portions in the tunnel extending direction is continuously continuous with each other.

Next, the operation and effect of the side wall surface imaging device 10 of the tunnel digging portion described above and the side wall surface imaging method of the tunnel digging portion using the device will be described.
As described above, in the method of imaging the side wall surface of the tunnel digging portion of the present embodiment, the camera crane 2 of the side wall surface imaging device 10 is installed, and the camera 1 is arranged in the center of the digging portion S or in the vicinity thereof. It is possible to capture images that are continuous in the direction. Therefore, the imaging information of the side wall surface H of the bare digging portion S can be acquired.

Then, when operating the camera 1, the operator Op operates the camera 1 while instructing the boundary B1 between the mirror of the face and the side wall surface by the laser pointer 3, so that the image pickup information of the side wall surface includes the laser pointer 3. The point P indicated by is reflected. Therefore, from this indicator point P, the boundary B1 between the mirror of the face and the side wall surface can be known.
Therefore, by performing image processing based on the image pickup information of the side wall surface, it is possible to obtain the inner peripheral surface information of the tunnel digging portion continuous in the circumferential direction. Further, the inner peripheral surface information of the side wall surface of the tunnel digging portion continuous in the tunnel extending direction can be obtained by image processing in which the inner peripheral surface information of the adjacent digging portions in the tunnel extending direction is continuously connected to each other. ..

Then, in this method of imaging the side wall surface of the tunnel digging portion, the camera crane 2 is installed on the side opposite to the face K away from the digging portion S, and the arm 21 of the camera crane 2 is placed on the digging portion S on the face K side. Since the camera 1 can be placed in the center of the digging portion S or in the vicinity thereof by projecting inward, the operator Op can avoid the center of the digging portion and its vicinity when imaging the side wall surface of the digging portion. Therefore, it is possible to efficiently and safely capture an image of the side wall surface of a bare digging without approaching a dangerous tunnel face.

Further, in this method of imaging the side wall surface of the tunnel digging portion, the camera crane 2 that can be manually transported by the operator Op and the camera 1 that can capture continuous images in the circumferential direction are combined. The circumferential image of the face K can be taken at low cost. Further, by using the camera crane 2, the operator Op can safely take a face image without approaching the face K. Further, by using a dome camera as the camera 1, once the camera 1 is set, the camera 1 automatically performs imaging in the circumferential direction, so that the camera 1 can easily take a picture without forgetting to take a picture.

Here, in the vicinity of the face K, the wind speed is high because the inside of the tunnel is forcibly ventilated, and therefore, the support state of the camera crane 2 that supports the camera 1 may not be stable. On the other hand, in the present embodiment, the camera mounting portion 26 of the camera crane 2 is provided with a support leg 24 that projects downward from the tip of the arm, and in the camera arrangement process, the camera 1 is supported by the support leg 24 for imaging. Since the posture of the camera 1 at the time is stabilized, the camera 1 can be operated after the posture of the camera 1 at the time of imaging is stabilized. Therefore, it is suitable for operating the camera 1 in a tunnel where the wind speed is high.

1 Camera 2 Camera crane 3 Laser pointer 4 Support leg 10 Side wall surface imager of tunnel digging part 11 Base part 12 Camera part 13 Rotation mechanism 14 Dome cover 15 Controller 16 Cable 21 Arm 22 Counter weight 23 Horizontal posture maintenance mechanism 24 Support Leg 25 Tripod 26 Camera mounting part 27 Strut 28 Turntable 30 Imaging work vehicle 31 Lighting device 32 Imaging computer B1 Border between mirror and side wall surface B2 Border between spraying surface and bare digging part Da Range of falling rocks F blowing Attached surface K Face M (face) Mirror H (bare digging part) Side wall surface Op Worker P Point S S bare digging part T tunnel

Claims (1)

Using a camera capable of capturing continuous images in the circumferential direction with respect to the unearthed part of the tunnel, a camera crane equipped with the camera at the tip of the arm, and a laser pointer.
The camera crane is installed at a position opposite to the face on which concrete is sprayed on the side wall surface, avoiding the digging portion, and after the crane installation process, the arm of the camera crane is digged. After the camera arranging step of arranging the camera overhanging in the portion and equipped at the tip of the arm at or near the center of the digging portion and the camera arranging step, the boundary between the mirror of the face and the side wall surface is indicated by the laser pointer. A method for imaging the side wall surface of a tunnel digging portion, which comprises operating the camera while exercising the digging surface imaging step of imaging the side wall surface of the digging portion in the circumferential direction together with a point indicated by the laser pointer. ..

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