JP7304781B2 - Tunnel face state display system and tunnel face state display method - Google Patents

Description

The present invention relates to a technology for displaying the state of a tunnel face during excavation, and more specifically to a technology for displaying the state of a tunnel face using color information obtained based on a three-dimensional model of the tunnel face. is.

It is said that about two-thirds of Japan's land area is mountainous, and therefore roads and railroad tracks (hereinafter referred to as "roads, etc.") almost always have sections that pass through mountainous areas. In order to construct a road or the like in this mountainous area, it is common to adopt either a cutting method for excavating a part of the slope or a tunneling method for hollowing out the inside of the natural ground. Although the tunnel construction method tends to have a higher unit construction cost (construction cost per extension of the road, etc.) than the cutting method, the amount of excavated soil (that is, the amount of soil discharged) tends to be smaller than that of the cutting method. , roads, etc., have a high degree of freedom in linear planning (for example, shortcuts can be made), and it is said that more than 10,000 tunnels have been constructed in Japan so far.

Until the 1970s, the mainstream method of constructing mountain tunnels was the sheet pile construction method, in which steel arch supports were combined with wooden sheet piles to support the ground. (New Austrian Tunneling Method) is the mainstream. The main feature of NATM is the design concept that expects the strength of the natural ground (arch effect). Therefore, compared to the conventional sheet pile construction method, the scale of the tunnel support can be reduced and the construction speed can be increased. Construction cost can be reduced because it can be done.

In addition, since NATM was fully implemented, drilling technology has progressed dramatically. Advances in (particularly, free-section excavators) have made it possible to select not only blast excavation but also mechanical excavation. Although this mechanical excavation depends on the excavation cross-sectional area and alignment, it is generally used for rocks with relatively low strength (for example, unconfined compressive strength of 49 N/mm ² or less). Blasting excavation is often adopted when bedrock exists in the target ground.

The excavation procedure by NATM will be briefly described here. First, the tunnel face is excavated. In the case of blasting excavation, a drill jumbo is used to drill a hole, dynamite is loaded, and blasting is performed after workers and machines have evacuated. On the other hand, in the case of mechanical excavation, the tunnel face is cut by a free cross section excavator. The excavation progress length (one span length) for one cycle (one cycle) varies depending on the support pattern set according to the strength of the ground, but in general excavation is carried out with a span length of 1.0m to 2.0m. will be After one-span excavation, the muck is carried out by a dump truck (or a rail construction method) while removing the unsettled ground portion (floating rocks, etc.). Then, after removing the muck, the primary concrete is sprayed as necessary, and if necessary (depending on the support pattern), steel shoring is erected, and after the secondary concrete is sprayed, the rock bolts are placed. I do. Note that the primary concrete spraying and the secondary concrete spraying are performed for the length of the excavated span, that is, the inner peripheral surface of the uncut portion of the tunnel (the peripheral surface extending from the side wall to the top).

Stabilizing the tunnel face in NATM is extremely important from the viewpoint of safe construction, and depending on the ground strength, spring water, behavior of the tunnel face, etc., auxiliary construction methods are performed for the tunnel face. For example, concrete spraying (mirror spraying) to stabilize the tunnel face, placing rock bolts (mirror bolts), draining boring, or fore-poling and long-length fore-piling as preliminary work are carried out. Of these, spraying concrete on the tunnel face is relatively easy to set up and work, and not only can it prevent loosening of the tunnel face in the longitudinal direction (digging direction), but it can also prevent the tunnel face from falling off. Moreover, in the case of expansive natural ground, it can be isolated from air and moisture, so it can be said that it is a practical and effective supplementary construction method.

Also, NATM is a so-called computer-aided construction that uses measurement work (A measurement and B measurement) together, and changes the excavation pattern or adopts an auxiliary construction method according to the measurement result. Measurement work includes inner space displacement and crown settlement to measure the behavior of the surrounding ground, rock bolt axial force measurement to measure the axial force of the installed rock bolt, and face observation. This face observation is literally a measurement work to observe the tunnel face, and considering that the information obtained from the tunnel face where the ground is most exposed is effective and abundant, it is extremely important for advancing excavation in the future. one of the best surveyors

In the past, face observation was done visually, and the results were recorded by sketching in a field notebook. In other words, the usefulness of face observation (the amount of effective information) largely depended on the experience and knowledge of the observer. However, the construction industry has been suffering from a chronic labor shortage for some time, and it is expected that securing excellent observers will become increasingly difficult in the future. In addition, although photographs of the tunnel face are taken, the photographs taken in situations where the lighting is not sufficient (or the lighting conditions are not uniform) are often not clear or the colors are not uniform, so the tunnel is judged by the observer. It is also possible to point out the problem that a third party cannot verify and confirm the cracks and weathering of the face, the state of the spring water, etc. In other words, it is impossible to ensure traceability.

Therefore, various techniques have been proposed so far that can objectively evaluate the tunnel face without relying on the experience and knowledge of the observer as much as possible. For example, in Patent Document 1, the relationship between the blast hole data and the evaluation points after blasting is analyzed by genetic programming, and the prediction formula obtained by this analysis is used to calculate the evaluation points from the blast hole data Face surface evaluation proposing a system.

JP 2018-71165 A

Since Patent Document 1 uses genetic programming, it is possible to obtain a highly accurate prediction formula by accumulating a large number of combinations of blast hole data and evaluation points. The effect of being able to consider the construction method can be expected. On the other hand, the evaluation score after blasting is still based on the observer's subjectivity, so it is somewhat difficult to completely solve the problems of securing excellent observers and ensuring traceability of judgment results. improvement points are seen.

An object of the present invention is to solve the problems of the prior art, that is, to provide a technique that can objectively evaluate the tunnel face without depending on the experience and knowledge of the observer.

