JP7090981B2 - Tunnel construction management system, judgment method and construction management system - Google Patents

Description

The present invention relates to a tunnel construction management system for managing tunnel construction and a method for determining a location in the tunnel where construction is required.

In tunnel excavation work by the NATM (New Austrian Tunneling Method) method, blasting is performed by the explosive charged on the tunnel face, and after the blasting is carried out, the subsequent lining work, which is called atari removal, is hindered. Work is done to remove the bulge (atari).

Conventionally, in Atari removal, a worker enters directly under the tunnel face, visually confirms the part that is not dug with respect to the design cross section, gives an instruction with a laser pointer, etc., and excavates the instructed part with a breaker. .. This causes a danger to the workers due to the collapse of the ground and the like, and there is a problem that the work takes time.

Therefore, in order to eliminate the need for visual judgment by workers and shorten the construction period, a technique has been proposed in which the excavated wall surface is measured using a three-dimensional scanner, compared with the reference cross section, and atari is removed based on the comparison result. (See, for example, Patent Documents 1 and 2).

Japanese Unexamined Patent Publication No. 2010-21017 Japanese Unexamined Patent Publication No. 2010-21018

In the techniques described in Patent Documents 1 and 2, since the inside of the tunnel is measured in detail and the absolute coordinates of the three-dimensional scanner are acquired, it takes time to acquire the absolute coordinates, and as a result, the location where excavation is required. There was a problem that it took a long time to judge. In addition, if the 3D scanner is installed on a tripod and its position interferes with the work of removing atari, it is necessary to move the 3D scanner and the tripod to acquire the absolute position again, which is even more. There was also the problem that it took labor and time.

Therefore, it has been desired to provide a system and a method that can determine a part requiring construction such as excavation in a tunnel in a short time and do not hinder the work of removing atari.

The present invention has been made in view of the above problems, and is a tunnel construction management system for managing tunnel construction.
A measuring means that measures the inside of a tunnel in three dimensions,
With three or more spherical targets placed in the tunnel and having pre-measured position coordinates,
Including arithmetic means for calculating the position coordinates of one or more points in the tunnel.
The measuring means three-dimensionally measures the inside of the tunnel including three or more spherical targets by changing the measurement point interval and the measurement range.
The calculation means calculates the position coordinates of the measurement means based on the measurement results measured three-dimensionally by changing the measurement point interval and the measurement range, and the tunnel is based on the calculated position coordinates of the measurement means and the measurement results of the measurement means. A tunnel construction management system is provided that calculates the position coordinates of multiple points within.

According to the present invention, it is possible to determine a location requiring construction in a short time.

The figure which showed the configuration example of the tunnel construction management system. The figure which showed the structural example of the spherical target. A flowchart showing the overall flow of excavation work carried out by the tunnel construction management system. The figure explaining the work of specifying the position of a measuring means by pattern matching. A flowchart showing a work flow for determining the position of a measuring means using a spherical target. The figure explaining the work of fixing the position of a measuring means using a spherical target.

FIG. 1 is a diagram showing a configuration example of a tunnel construction management system. The tunnel construction management system is used for tunnel construction management, for example, grasping the shape of a tunnel, collecting information, safety and security of construction, and controlling the attitude of construction vehicles such as heavy machinery. Understanding the shape of the tunnel includes monitoring the removal of atari on the excavated wall surface before the primary lining on the face side, and collecting information includes information on the amount of excavated soil and the amount of sprayed soil, rock bolts and steel. Information on the position of the support work, etc. is collected, and for safety and security, there is measurement of displacement of the face surface and side walls. Here, the tunnel construction management system will be described as a system capable of determining a location where atari removal is necessary and carrying out atari removal.

The tunnel by the NATM method is formed by blasting with explosives or excavating the ground or the ground using an excavator such as a roadheader. The tunnel entrance / exit is called a tunnel entrance, and the excavation surface in the excavation direction is called a face 10. Since there is a risk of collapse in the state of being excavated, the primary lining is a work of installing arch-shaped steel supports 11 at regular intervals, spraying concrete, and reinforcing the tunnel wall surface. After the primary lining, the lock bolt 12 is driven in, the concrete wall surface is covered with a waterproof sheet, and the concrete is further placed inside as the secondary lining. In FIG. 1, "SL" is a Spring Line, which is an empty cross section inside the tunnel and is a line where the upper half arch starts.

