KR20080078167A - Detection apparatus and method for the installations in the tunnel from the laser scanning data, and tunnel management system and method using its - Google Patents

Abstract

A detection apparatus and method for installations in a tunnel using laser scanning data, and a tunnel management system and a method thereby are provided to perform maintenance by obtaining 3D position data using a scanner. A detection apparatus(20) for installations in a tunnel using laser scanning data includes a first divider(21), a second divider(22), and a third divider(23). The first divider divides concrete lining and the installations in scanning data in a profile photographed in a profile type by a laser scanner according to distribution of reflection intensity. The second divider separates and removes the installations using optical properties of the reflection intensity and geometrical properties of positions of installations. The third divider separates remnant installations and/or damaged portion.

Description

Facilities apparatus and method for the installations in the tunnel from the laser scanning data, and tunnel management system and method using its}

1A and 1B are explanatory diagrams showing a tunnel scanner and an image scanner measurement result using an imaging apparatus;

2 is a configuration diagram of an embodiment of a facility detecting apparatus and a tunnel management system using the same according to the present invention;

3 is a flow chart of an embodiment of a facility detection method and a tunnel management method using the same according to the present invention;

4a and 4b are explanatory views showing the tunnel ceiling and the side;

5 is an exemplary explanatory diagram showing a tunnel scanning result using a laser scanner;

FIG. 6 is an exemplary explanatory diagram showing reflection strength characteristics of a tunnel facility and linings used in the present invention; FIG.

FIG. 7A is an exemplary explanatory diagram showing a tunnel lining section showing a high correlation between X-axis and Y-axis coordinates used in the present invention; FIG.

FIG. 7B is an exemplary explanatory diagram showing a section in which a facility having a low correlation between the X-axis and the Y-axis coordinates used in the present invention exists; FIG.

8A and 8B are diagrams illustrating an example of a section including a facility used in the present invention, an X-axis coordinate, and a reflection intensity graph;

9 is an exemplary explanatory diagram showing a process of separating facilities utilizing reflection strength and geometric characteristics used in the present invention;

10 is an exemplary explanatory diagram showing a normal distance measuring process for separating facilities used in the present invention;

11 is an exemplary explanatory view showing a result of the separation of the concrete lining and facilities in the tunnel according to the present invention.

* Explanation of symbols on the main parts of the drawing

10: 3D laser scanner 20: facility detection unit

21 ~ 23: Separation part 30: Maintenance part

The present invention relates to an apparatus for detecting facilities using laser scanning data, a method thereof, a tunnel management system using the same, and a method thereof. More specifically, after scanning a inside of a tunnel using a three-dimensional laser scanner, Facility detecting device that can separate concrete lining part in tunnel and facilities attached to tunnel (train line, rail, pipeline, etc.) and determine the status change and maintenance of facilities in tunnel using this separated data And a method, a tunnel management system using the same, and a method thereof.

Maintenance for the safety of the facility is a costly operation, depending on time and personnel. Currently, over time, a lot of manpower and expense are consumed to detect physical changes such as damage to the appearance of surrounding facilities in advance and to preserve and supplement the condition. In particular, a lot of time and expense are required to manage facilities such as tunnels, which are made by visual inspection by human resources, and there are many difficulties in storing or storing data.

In order to supplement this inefficient management method, efforts to maintain and maintain facilities in a more efficient and objective way by adopting and utilizing a rapidly developing technology in recent years. Thanks to the development of science and technology, methods for measuring facilities are diversifying.

As an example of scientific and technological methods used in facility maintenance, there is a method of using an optical image that requires an expensive high-performance camera (an example of the prior art for tunnel scanning, a method using an image).

According to the prior art, the tunnel scanner and the image scanner measurement results using the imaging equipment is shown in Figures 1a and 1b.

In the conventional tunnel scanning method by image capturing, the tunnel lining wall surface is photographed by a line camera or a video camera at a constant speed by installing a lighting apparatus suitable for the size and shape of the tunnel as shown in FIG. 1A.