The present invention has been made with a focus on creating a normal image based on a three-dimensional model of the tunnel face and expressing the state of the tunnel face using the color information of this normal image. It is an invention based on an unprecedented idea.

A tunnel face state display system according to the present invention comprises surface inclination calculating means and normal image creating means. Of these, the surface inclination degree calculation means is means for calculating the surface inclination angle in the three-dimensional space for each small area based on the three-dimensional model of the tunnel face composed of small areas (areas obtained by dividing the tunnel face). . The normal image creating means is means for creating a normal image of the tunnel face by setting color information for each small area based on the surface inclination angle. The normal image creating means sets color information according to the inclination angle and inclination direction of the surface inclination angle for each small area.

The tunnel face state display system of the present invention may further include crack interval calculation means and crack evaluation point setting means. This crack interval calculation means is a means for extracting cracks by filtering the normal image and obtaining the crack interval. The crack evaluation point setting means is means for setting the crack evaluation point of the tunnel face by comparing the crack distance obtained by the crack distance calculation means with a preset crack distance threshold value.

The tunnel face state display system of the present invention may further comprise a rock strength distribution chart creating means, a crack distribution chart creating means, a rock weathering classification chart creating means, and a spring water distribution chart creating means. This rock strength distribution map creating means is a means for estimating the rock strength of the tunnel face based on the information at the time of blasting and creating a rock strength distribution map of the tunnel face to which coordinates are assigned. The crack distribution map creating means is means for creating a crack distribution map of the tunnel face to which coordinates are assigned, based on the cracks extracted by the crack interval calculating means. The rock weathering classification map creation means evaluates the rock weathering distribution of the tunnel face by comparing the spectrum data of the tunnel face acquired by the spectrum camera with the spectrum data for each degree of weathering prepared in advance. This is a means for creating a rock weathering classification diagram of a tunnel face to which coordinates are assigned based on the position and orientation of a spectrum camera. The spring water distribution map creation means is provided with coordinates based on the temperature distribution of the tunnel face acquired by a temperature distribution sensor capable of acquiring the temperature distribution of the tunnel face and the position and orientation of this temperature distribution sensor. This is a means of creating a spring water distribution map of the tunnel face.

The tunnel face state display system of the present invention may further include rock strength evaluation point setting means, rock weathering degree evaluation point setting means, spring condition evaluation point setting means, and comprehensive evaluation point setting means. This rock strength evaluation point setting means is means for setting the rock strength evaluation point of the tunnel face based on the rock strength distribution map, and the rock mass weathering degree evaluation point setting means uses the rock of the tunnel face based on the rock weathering classification map. The means for setting the weathering evaluation point, the spring condition evaluation point setting means is a means for setting the spring condition evaluation point of the tunnel face based on the spring water distribution map, and the comprehensive evaluation point setting means is a crack evaluation point and bedrock strength. It is a means to set the overall score of the tunnel face based on factors including score, rock weathering score, and spring condition score.

The tunnel face state display method of the present invention is a method comprising an observation step and an image creation step. Among these, in the observation step, images of the tunnel face are acquired by two or more image acquisition means. In the image creation step, a normal image of the tunnel face is created by the tunnel face state display system of the present invention.

The tunnel face state display method of the present invention can also be a method further comprising a coordinate acquisition step. In this coordinate acquisition step, after the displacement is detected, the mobile measuring body is moved to the vicinity of the tunnel face, and the coordinates of any three points of the mobile measuring body are measured. This mobile measurement object is a mobile object equipped with two or more image acquisition means, a spectrum camera, and a temperature distribution sensor (sensor capable of acquiring the temperature distribution of the tunnel face). In this case, in the observation process, the spectrum data of the tunnel face is acquired by the spectrum camera, and the temperature distribution of the tunnel face is acquired by the temperature distribution sensor. Create a map, bedrock weathering classification map, and spring water distribution map. In this case, the tunnel face state display system includes space calculation means, crack distribution map creation means, rock weathering classification map creation means, and spring water distribution map creation means. Here, the spatial calculation means calculates the position and orientation of the moving measuring object based on the coordinates acquired in the coordinate acquisition step, and calculates the position and orientation of the image acquisition means, the position and orientation of the spectral camera, and the temperature distribution. It is means for calculating the position and orientation of the sensor.

The tunnel face state display method of the present invention can also be a method using lighting equipment mounted on a mobile measuring object. In this case, in the observation process, the permanent lighting installed near the tunnel face is turned off, and the image of the tunnel face is captured by the image acquisition means while the lighting device mounted on the mobile measuring object is emitting light onto the tunnel face. A spectral camera acquires spectral data of the tunnel face, and a temperature distribution sensor acquires the temperature distribution of the tunnel face.

A mobile measuring object according to the present invention includes a mobile object that can move in a tunnel, two or more image acquisition means, a spectrum camera, a temperature distribution sensor, and three or more reflectors. The two or more image acquisition means, the spectral camera, the temperature distribution sensor, and the three or more reflectors are mounted on the moving body. Then, the mobile measuring body of the present invention can acquire an image of the tunnel face by the image acquisition means while it is stopped in front of the tunnel face, and can acquire spectral data of the tunnel face by the spectrum camera. The temperature distribution of the tunnel face can be acquired by the distribution sensor, and the position and attitude of the moving object can be acquired by collimating the reflector with the surveying instrument.