The tunnel is primarily lining every time it is excavated a certain distance. The tunnel construction management system determines the points where atari removal is necessary after excavating a certain distance, and carries out atari removal. After this atari removal is completed, the primary lining is performed. That is, a tunnel is formed by repeating blasting, excavation with an excavator, atari removal, and primary lining.

The tunnel construction management system includes a vehicle equipped with an excavation means for excavating a part requiring excavation in order to determine a part requiring atari removal and carry out the atari removal. As the vehicle provided with the excavation means, a breaker 20 that continuously hits the chisel used for the work of scraping and removing the atari (chipping) can be adopted.

The tunnel construction management system includes, for example, a three-dimensional (3D) scanner 21 as a measuring means for three-dimensionally measuring the inside of the tunnel in order to determine whether or not it is necessary to remove atari. The 3D scanner 21 measures the time during which the laser beam is returned after irradiating the laser beam, and converts it into a distance. The 3D scanner 21 also measures the irradiation angle of the laser beam, and calculates the coordinates of the relative position of the measurement target with respect to the 3D scanner 21 based on the converted distance and the measured irradiation angle. The coordinates of the relative position are the coordinates of the measurement target when the coordinates of the 3D scanner 21 are (0, 0, 0). The 3D scanner 21 is mounted on the roof of the driver's seat of the breaker 20 via a seismic isolation frame. The seismic isolation pedestal is a pedestal provided with a seismic isolation device, and as the seismic isolation device, one including laminated rubber, rolling bearings, sliding bearings, or one composed of these and a damper can be used.

The 3D scanner 21 has three measurement modes. The three measurement modes are the first mode, which measures a wide range with low density, the second mode, which measures a specific range narrower than the first mode with a higher density (medium density) than the first mode, and the second mode. This is the third mode in which a narrower range is measured with a higher density (higher density) than the second mode. Details of each mode and how to use each mode will be described later.

The tunnel construction management system includes a calculation means for calculating the position coordinates of one or more points on the face 10 in the tunnel based on the measurement result measured three-dimensionally. In addition to the calculation of the position coordinates, the calculation means determines the location where construction, for example, excavation is required, and the construction amount by comparing with the design data. The calculation means may be any device as long as it can perform the above-mentioned calculation of the position coordinates and the determination based on the comparison with the design data, and examples thereof include a PC 22 and a tablet terminal. The PC 22 is communicably connected to the 3D scanner 21 by a cable, wireless LAN, or the like, and is arranged in the driver's seat in the breaker 20. Here, the calculation means will be described as a PC 22 that can be carried from the driver's seat, but the calculation means may be a computer with a monitor provided in the driver's seat or the like. The construction amount is the above-mentioned excavated soil amount, spraying amount, and the like.

The tunnel construction management system is provided with three or more spherical targets having pre-measured position coordinates in the tunnel in order to calculate the position coordinates of the 3D scanner 21, and the three or more spherical targets are, for example, from the breaker 20 to the tunnel entrance. Placed on the side. The spherical target is, for example, a reference sphere 23 as shown in FIG. 2, and includes a spherical surface 24 and a notch portion 25 having a reflecting means that retroreflects inside. FIG. 2A is a view of the reference ball 23 viewed from one side, and FIG. 2B is a view of the reference ball 23 viewed from the back side thereof.

The spherical surface 24 is coated with a special paint containing glass powder or the like in order to enhance the reflective function. The notch 25 is a portion that is circularly hollowed out in a part of the reference sphere 23 so that its diameter expands toward the surface, and is the center of the reference sphere 23 and is inside the notch 25. A prism 26 is arranged as a reflection means for retroreflective reflection. The passage 27 from the opening of the notch 25 to the prism 26 is white and has a smooth surface (curved surface) in order to enhance the light reflection function.

The prism 26 in the notch 25 of the reference sphere 23 is used only when measuring the position of the reference sphere 23 with a laser rangefinder. Since the spherical surface 24 is used for three-dimensional measurement by the 3D scanner 21, the spherical surface 24 is arranged so as to face the 3D scanner 21.