However, in the case of a tunnel scanner using an image, a preliminary work (see FIG. 1A) such as installation of lighting is required, and the photographing result of the image scanner is represented as a two-dimensional image (see FIG. Although it may be highly useful for the detection and detection of tunnels, there are limitations in the maintenance of facilities in tunnels and tracking changes in tunnels.

On the other hand, as another example of the scientific and technological method utilized in facility maintenance, the laser scanning method is introduced by methods other than image processing technology.

Recently, laser scanning has been introduced as a method other than an image processing technology.

The laser scanner is an active system that does not require light when photographing, and is a technology capable of acquiring high-density spatial information, and can be effectively used in a space such as a tunnel where sunlight does not reach. In addition, since the laser scanning method has an advantage of high accuracy of distance measurement, it is used for measurement purposes. In addition to these advantages, the laser system is of great value by supplying optical information of reflection intensity in addition to high-precision three-dimensional position information.

Recently, laser scanning technology is an emerging technology in the field of metrology, and its area is gradually expanding, and research on its application is being conducted in various fields.

Therefore, in the current technical field, a method for managing tunnels objectively and efficiently based on data of tunnels photographed by a laser scanner is urgently needed.

The present invention has been proposed to solve the above problems, especially after scanning the inside of the tunnel using a three-dimensional laser scanner, and the equipment (attach line, rail, pipe attached to the concrete lining in the tunnel from the scanning data) To provide a facility detecting apparatus and method thereof, and a tunnel management system and method using the same, which can separate the lines and the like and use the separated data to determine whether the condition of the facility in the tunnel is changed or not. There is this.

Other objects and advantages of the present invention can be understood by the following description, and will be more clearly understood by the embodiments of the present invention. Also, it will be readily appreciated that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

The present invention for achieving the above object, in the facility detection device, the scanning data previously photographed in a profile (profile) by the laser scanner according to the distribution characteristics of the reflection intensity, to the lining portion and the facility portion in each profile First separating means for separating; Second separation means for separating and removing the facility from the scanning data in which the facility separated by the first separation means exists, by using the optical characteristics of the reflection intensity and the geometric characteristics according to the location of the facility; And a third separating means for separating the facility and / or the damaged area remaining on the basis of the scanning lining data entire profile in which the facilities are separated by the second separating means. Characterized in that the made up.

In addition, the present invention provides a method for detecting a facility, comprising: a first method of separating scanning data photographed in a profile manner by a laser scanner into a lining part and a facility part in each profile according to a distribution characteristic of reflection intensity; Separation step; A second separation step of separating and removing the facility from the scanning data in which the facility separated by the first separation step exists, by using the optical characteristics of the reflection intensity and the geometric characteristics according to the location of the facility; And a third separation step of forming a surface on which the entire scanning lining data of the facilities separated by the second separation step is used as a basis for each segment, and separating the remaining facilities and / or damaged parts based on the surface. Characterized in that made.

On the other hand, the present invention, in the tunnel management system for determining whether the status change and maintenance of the facilities in the tunnel by using the data of the lining portion and the facility and / or damaged portion of the tunnel separated by the facility detection device, laser The result of separation of facilities and / or damaged areas was detected by detecting the facilities and / or damaged areas on the linings in the tunnel based on the analysis of the structural and optical characteristics of the data using the data of the tunnels photographed using the scanner. It is characterized by showing.

In the tunnel management method, the tunnel scanning data previously photographed by a laser scanner in a profile manner is first divided into lining parts and facility parts in each profile according to the distribution characteristics of the reflection intensity. step; A second separation step of separating and removing the facilities of the tunnel from the tunnel scanning data in which the facilities separated by the first separation step exist, by using the optical characteristics of the reflection intensity and the geometric characteristics according to the location of the facilities; A third separation step of forming a surface on which the entire profile of tunnel scanning lining data is segmented by the second separation step, and separating facilities and / or damages remaining on the surface; And a tunnel management step of determining whether the lining portion of the tunnel and the facility and / or the damaged portion are separated from each other and change the status of the facility in the tunnel and whether or not to maintain the tunnel.

The present invention separates the lining of the tunnel and the facilities attached to the tunnel from the scanning data by using the data obtained through the 3D laser scanner, and analyzes the separated data to determine the location and extent of the tunnel damage and cracks. This will be visualized and utilized for efficient maintenance of tunnels using laser data.