The tunnel face state display system, tunnel face state display method, and movement measuring body of the present invention have the following effects.
(1) It is possible to evaluate the state of the tunnel face with higher accuracy than in the past. As a result, the optimum support pattern and auxiliary construction method can be selected, construction quality can be ensured, construction costs can be reduced, and the construction period can be shortened.
(2) Since the condition of the tunnel face can be objectively evaluated without being based on the observer's subjectivity, it is possible to reduce the observation effort and ensure traceability of the evaluation.
(3) In addition, since it does not depend on the experience and knowledge of observers, it is possible to avoid the difficulty of securing excellent observers.
(4) The above effect can be obtained with work labor and work time not much different from conventional face observation.

FIG. 4 is a model diagram schematically showing a situation in which the state of the tunnel face is observed by the mobile measuring body of the present invention; (a) is a side view showing the movement measuring body of the present invention, and (b) is a front view showing the movement measuring body of the present invention. 1 is a block diagram showing the main configuration of a tunnel face state display system of the present invention; FIG. FIG. 4 is a flow diagram showing the main processing flow of the space computing means that constitutes the tunnel face state display system. The flowchart which shows the flow of a series of processes from creation of a face 3D model to display of a crack distribution map. (a) is a model diagram schematically showing a three-dimensional space consisting of the R axis indicating the red value, the G axis indicating the green value, and the B axis indicating the blue value, and (b) is a model diagram for obtaining color information. The model figure which shows a hue circle typically. A flow chart showing the flow of a series of processes from setting a rock strength evaluation point, a rock weathering evaluation point, and a spring state evaluation point, to setting a comprehensive evaluation point. FIG. 4 is a flowchart showing main steps of the tunnel face state display method of the present invention;

Embodiments of the tunnel face state display system, the tunnel face state display method, and the movement measuring body of the present invention will be described with reference to the drawings.

1. Overall Overview FIG. 1 is a model diagram schematically showing a situation in which the state of a tunnel face is observed by a mobile measuring body 200 of the present invention. As shown in FIG. 2, this mobile measurement object 200 can be configured including a mobile object 210, an image acquisition means 220, a spectrum camera 230, a temperature distribution sensor 240, a reflector 250, and an illumination device 260. FIG.

A moving body 210 that constitutes the moving measuring body 200 is a so-called base machine that can move in a tunnel with various measuring instruments mounted thereon. You can also use a crawler type one. The image acquiring means 220 is a digital camera, a still camera, a digital video camera, or the like, which can acquire an image of the tunnel face. As will be described later, two or more image acquisition means 220 are provided to create a three-dimensional model of the tunnel face (hereinafter simply referred to as "face 3D model"), that is, to obtain stereo pair images. For example, in FIG. 2, the first image acquisition means 221 behind the moving body 210, the second image acquisition means 222 on the front right side of the moving body 210, and the third image acquisition means 223 on the front left side of the moving body 210. Means 220 are provided.

The spectrum camera 230 can acquire spectral data of the tunnel face, and the temperature distribution sensor 240 can acquire the temperature distribution of the tunnel face, such as a thermography that acquires a thermal infrared image. The reflector 250 is a target of a surveying instrument such as a total station, and a conventionally used surveying prism (also called a mirror or target) can be used. Note that the reflectors 250 are arranged at three or more locations that are not aligned on the same straight line so that the position and orientation of the moving body 210 can be obtained as described later. For example, in FIG. 2, three reflectors 250 are arranged: a first reflector 251 behind the moving body 210, a second reflector 252 on the front right side of the moving body 210, and a third reflector 253 on the front left side of the moving body 210. It is

The lighting device 260 can apply light to the tunnel face, and various conventionally used lighting devices can be used. The image acquisition means 220, the spectral camera 230, the temperature distribution sensor 240, the reflector 250, and the lighting device 260 are fixed to the moving body 210, and their relative positions with respect to this moving body 210 (that is, where they are installed in the moving body 210). is known in advance. Furthermore, regarding the image acquisition means 220, the spectrum camera 230, and the temperature distribution sensor 240, the relative attitudes with respect to the moving body 210 (that is, in which direction they are facing with respect to the direction of the moving body 210) are grasped in advance. These image acquisition means 220, spectral camera 230, temperature distribution sensor 240, reflector 250, and lighting equipment 260 are preferably installed on a frame FR fixed above the moving body 210, as shown in FIG.

The moving measuring object 200 stopped in front of the tunnel face illuminates the tunnel face with a lighting device 260 as shown in FIG. 230 acquires spectral data of the tunnel face, and a temperature distribution sensor 240 acquires the temperature distribution of the tunnel face. At this time, by collimating the reflector 250 with a surveying instrument TS (for example, a total station) installed in the tunnel, the position (hereinafter simply referred to as the “downhole position”) and attitude of the moving body 210 in the tunnel are determined. Further, the underground position and orientation of the image acquisition means 220, the underground position and orientation of the spectral camera 230, and the underground position and orientation of the temperature distribution sensor 240 are obtained.

The tunnel face state display system of the present invention creates a 3D face model based on the stereo pair images of the tunnel face acquired by the image acquisition means 220, and creates a "normal image" of the tunnel face from this 3D face model. . Furthermore, based on this normal image, cracks and crack intervals in the tunnel face can be obtained, crack evaluation points can be calculated, and a crack distribution map can be created. Here, since the underground position and orientation of the image acquisition means 220 are obtained, the crack distribution map can be assumed to be given coordinates, and the tunnel face photograph and other tunnel face images given the coordinates ( It can be displayed superimposed on rock weathering classification maps, spring water distribution maps, etc.).

In addition, the tunnel face state display system of the present invention can create a rock weathering classification map based on the tunnel face spectrum data acquired by the spectrum camera 230, and set a rock weathering evaluation point from this rock weathering classification map. Alternatively, a spring water distribution map can be created based on the temperature distribution of the tunnel face obtained by the temperature distribution sensor 240, and the spring water condition evaluation points can be set from this spring water distribution map. Since the underground positions and attitudes of the spectral camera 230 and the temperature distribution sensor 240 are obtained here, the rock weathering classification map and the spring water distribution map can be given coordinates. It can be superimposed on a tunnel face photograph or another tunnel face image (crack distribution map, etc.).