The position coordinates of the prism 26 inside the reference sphere 23 and provided at the center thereof are measured in advance by a light wave rangefinder, and the coordinate values are given. The position coordinates are absolute coordinates, and the coordinate values are, for example, values consisting of latitude, longitude, and altitude. The distance to the measurement point measured by the 3D scanner 21 is the distance to the spherical surface 24, but since the radius of the reference sphere 23 is known, the radius of the reference sphere 23 is added to the distance to the spherical surface 24. Therefore, the distance to the center of the reference sphere 23 can be obtained, and the position coordinates of the center can be obtained based on the distance.

With reference to FIG. 1 again, the 3D scanner 21 first three-dimensionally measures the tunnel entrance side where three or more reference balls 23 are present. Then, the PC 22 calculates the position coordinates of the 3D scanner 21 based on the measurement result obtained by three-dimensionally measuring the tunnel entrance side and the position coordinates of the three or more reference balls 23.

After that, the 3D scanner 21 measures the face side three-dimensionally. The PC 22 calculates the position coordinates of a plurality of points on the face 10 based on the measurement result obtained by three-dimensionally measuring the face side and the position coordinates of the 3D scanner 21 calculated earlier, and acquires them as point cloud data. .. The point cloud data is stored in a storage device such as an HDD included in the PC 22.

The PC 22 also stores the tunnel design data in the storage device. The design data includes the position coordinates of each point on the design excavation wall surface (design cross section) 13 shown by the broken line in FIG. Therefore, the PC 22 compares the acquired point cloud data with the design data, identifies a location that protrudes above the threshold value in the inner direction of the tunnel, and determines that the identified location is a location that requires excavation. The threshold value can be set arbitrarily.

The PC 22 has a monitor as a display means, and displays the determination result on the monitor. Specifically, the PC 22 displays the portion determined as a portion requiring excavation so as to be distinguishable from other portions that do not require excavation, and presents the location where the worker is to perform the atari removal. Examples of the method of displaying the parts in a distinguishable manner include a method of coloring the portion and a method of changing the color. This is an example and is not limited to this method.

Next, with reference to FIG. 3, the excavation work carried out by the tunnel construction management system will be described in detail. The breaker 20 is stopped at an arbitrary position in the tunnel (S300). At this time, the engine of the breaker 20 does not have to be stopped. This is because the vibration generated by the engine can be absorbed by the seismic isolation frame. The reference ball 23 is scanned by the 3D scanner 21 mounted on the breaker 20, the position coordinates of the 3D scanner 21 are calculated by the PC 22, the face side is scanned, and a plurality of points on the face 10 are measured to obtain a point cloud. Acquire data (S301). Here, the work of S301 is called ground measurement.

After acquiring the point cloud data, it is compared with the design data (S302). That is, the ground cross section of the face 10 measured three-dimensionally and the design cross section are compared. As a result, it is determined where the atari needs to be removed. The determined result is displayed on the monitor of the PC 22 as a comparison result (S303). The comparison result is displayed by displaying the part that needs to be atari so that it can be distinguished from other parts by coloring it.

It is possible to confirm the presence or absence of insufficient excavation by checking the presence or absence of the part that is clearly displayed by coloring (S304), and if there is an insufficient excavation, it is possible to distinguish while checking on the monitor. Excavate the displayed part and remove the atari (S305). During this period, the operation of removing atari is stopped several times, three-dimensional measurement by the 3D scanner 21 and comparison with the design cross section are performed, and the display of the comparison result is updated. On the other hand, if there is no insufficient excavation, the excavation is completed and the primary lining is performed (S307).

If it is not possible to remove atari on the entire face 10 due to restrictions such as the length of the arm of the breaker 20, the breaker 20 is moved (S306). After moving, the work returns to the work of S300, the arm is lowered to stop the operation, and the ground measurement of S301 is performed.

In the ground measurement of S301, the reference sphere 23 is scanned and the position coordinates of the 3D scanner 21 are calculated only for the first measurement. In the second and subsequent measurements after moving the breaker 20, the position of the 3D scanner 21 is specified by pattern matching of the shape pattern before and after the movement obtained by scanning the face side, and the position coordinates of the position are calculated.