When scanning inside the tunnel using a laser scanner, the concrete lining in the tunnel and the facilities attached to the tunnel (such as tram lines, rails and pipelines) are measured together. Accordingly, the present invention attempts to separate the tunnel lining portion and the tunnel facility from the measured 3D laser scanning data by applying the detection algorithm of the lining part and the tunnel facility (that is, by using the geometric and optical characteristics of the scanning data of the tunnel). After the installations inside the tunnel have been removed, physical damage or cracks on the linings of the tunnel are detected. At this time, the physical damage is detected based on proximity based on the surface of the tunnel lining.

Therefore, the present invention can be said to be a basic step to enable tunnel maintenance, which is currently subjectively and empirically performed, to be performed through a more effective and objective method.

The above objects, features and advantages will become more apparent from the following detailed description taken in conjunction with the accompanying drawings, whereby those skilled in the art may easily implement the technical idea of the present invention. There will be. In addition, in describing the present invention, when it is determined that the detailed description of the known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a configuration diagram of an embodiment of a facility detecting apparatus and a tunnel management system using the same according to the present invention. Hereinafter, FIG. 3 will be described together for convenience of description.

When using the 3D laser scanner 10, the concrete lining in the tunnel and the facilities (attachments) installed in the tunnel are simultaneously scanned. Therefore, for monitoring the installation (attachment) and the lining, separation of the two individuals is required.

Therefore, the facility detecting unit (a facility detecting device) 20 according to the present invention separates the attachments and facilities installed in the tunnel from the tunnel lining from the data scanned inside the tunnel through the laser scanner 10.

For example, scanning the inside of the tunnel (eg, the ceiling and the side) of FIGS. 4A and 4B with the three-dimensional laser scanner 10 results in the form as shown in FIG. 5 (tunnel scanning result using a laser scanner). Therefore, the facility detecting unit 20 finds a damaged part by using the geometrical and optical characteristics of the laser scanning data photographed inside the tunnel in a profile manner. In this case, the tunnel laser scanning data used is a value photographed using the laser scanner 10 and refers to high-precision point data stored in an ASCII file.

Here, the 'laser scanner 10' used is an active system that does not require illumination at the time of shooting, and provides a great value in the management of facilities such as tunnels by providing optical information together with accurate geometric position information. This is a combination of 'Laser Range Finder', a time-of-flight type distance meter, and a 'Liner scanner' with a rotating mirror, which records data in a profile manner while the mirror rotates inside the tunnel. That is, the scanned tunnel data is photographed while the rotating mirror inside the scanner rotates in a profile manner according to the moving direction of the scanner 10. The time-of-flight method is one of laser distance measuring methods that measures distance by the relationship between the speed of light and time, and records the three-dimensional coordinates of the point where the laser beam is reflected and the reflection intensity of that point. do.

Time-of-flight laser scanning data consists of point data and is often referred to as the term 'point clouds' because a significant number of data is stored.

The laser scanning data of the tunnel is preprocessed and consists of four data of X, Y, Z and reflection intensity in the form of ASCII file. At this time, the X axis of each point data is the width direction (horizontal direction) of the tunnel, the Y axis is the height direction (vertical direction) of the tunnel, and the Z axis is the moving direction of the scanner 10 and corresponds to the axial direction of the tunnel. The time-of-flight laser scanning data records the coordinates representing the spatial position, and the intensity of the optical information is recorded.

The reflection intensity is most affected by the reflectance of the object surface at the point where the laser signal is reflected. The distribution characteristics of the reflection intensity for the laser scanning data of the tunnel (see Fig. 6) are Binomial Distribution, which is based on the branching point between the reflection intensities of 70 to 80 (average of the total reflection intensity is 86.636). It can be seen that a lot of data are distributed on the lower side based on the part showing the high reflection intensity up to and the branching point. The separation of the histogram into these two parts is caused by the tunnel lining part (showing high reflection strength) made of concrete and the facilities mounted inside the tunnel (showing low reflection strength).