Furthermore, the tunnel face state display system of the present invention creates a rock strength distribution map based on information during drilling for blasting one cycle before (hereinafter referred to as "data during blast drilling"), and It is also possible to set the rock mass strength evaluation point from the strength distribution map. Here, the blast-drilling data includes the drilling position and drilling speed, and may also include rod feed pressure, impact pressure, rotation pressure, and the like. When the crack evaluation score, bedrock strength evaluation score, bedrock weathering evaluation score, and spring condition evaluation score are obtained, a comprehensive evaluation score for the tunnel face can be set based on these evaluation scores.

2. Tunnel Face State Display System An example of the tunnel face state display system of the present invention will be described with reference to the drawings. The tunnel face state display method of the present invention is a method using the tunnel face state display system of the present invention. Therefore, the tunnel face state display system will be described first, and then the tunnel face state display method will be described. do.

FIG. 3 is a block diagram showing the main configuration of the tunnel face state display system 100 of the present invention. As shown in this figure, the tunnel face state display system 100 of the present invention includes surface inclination calculating means 101 and normal image creating means 102, crack interval calculating means 103, crack evaluation point setting means 104, Crack distribution map creating means 105, rock strength distribution map creating means 106, rock strength evaluation point setting means 107, rock weathering classification map creating means 108, rock mass weathering degree evaluation point setting means 109, spring water distribution map creating means 110, spring water It can also be configured to include state evaluation point setting means 111 , total evaluation point setting means 112 , space calculation means 113 , 3D model creation means 114 , display means 115 such as a display, and movement measurement object 200 .

Of the main elements constituting the tunnel face state display system 100, a surface inclination calculation means 101, a normal image creation means 102, a crack interval calculation means 103, a crack evaluation point setting means 104, a crack distribution map creation means 105, and a rock strength Distribution map creation means 106, rock strength evaluation point setting means 107, rock weathering classification map creation means 108, rock weathering degree evaluation point setting means 109, spring distribution map creation means 110, spring condition evaluation point setting means 111, comprehensive evaluation The point setting means 112, the space calculation means 113, and the 3D model creation means 114 can be manufactured as dedicated ones, or can be used as general-purpose computer devices. This computer device includes a processor such as a CPU, memory such as ROM and RAM, input means such as a mouse and keyboard, and a display (display means 115). It can be configured by a type PC, a mobile terminal including a smart phone, or the like. When a computer device is used, the computer device can be placed in the mobile measuring body 200. In particular, when a tablet PC or a mobile terminal is used, it can be carried by the worker, or can be carried by the operator. It can also be installed at a location different from the moving measuring object 200 . When the computer is installed in a management office, the image data acquired by the image acquisition means 220, the spectrum data acquired by the spectrum camera 230, the temperature distribution data acquired by the temperature distribution sensor 240, and the blasting by a drill jumbo are used. A wireless communication (or wired communication) means may be provided so that the computer can transmit and receive the time data.

(spatial operation)
FIG. 4 is a flow chart showing the main processing flow of the space computing means 113 that constitutes the tunnel face state display system 100. As shown in FIG. Note that in this flow diagram, the middle column shows the action to be performed, the left column shows what the action requires, and the right column shows what results from the action. As described above, the mobile measuring object 200 stopped in front of the tunnel face is collimated by the surveying instrument TS installed in the tunnel as shown in FIG. 1, and the coordinates of the reflector 250 are obtained. Then, the underground position and attitude of the mobile measuring body 200 are calculated from the coordinates of the reflector 250 (Step 11 in FIG. 4). At this time, since the three or more reflectors 250 are arranged so as not to be on the same straight line, a three-dimensional plane is determined from the coordinates of these reflectors 250, and based on this three-dimensional plane, the movement measuring object 200 ( That is, the posture (pitch, roll, yaw) of the moving body 210) can be calculated. In addition, since the position of the reflector 250 relative to the moving object 210 (that is, where in the moving object 210 the reflector 250 is installed) is known in advance, the moving measurement object 200 (that is, the moving object 210 ) the overall downhole position is determined, ie the planar position of mobile metrology 200 in the tunnel can be determined.

When the underground position and orientation of the mobile measuring object 200 are calculated, the underground position and orientation of the image acquisition means 220 are calculated (Step 12 in FIG. 4), and the underground position and orientation of the spectral camera 230 are calculated (Step 13 in FIG. 4). ), the underground position and attitude of the temperature distribution sensor 240 are calculated (Step 14 in FIG. 4). As described above, the image acquisition means 220, the spectral camera 230, and the temperature distribution sensor 240 are positioned relative to the moving body 210 (that is, where they are installed in the moving body 210) and relative to the moving body 210. (i.e., which direction the moving body 210 faces relative to the orientation) is known in advance. This means that the underground position and orientation of the distribution sensor 240 can be calculated.