Pattern matching will be described with reference to FIG. In pattern matching, scanning is performed before and after movement, the same characteristic portion in the shape pattern of the face 10 formed from the obtained point cloud data is extracted, and the position of the 3D scanner 21 is specified based on the characteristic portion. .. Specifically, the position coordinates of the feature portion are calculated based on the position coordinates of the 3D scanner 21 before the movement, and the position coordinates of the feature portion do not change after the movement of the breaker 20, so that the position coordinates of the feature portion are used as the basis. , The position coordinates of the 3D scanner 21 are calculated. As a characteristic portion, a support work 11a, a lock bolt 12a, or the like installed by a primary lining on the face side of the breaker 20 can be used.

While the tunnel excavation continues, the primary lining is performed, the excavation is performed for a certain distance, and then the work of S300 to S306 is performed again.

Next, a method of specifying the position of the 3D scanner 21 will be described with reference to FIGS. 5 and 6. FIG. 5 is a flowchart showing a flow of work for specifying the position of the 3D scanner 21, and FIG. 6 is a diagram illustrating the work.

In this work, the mode of the 3D scanner 21 is set to the first mode, the inside of the tunnel is measured at a low density, and the tunnel axial direction is specified (S500). In the low density measurement, as shown in FIG. 6, a wide range in the tunnel is roughly three-dimensionally measured with the breaker 20 facing in the face direction. Coarse means increasing the distance between measurement points and reducing the number of measurement points per unit area. In low-density measurement, for example, at a position where the distance from the 3D scanner 21 is 30 m, the distance between the measurement points is about 60 mm in the horizontal direction and about 420 mm in the vertical direction, and the distance is about 90 ° in the horizontal direction behind the breaker 20. , 3D measurement is performed by changing the direction within a range of about 4 ° in the vertical direction. Thereby, the tunnel axial direction is specified, and it is possible to specify which direction is the face side or the tunnel entrance side. In low-density measurement, the measurement is completed in a short time (several seconds) because the measurement points are sparse and the number is small, although it is a wide range. By the way, it takes about 1 to 2 seconds to measure the direction of the center of the tunnel. Since only the tunnel axial direction is specified, the first mode, which is completed in a short time, is used.

After specifying the tunnel axial direction, the position of the reference ball 23 arranged on the tunnel entrance side from the breaker 20 is specified (S501). When specifying the position of the reference sphere 23, the mode of the 3D scanner 21 is set to the second mode, and the tunnel entrance side including the spherical surface 24 of the reference sphere 23 is measured at medium density. Since the tunnel axis direction is specified in the medium density measurement, as shown in FIG. 6, the range is narrowed down from the low density measurement, and the three-dimensional measurement is performed more closely than the low density measurement by limiting to the direction in which the reference sphere 23 exists. do. Dense means to reduce the distance between measurement points and increase the number of measurement points per unit area. Assuming that the diameter of the reference sphere 23 is, for example, about 150 mm, four or more points are measured for one reference sphere 23. Therefore, in medium density measurement, for example, at a position where the distance from the 3D scanner 21 is 30 m, the measurement point interval is The direction is changed within the range of ± 12 ° in the horizontal direction with respect to the tunnel axis and ± 2 ° in the vertical direction with respect to the horizontal plane so that the interval is about 50 mm in the horizontal direction and about 50 mm in the vertical direction. Original measurement. As a result, the position of the reference ball 23 is specified. By the way, it takes about 6 to 7 seconds to specify the positions of the three reference balls 23. The second mode is used because some accuracy is required to detect the reference ball 23 and specify its position.

After specifying the position of the reference sphere 23, the relative coordinates of the reference sphere 23 with respect to the 3D scanner 21 are calculated (S502). The relative coordinates are the center coordinates of the reference sphere 23. In the calculation of the center coordinates of the reference sphere 23, the mode of the 3D scanner 21 is set to the third mode, and the periphery of the spherical surface 24 of the reference sphere 23 is measured at high density. In the high-density measurement, as shown in FIG. 6, the range is further narrowed down from the medium-density measurement, and the three-dimensional measurement is performed more closely by limiting to the reference sphere 23. In high-density measurement, in order to measure the periphery of the spherical surface 24 in detail, for example, at a position where the distance from the 3D scanner 21 is 30 m, the distance between measurement points is about 5 mm in the horizontal direction and about 5 mm in the vertical direction. Three-dimensional measurement is performed by changing the direction around the spherical surface 24 of the reference sphere 23 within an angle range of 0.6 ° in the horizontal direction and 0.6 ° in the vertical direction. As a result, the distance to the center of the spherical surface 24 of the reference sphere 23 is specified, and the relative coordinates of the reference sphere 23 are calculated by adding the radius of the reference sphere 23. By the way, it takes about 3 to 4 seconds to measure the three reference balls 23. The third mode is used because high accuracy is required to calculate the coordinates.