(Creation of legal images)
FIG. 5 is a flowchart showing a series of processes from creation of a face 3D model to display of a crack distribution map. In this flow diagram, as in FIG. 4, the middle column shows the action to be performed, the left column shows what is necessary for the action, and the right column shows what results from the action. When two or more tunnel face images (stereo pair images) are acquired by the image acquisition means 220, and the underground position and orientation of the image acquisition means 220 are calculated by the space calculation means 113, the 3D model creation means 114 creates the face 3D model. Create (Step 21 in FIG. 5). More specifically, three-dimensional coordinates of a plurality of points on the tunnel face are obtained by conventional stereo photography technology, and a face 3D model is created from these point group coordinates. The face 3D model is obtained by dividing the tunnel face into a plurality of meshes (hereinafter referred to as "small regions"), each of which has three-dimensional coordinates. In addition to the method by TIN (Triangulated Irregular Network) that finds the height by a triangular network, the method by the nearest neighbor method (Nearest Neighbor) that adopts the nearest laser measurement point 4, the inverse distance weighting method (IWD), the Kriging method, and the average method Various methods can be adopted. In addition, the face 3D model has two axes (for example, the X axis and the Y axis) that constitute a vertical plane (hereinafter referred to as "face reference plane") that is approximately parallel (including parallel) to the tunnel face, and on this face reference plane A three-dimensional coordinate axis (for example, the Z axis) perpendicular to the axis may be set.

When the face 3D model is created, the surface inclination degree calculation means 101 calculates the surface inclination angle for each small region (Step 22 in FIG. 5). This surface inclination is a value indicating the posture of the small area, and is an angle with respect to the horizontal plane (or face reference plane) (hereinafter referred to as "depression angle"), and the direction of the intersection straight line between the small area and the horizontal plane or the orthogonal direction (hereinafter referred to as "azimuth"). When calculating the degree of surface inclination, it can be obtained by various methods conventionally used, such as calculation using the three-dimensional coordinates of eight small regions surrounding the small region of interest.

After calculating the surface inclination angle for each small region, the normal image creating means 102 creates a normal image of the tunnel face (Step 23 in FIG. 5). This normal image is sometimes called a normal map, and is an image to which color information according to the spatial information (coordinates and orientation) of the target object is added. Then, the surface inclination calculating means 101 of the tunnel face state display system 100 creates a normal image of the tunnel face by adding color information according to the surface inclination angle (depression angle and azimuth) of the small area. The procedure for creating the normal image of the tunnel face will be described in detail below.

First, as shown in FIG. 6(a), a three-dimensional space (hereinafter referred to as "color space") consisting of the R axis indicating the red value, the G axis indicating the green value, and the B axis indicating the blue value. ). Points arranged in this color space can be represented by three-dimensional coordinates, and the coordinate values are used as color information (that is, RGB) as they are. For example, in the case of FIG. 6A, the origin RGB(0,0,0) is displayed as "black", RGB(255,0,0) is displayed as "red", and RGB(0,255,0) is displayed as "red". are displayed in "green", RGB(0,0,255) in "blue", and RGB(255,255,255) in "white".

Next, six vertices of the cube shown in FIG. Focusing on PT41 (255, 255, 0), vertex PT51 (0, 255, 255), and vertex PT61 (255, 0, 255), a regular hexagon on a plane as shown in FIG. , vertex PT42 corresponding to vertex PT41, vertex PT22 corresponding to vertex PT21, vertex PT52 corresponding to vertex PT51, vertex PT32 corresponding to vertex PT31, and vertex PT62 corresponding to vertex PT61. Consider a regular hexagon whose center O is the center point of the cube shown in FIG. 6(a). For the sake of convenience, the regular hexagon shown in FIG.

When the hue circle is set, the small regions are arranged (plotted) on the hue circle in accordance with the surface inclination angles of the small regions. Specifically, a reference vector directed from the center O to the vertex PT12 is determined, a coefficient corresponding to the orientation of the small region (hereinafter referred to as "orientation coefficient") is set, and the magnitude (length) of the reference vector is determined. is multiplied by the azimuth coefficient (hereinafter referred to as "rotational length"). ). Note that the azimuth coefficient can be obtained as a ratio of the azimuth with respect to a predetermined reference angle (for example, 180° or 360°). Then, the rotation length (that is, radius) is rotated from the direction of the reference vector by the depression angle of the small region around the center O (that is, the polar coordinates obtained from the rotation length and the depression angle), and the arrangement of the small region on the color wheel ( coordinates).

Once the arrangement (coordinates) of the small areas on the color wheel is obtained, coordinate values (RGB) in the color space shown in FIG. 6A are obtained based on the coordinates. For example, in the case of FIG. 6(b), the intersection a between the vertex PT12 and the vertex PT42 (line segment) and the straight line passing through the point p and the center O arranged on the hue circle is obtained. ), find the internally dividing point b of vertex PT11-vertex PT41 (line segment) in FIG. The internal division point of the intersection point b (line segment) between the center point of the cube shown in FIG. value (RGB).

As described above, instead of the method of converting the coordinate values on the color wheel to the coordinate values on the color space, the HSV model consisting of hue H (Hue), saturation S (Saturation), and brightness V (Value of Brightness) is used. Therefore, it is also possible to adopt a method of obtaining RGB values. Specifically, as shown in FIG. 6(b), the depression angle of the small area is determined as a rotation angle from the reference vector (that is, the R axis) to obtain the hue H, and the saturation S corresponding to the azimuth coefficient is obtained and set in advance. HSV is defined by the calculated brightness V. Then, RGB values are calculated from the HSV values by a conventionally used conversion formula.

In this way, the surface inclination angle (depression angle and azimuth) is obtained for each small area, and the normal image of the tunnel face is created by adding color information according to the surface inclination angle. In addition, the distance from a predetermined reference point (for example, the image acquisition means 220) (that is, unevenness with respect to the face reference surface) is obtained for each small region, and color information (for example, grayscale) according to the distance is added to the distance image. can also be created.