As described above, when the three reference balls 23 are measured by specifying the tunnel axial direction by changing to the first mode, the second mode, and the third mode in order, the measurement time is about 10 to 13 seconds. .. By the way, in the high-density measurement of the third mode, it takes about 190 to 200 seconds to measure the measurement range of the second mode in detail. Therefore, by switching the mode in this way, the absolute coordinates of the reference sphere 23 are obtained. Can be obtained in a short time. In these examples, the positions of the 3D scanner 21 and the reference ball 23 are at the same height and the distance is 30 m, but the measurement density and the measurement density are determined according to the installation height and the distance between the 3D scanner 21 and the reference ball 23. The measurement range can be set arbitrarily.

After calculating the center coordinates of each reference sphere 23, the position coordinates (absolute coordinates) of the 3D scanner 21 are calculated based on the position coordinates (absolute coordinates) measured in advance for each reference sphere 23 and the calculated center coordinates. (S503).

By narrowing down the range in this way, the center coordinates of the reference sphere 23 can be calculated in a short time, and the position coordinates of the 3D scanner 21 can be obtained in a short time. Since the coordinates of the above points can be calculated as absolute coordinates and compared with the design data as they are, it is possible to determine the points requiring excavation in a short time.

In addition, since it is possible to remove atari without a worker entering directly under the face, it is possible to prevent disasters due to the collapse of the ground. Further, since the location where the atari needs to be removed is replaced with the scan by the 3D scanner 21 and the determination by the PC 22 from the visual confirmation by the worker, the excavation can be quantitatively performed regardless of the skill of the worker.

In addition, since excavation can be performed while checking on the monitor how much excavation should be performed, it is possible to reduce the amount of surplus soil carried out. Since the atari can be appropriately removed, the unevenness of the excavated wall surface can be reduced, the residual blowing can be reduced, and the amount of sprayed concrete can be reduced.

By the above-mentioned quantitative excavation and reduction of surplus digging and surplus blowing, it is possible to manage the amount of excavated soil, the amount of concrete sprayed, the surplus blowing rate, the excavated form, the planned number of lining concrete to be placed, and the like.

By measuring three-dimensionally with the 3D scanner 21 at any time, comparing it with the design data with the PC22, and updating the display of the comparison result, the deformation of the face 10 can be monitored, and an alarm is given according to the amount of movement of the face surface. Can be emitted. The alarm may be emitted from a speaker provided in the PC 22 as an alarm sound, or may be emitted from a speaker separately provided in the driver's seat.

In addition, in the ground with extrudability and the ground where long-term deterioration occurs, an invert is provided as a lining part where the bottom of the tunnel is finished in a reverse arch shape as a countermeasure against deformation. Deformation monitoring and the like can also be carried out for inverts.

Since the position coordinates of one or more points in the tunnel can be calculated, the distance from the heavy machine to the nearby worker can be calculated. As a result, it is possible to detect that the heavy equipment is approaching the worker, and it is possible to issue an alarm to prevent the approach. Further, since the position coordinates of the arm and the like of the heavy machine can be calculated, the posture can be detected and the posture can be controlled.

So far, the excavation work and the determination method carried out by the tunnel construction management system of the present invention have been described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited to the above-described embodiments. However, other embodiments, additions, changes, deletions, etc. can be made within the range that can be conceived by those skilled in the art, and the present invention can be used as long as the actions and effects of the present invention are exhibited in any of the embodiments. It is included in the range.