When the normal image of the tunnel face is created, the crack interval calculation means 103 extracts the cracks in the tunnel face (Step 24 in FIG. 5), and calculates the crack interval based on the arrangement of the cracks (Step 25 in FIG. 5). In order to extract cracks in the tunnel face, it is preferable to apply a filter (Sobel filter or the like) to the normal image of the tunnel face. For example, the normal image is binarized by filtering, and the range where white pixels are walking and latitude (greater than or equal to a threshold) is extracted as a crack. Alternatively, it is also possible to convert the normal image to grayscale by filtering, and to extract as cracks a range in which portions of a predetermined value or more are aggregated or a range in which the grayscale gradient (differential value) is greater than or equal to a threshold. Then, when the crack can be extracted, the distance between the cracks is calculated as the crack interval. It is also possible to determine the crack interval for each small region by assigning a crack interval composed of these cracks to small regions between cracks.

When the cracks in the tunnel face are extracted and the crack interval is calculated, the crack evaluation point setting means 104 sets the crack evaluation points (Step 26 in FIG. 5). Specifically, the crack interval is divided and set in advance into a plurality of ranges, and a score is assigned to each range, and the crack interval is calculated for each small region based on the crack interval obtained by the crack interval calculation means 103. , and give its score. Statistical values (average value, median value, mode value, etc.) are calculated based on the scores of all small regions (or some small regions), and these are set as tunnel face crack evaluation points.

Further, when the cracks in the tunnel face are extracted, the crack distribution map creating means 105 creates a crack distribution map (Step 27 in FIG. 5). The cracks extracted by the crack interval calculation means 103 are given coordinates because they are based on the face 3D model. That is, the crack distribution map is given coordinates. Therefore, the crack distribution map can be displayed superimposed on other face images such as a photograph of the tunnel face with coordinates (for example, an orthophoto), a bedrock weathering classification map, and a spring water distribution map (Step 28 in Fig. 5). .

(Setting of comprehensive evaluation points)
FIG. 7 is a flowchart showing a series of processing steps from setting a rock strength evaluation point, a rock weathering evaluation point, and a spring condition evaluation point to setting a total evaluation point. 4 and 5, this flow diagram also shows actions to be performed in the center column, what is necessary for the action in the left column, and what results from the action in the right column. When the data at the time of blast drilling is obtained as shown in this figure, the rock strength distribution chart creation means 106 creates a rock strength distribution chart (Step 31 in FIG. 7). Since the drilling position data is included in the blasting drilling data, a rock strength distribution map can be created by showing the rock strength at each drilling position. The rock strength for each drilling position can be set based on the drilling speed, or based on the drilling speed and rod feed pressure, impact pressure, rotation pressure, and the like. When the rock strength distribution map is created, the rock strength evaluation point setting means 107 sets the rock strength evaluation points (Step 32 in FIG. 7). Specifically, the rock strength is set in advance by dividing it into multiple ranges, and a score is assigned to each range. Give that score. Then, based on the scores at all drilling positions (or some drilling positions), statistical values (average, median, mode, etc.) are calculated and set as the rock strength evaluation point for the tunnel face. do.

When the spectral data of the tunnel face is obtained by the spectrum camera 230, the rock weathering map creating means 108 creates a rock weathering map (Step 41 in FIG. 7). Since the underground position and attitude of the spectral camera 230 have been obtained by the space computing means 113, the obtained spectral data can be associated with the position of the tunnel face, that is, a rock weathering division chart with coordinates assigned can be created. It is possible. In creating a rock weathering classification map, it is necessary to set the degree of rock weathering (hereinafter referred to as "rock weathering degree") in accordance with the acquired spectrum data. For this purpose, it is recommended to use a rock weathering degree table that shows the relationship between rock weathering degree and spectrum data. This bedrock weathering degree table is based on the actual values of spectral data obtained for rocks with known rock weathering degrees, and shows the relationship between multiple levels of rock weathering degrees and the corresponding spectral data. be. Bedrock weathering degree tables should be prepared for each type of bedrock such as sandstone and granite. When the rock mass weathering classification map is created, the rock mass weathering degree evaluation point setting means 109 sets the rock mass weathering degree evaluation points (Step 42 in FIG. 7). Specifically, a score is assigned in advance to the degree of rock weathering at each stage, and the score is assigned to each small region based on the obtained degree of rock weathering. Statistical values (average, median, mode, etc.) are then calculated based on the scores in all small areas (or some small areas), and these are set as rock weathering evaluation points for the tunnel face. .

When the temperature distribution of the tunnel face is obtained by the temperature distribution sensor 240, the spring water distribution map creation means 110 creates a spring water distribution map (Step 51 in FIG. 7). Since the underground position and attitude of the temperature distribution sensor 240 are obtained by the space calculation means 113, the obtained temperature distribution can be associated with the position of the tunnel face, that is, a spring water distribution map with coordinates is created. It is possible. In creating the spring water distribution map, it is necessary to set the degree of spring water (hereinafter referred to as “spring water level”) according to the temperature data acquired by the temperature distribution sensor 240 . For this, it is preferable to use a spring water level table that shows the relationship between the spring water level set in advance in steps and the temperature data obtained by the temperature distribution sensor 240 . This spring water level table is based on the actual values of temperature data obtained for rocks with known spring water levels, and shows the relationship between multiple stages of spring water levels and the corresponding temperature data. be. When the spring water distribution map is created, the spring state evaluation point setting means 111 sets the spring state evaluation points (Step 52 in FIG. 7). Specifically, a score is given to each spring water level in advance, and the score is given to each small area based on the obtained spring water level. Statistical values (average, median, mode, etc.) are then calculated based on the scores in all small areas (or some small areas), and these are set as spring water condition evaluation points for the tunnel face. .

When the crack evaluation point, rock strength evaluation point, bedrock weathering evaluation point, and spring state evaluation point are set, the comprehensive evaluation point setting means 112 sets the comprehensive evaluation point of the tunnel face (Step 60 in FIG. 7). Specifically, statistical values such as the sum of crack evaluation points, rock strength evaluation points, rock weathering evaluation points, and spring state evaluation points, or weighted total values, average values, and weighted average values. is obtained and set as the overall evaluation score for the tunnel face.

3. Tunnel Face State Display Method Next, the tunnel face state display method of the present invention will be described with reference to FIG. The tunnel face state display method of the present invention is a method using the tunnel face state display system 100 described so far. Only the content specific to the tunnel face status indication method will be described. That is, the contents not described here are the same as those described in "2. Tunnel Face State Display System".

FIG. 8 is a flowchart showing main steps of the tunnel face state display method of the present invention. Blasting excavation (or mechanical excavation) for one cycle is performed, and the muck is transported by dump truck (or rail construction method) while removing loose rocks (Step 101). The measuring body 200 approaches near the face (Step 102). When the mobile measuring object 200 stops, the surveying instrument TS measures the coordinates of the reflector 250 mounted on the mobile measuring object 200 (moving object 210) as shown in FIG. 1 (Step 103). The results of the measurement (that is, the coordinates of the reflector 250) are transmitted to the space computing means 113 using wireless communication (or wired communication) means or the like.

An image of the tunnel face is acquired by the image acquiring means 220 (Step 105), but before that, it is preferable to switch the illumination (Step 104). Specifically, the lighting (mercury lamp, fluorescent lamp, etc.) permanently installed near the tunnel face is turned off, and the tunnel face is illuminated by the lighting device 260 mounted on the mobile measuring body 200 . Lighting for construction (permanently installed lighting) tends to be relatively difficult to stabilize in illuminance, but with the lighting equipment 260 on the other hand, the illuminance is generally stable, so images can be acquired under the same conditions for each tunnel face. is possible.

When the lighting is switched, the observation process (Step 105 to Step 107) is performed. Specifically, the image acquisition means 220 acquires an image of the tunnel face (Step 105), the spectral camera 230 acquires spectral data of the tunnel face (Step 106), and the temperature distribution sensor 240 acquires the temperature distribution of the tunnel face. (Step 107). The order of performing the step of acquiring an image of the tunnel face (Step 105), the step of acquiring spectrum data of the tunnel face (Step 106), and the step of acquiring the temperature distribution of the tunnel face (Step 107) can be selected as appropriate. The order of performing the coordinate acquisition process (Step 103) and the observation process by the device TS can be selected as appropriate, and the coordinate acquisition process and the observation process can be performed in parallel. The tunnel face image obtained here is sent to the 3D model creation means 114, the tunnel face spectrum data to the rock weathering classification map creation means 108, and the temperature distribution of the tunnel face to the spring water distribution map creation means 110, respectively. (or wired communication) means is used to transmit.

When the tunnel face image, spectral data, and temperature distribution are obtained in the observation process, various images are created (Step 201). Specifically, the rock strength distribution map creation means 106 creates a rock strength distribution map based on the blast drilling data, and the rock weathering classification map creation means 108 creates a rock weathering classification map based on the spectrum data of the tunnel face. The spring water distribution map creating means 110 creates a spring water distribution map based on the temperature distribution of the tunnel face. Further, the 3D model creation means 114 creates a face 3D model based on the tunnel face image (stereo pair image), the surface inclination degree calculation means 101 calculates the surface inclination degree based on the face 3D model, and the normal image The creating means 102 creates a normal image based on the degree of surface inclination, the crack interval calculating means 103 extracts cracks, and the crack distribution chart creating means 105 creates a crack distribution chart. Coordinates are assigned to each of the crack distribution map, rock strength distribution map, bedrock weathering classification map, and spring water distribution map. It can also be superimposed on the photograph of the face (Step 202).

When the crack distribution map, rock strength distribution map, rock weathering classification map, and spring water distribution map are created, various evaluation points for the tunnel face are set (Step 203). Specifically, the crack evaluation point setting means 104 sets the crack evaluation point of the tunnel face based on the crack interval, and the rock strength evaluation point setting means 107 sets the rock strength evaluation point of the tunnel face based on the rock strength distribution map. The rock weathering degree evaluation point setting means 109 sets the rock weathering degree evaluation point of the tunnel face based on the rock weathering classification map, and the spring condition evaluation point setting means 111 sets the tunnel face based on the spring water distribution map. Set the spring water condition evaluation point. Then, the total evaluation point setting means 112 sets the total evaluation point of the tunnel face based on the rock strength evaluation point, crack evaluation point, rock weathering degree evaluation point, and spring state evaluation point (Step 204).

The tunnel face state display system, tunnel face state display method, and mobile measuring object of the present invention can be used for various tunnel excavations such as road tunnels, railway tunnels, and pedestrian tunnels. According to the present invention, a high-quality tunnel can be completed by excavating the tunnel face in a stable state, and the tunnel can be shared quickly, and the safety of workers is ensured before construction. Considering that it can be used in the industrial field, it is an invention that can be expected to make a great contribution to society as well as being industrially applicable.