10 ... Face 11, 11a ... Supporting work 12, 12a ... Lock bolt 20 ... Breaker 21 ... 3D scanner 22 ... PC
23 ... Reference sphere 24 ... Spherical surface 25 ... Notch 26 ... Prism 27 ... Passage

Claims (11)

It is a tunnel construction management system that manages the construction of tunnels.
A measuring means that measures the inside of a tunnel in three dimensions,
With three or more spherical targets placed in the tunnel and having pre-measured position coordinates,
Including arithmetic means for calculating the position coordinates of one or more points in the tunnel.
The measuring means three-dimensionally measures the inside of the tunnel on the side where the three or more spherical targets are arranged , which is different from the construction target for the measuring means, by changing the measurement point interval and the measurement range.
The calculation means calculates the position coordinates of the measurement means based on the measurement results measured three-dimensionally by changing the measurement point interval and the measurement range, and the calculated position coordinates of the measurement means and the measurement means perform the construction. A tunnel construction management system that calculates the position coordinates of one or more points of the construction target in the tunnel based on the measurement result of three-dimensional measurement of the target. The tunnel construction management system according to claim 1, wherein the calculation means determines a location requiring construction by comparing with design data. The tunnel construction management system according to claim 2, wherein the calculation means calculates the construction amount of a portion requiring construction by comparing with design data. Including vehicles equipped with means for constructing the parts requiring construction.
The tunnel construction management system according to claim 2 or 3, wherein the measuring means is mounted on the vehicle via a seismic isolation frame. The calculation means of the measurement means after the movement using the position coordinates of the measurement means calculated after the movement of the vehicle and before the movement and the measurement result of three-dimensional measurement of the construction target in the tunnel before and after the movement. The tunnel construction management system according to claim 4, which calculates position coordinates. The calculation means according to claim 4 or 5, wherein the calculation means specifies the position of the measurement means after the movement by pattern matching of the shape pattern before and after the movement obtained as a measurement result of three-dimensional measurement of the construction target in the tunnel. Tunnel construction management system. A display means for displaying the determination result of the calculation means is included.
The tunnel construction management system according to any one of claims 2 to 6, wherein the display means displays a portion requiring construction so as to be distinguishable from other locations. The measuring means three-dimensionally measures the first measuring range including the three or more spherical targets at the first measuring point interval.
The calculation means identifies the position of each spherical target based on the measurement result of three-dimensionally measuring the first measurement range at the first measurement point interval.
The measuring means three-dimensionally measures a second measurement range different from the first measurement point interval at a second measurement point interval different from the first measurement point interval.
The calculation means calculates the position coordinates of each spherical target based on the measurement result of three-dimensionally measuring the second measurement range at the second measurement point interval, and based on the position coordinates of each spherical target. The tunnel construction management system according to any one of claims 1 to 7, which calculates the position coordinates of the measuring means. The measuring means has a third measurement point interval different from the first measurement point interval and the second measurement point interval, and a third measurement range different from the first measurement range and the second measurement range. Three-dimensional measurement of the measurement range,
The tunnel construction management system according to claim 8, wherein the calculation means specifies a tunnel axial direction based on a measurement result measured three-dimensionally. It is a method to determine the part that needs to be constructed in the tunnel.
A step of three-dimensionally measuring the inside of the tunnel on the side where three or more spherical targets having pre-measured position coordinates, which are different from the construction target, are placed by the measuring means by changing the measurement point interval and the measurement range.
A step of calculating the position coordinates of the measuring means based on the measurement result measured three-dimensionally by changing the measurement point interval and the measurement range, and
A step of three-dimensionally measuring the construction target in the tunnel by the measuring means,
A step of calculating the position coordinates of a plurality of places of the construction object in the tunnel based on the measurement result of three-dimensional measurement of the construction object in the tunnel and the calculated position coordinates of the measurement means.
A determination method including a step of comparing the position coordinates of the plurality of locations with design data to determine a location requiring construction. It is a system that manages excavation work.
A measuring means that measures the construction target in three dimensions,
With 3 or more spherical targets with pre-measured position coordinates,
Including a calculation means for calculating the position coordinates of one or more points to be constructed.
The measuring means three-dimensionally measures the side on which the three or more spherical targets , which are different from the construction target, are arranged with respect to the measuring means by changing the measurement point interval and the measurement range.
The calculation means calculates the position coordinates of the measurement means based on the measurement results measured three-dimensionally by changing the measurement point interval and the measurement range, and the calculated position coordinates of the measurement means and the measurement means perform the construction. A construction management system that calculates the position coordinates of one or more points of the construction target based on the measurement result of three-dimensional measurement of the target.

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