100 Tunnel face status display system 101 Surface inclination calculation means (of tunnel face status display system) 102 Normal image creation means (of tunnel face status display system) 103 Crack interval calculation means (of tunnel face status display system) 104 (Tunnel Crack evaluation point setting means (of tunnel face condition display system) 105 Crack distribution map creation means (of tunnel face condition display system) 106 Rock strength distribution map creation means (of tunnel face condition display system) 107 Bedrock (of tunnel face condition display system) Strength evaluation point setting means 108 (Tunnel face condition display system) Rock weathering classification map creation means 109 Rock weathering degree evaluation point setting means (Tunnel face condition display system) Spring water distribution map creation (Tunnel face condition display system) Means 111 Spring condition evaluation point setting means (of tunnel face condition display system) 112 Overall evaluation point setting means (of tunnel face condition display system) 113 Spatial calculation means (of tunnel face condition display system) 114 (Tunnel face condition display system) 3D model creation means 115 (of tunnel face state display system) display means 200 (of tunnel face state display system) moving measuring object 210 (moving measuring object) moving object 220 (moving measuring object) image acquisition means 230 ( Moving measuring object) Spectral camera 240 (Moving measuring object) Temperature distribution sensor 250 (Moving measuring object) Reflector 260 (Moving measuring object) Lighting device TS (Tunnel face status display system) Surveying equipment

Claims (6)

In the system that displays the state of the tunnel face,
a mobile body capable of moving in a tunnel;
two or more image acquisition means mounted on the moving object;
three or more reflectors mounted on the moving object;
a spectral camera mounted on the moving object;
a temperature distribution sensor mounted on the moving body and capable of acquiring a temperature distribution of the tunnel face;
surface inclination calculation means for calculating a surface inclination angle in a three-dimensional space for each small area based on a three-dimensional model of the tunnel face composed of small areas obtained by dividing the tunnel face;
normal image creation means for creating a normal image of the tunnel face by setting color information for each of the small regions based on the surface inclination angle;
crack interval calculation means for extracting cracks and obtaining crack intervals by filtering the normal image;
crack evaluation point setting means for setting a crack evaluation point of the tunnel face by comparing the crack interval obtained by the crack interval calculation means with a preset crack interval threshold value;
A bedrock strength distribution map creation means for estimating the rock strength of the tunnel face based on information during blast drilling and creating a bedrock strength distribution map of the tunnel face to which coordinates are assigned;
crack distribution map creation means for creating a crack distribution map of the tunnel face to which coordinates are assigned based on the cracks extracted by the crack interval calculation means;
Evaluate the rock weathering distribution of the tunnel face by comparing the spectral data of the tunnel face acquired by the spectral camera with the spectral data for each degree of weathering prepared in advance, and the position and attitude of the spectral camera. a bedrock weathering classification diagram creation means for creating a rock weathering classification diagram of a tunnel face to which coordinates are assigned based on;
Spring water distribution map creation means for creating a spring water distribution map of the tunnel face to which coordinates are assigned based on the temperature distribution of the tunnel face acquired by the temperature distribution sensor and the position and orientation of the temperature distribution sensor; with
The image acquisition means grasps in advance a relative position and a relative attitude with respect to the moving body,
The spectral camera and the temperature distribution sensor have their respective relative positions and relative orientations with respect to the moving object grasped in advance,
A surveying instrument installed in the tunnel collimates the reflector to obtain the position and attitude of the image acquisition means in the tunnel, and the three-dimensional model is given three-dimensional coordinates in the tunnel. ,
The normal image creating means sets the color information according to the inclination angle and the inclination direction of the surface inclination angle,
The rock strength distribution map, the crack distribution map, the rock weathering classification map, and the spring water distribution map can be displayed superimposed on each other.
A tunnel face state display system characterized by: The normal image creating means sets a three-dimensional "color space" consisting of orthogonal R, G, and B axes, and sets a "hue circle" consisting of six vertices constituting the color space. , defining a reference vector from the center of the color wheel to any of the vertices,
Further, the normal image creating means multiplies the magnitude of the reference vector by a "direction coefficient" corresponding to the tilt direction to obtain a "rotation length", and calculates a line segment of the rotation length around the center of the hue circle. to obtain the polar coordinates in the color wheel by rotating by the tilt angle,
Further, the normal image creating means obtains RGB values by arranging the polar coordinates in the color space, and assigns the RGB values to the small area.
The tunnel face state display system according to claim 1, characterized in that: The normal image creating means obtains a hue H based on the tilt angle, obtains a saturation S corresponding to the tilt direction, and obtains an HSV consisting of the hue H, the saturation S, and the brightness V set in advance. calculating an RGB value by converting the value, and assigning the RGB value to the small area;
The tunnel face state display system according to claim 1, characterized in that: a rock strength evaluation point setting means for setting a rock strength evaluation point for a tunnel face based on the rock strength distribution map;
a rock weathering degree evaluation point setting means for setting a rock weathering evaluation point for a tunnel face based on the rock weathering classification map;
Spring water state evaluation point setting means for setting a spring water state evaluation point for the tunnel face based on the spring water distribution map;
a total evaluation point setting means for setting a total evaluation point of the tunnel face based on elements including the crack evaluation point, the rock strength evaluation point, the rock weathering evaluation point, and the spring water condition evaluation point. rice field,
The tunnel face state display system according to claim 1, characterized in that: A method for displaying the state of a tunnel face using the tunnel face state display system according to any one of claims 1 to 4,
acquiring the position and orientation of the image acquisition means in the tunnel by collimating the reflector with a surveying instrument installed in the tunnel;
an observation step of acquiring an image of the tunnel face by two or more image acquisition means whose positions and orientations in the tunnel are grasped;
a face model creation step of creating a three-dimensional model of the tunnel face composed of small regions obtained by dividing the tunnel face based on the image acquired in the observation step;
an image creating step of creating a normal image of the tunnel face by the normal image creating means;
The three-dimensional model created in the face model creation step is given three-dimensional coordinates in the tunnel,
In the image creation step, the color information is set according to the inclination angle and the inclination direction of the surface inclination angle.
A tunnel face state display method characterized by: In the observation step, the image of the tunnel face is captured by the image acquiring means in a state in which the permanent lighting installed near the tunnel face is turned off and the tunnel face is illuminated by the lighting device mounted on the mobile measuring object. to get the
6. The tunnel face state display method according to claim 5, wherein:

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