That is, the reflection intensity of the laser scanning data in the tunnel has the characteristics as shown in FIG. 6. For example, the facilities in the tunnel are made of iron and plastics, and thus exhibit reflective strength characteristics different from those of linings made of concrete.

For example, 80 cm of the scanned tunnel data is photographed while the rotating mirror inside the scanner 10 rotates in a profile manner according to the moving direction of the scanner 10. In this case, the tunnel length of 80 cm is composed of a plurality of tunnel-shaped (spiral) profiles, for example, the scanner 10 photographing the tunnel proceeds about 8mm to form a profile, each profile data scanned tunnel Is made in a spiral.

Therefore, in the first separation unit 21 of the facility detection unit (facilities detection device) 20, the distribution characteristics of the reflection intensity of the scanning data photographed by the laser scanner 10 in a profile manner (see FIG. 6). According to the first separation between the lining portion and the facility portion within each profile (301,302).

Thereafter, the second separator 22 separates and removes the facility from the scanning data in which the facility exists by using the optical characteristics of the reflection intensity and the geometric characteristics according to the location of the facility (303).

That is, in the second separator 22, the shape of the tunnel and the reflection strength characteristic may be simultaneously used. When 50cm in the height direction of the tunnel is divided into one segment, data of X (tunnel width direction) and Y (tunnel height direction) in the section where the facility is not located has a high correlation as shown in FIG. 7A. On the contrary, if there is a facility, it shows low correlation as shown in FIG.

Therefore, the segment having low correlation may be understood as the part where the facility is located, and in this case, the reflection intensity and the geometric characteristics may be applied as shown in FIG. 9.

If there is a facility, the average value of X and reflection intensity for the facility and concrete lining is calculated in the corresponding segment, and the X-axis data and the location of the reflection strength of each point are calculated based on these two points as shown in FIG. Can be grouped into lining parts.

That is, the process of separating the facility 303 in the second separation unit 22 will be described in more detail as follows.

In order to detect physical damage on the lining based on the characteristics of the tunnel scanning data, the facilities of the tunnel mounted inside the tunnel are separated and removed. This process does not process all the data of the entire tunnel, but rather improves the data processing efficiency by processing by section. Therefore, the length of the dividing section for facility detection is set to, for example, 50 cm in the vertical (Y-axis) direction of the tunnel, and the facility exists using the correlation between the X- and Y-axis coordinates existing in this section. Determine the section.

In general, the correlation coefficient is calculated from -1 to 1 according to the linear relationship of the data, and in the case where there is only a tunnel lining without facilities, the correlation coefficient of the coordinates of the X-axis and the Y-axis as shown in FIG. Is significantly higher, while the site containing the facility has a lower correlation coefficient as shown in FIG. 7B.

That is, FIG. 7A is a lining section of a tunnel in which no facility exists and shows high correlation since the Y-axis coordinates increase while the X-axis coordinates decrease. In addition, Figure 7b shows a low correlation coefficient calculated in the section of the tunnel where the facility is present.

Therefore, after calculating the correlation coefficient for each section, a section having a low correlation coefficient is divided into sections in which facilities exist, and other sections are determined to be no facilities, and are excluded from the process of detecting and separating facilities.

After separating the sections with facilities by using the correlation coefficient, it is possible to improve the separation accuracy by using the tunnel lining and the characteristics that can sort out the data of the facilities in order to separate the facilities accurately.

8a and 8b show the characteristics according to the reflection intensity and the location of the facility in the section where the facility is present. FIG. 8A is a place where a facility is located based on a correlation between X and Y, and when the reflection intensity of the data included in this section and the graph of the X-axis coordinates (see FIG. 8B) can be clearly distinguished in distance. Can be seen. This is due to the apparent difference in reflection strength between the facility and the tunnel lining and the geometrical characteristics of the X-axis coordinates where the facility is mounted inside the tunnel. Therefore, the optical characteristics of the reflection intensity and the geometric characteristics according to the location of the facilities can be used to distinguish the facilities from the tunnel lining data.

The method used to separate the facilities is to calculate the distance between each data and the data representing the facility and the tunnel lining using the reflection intensity and the X-axis coordinates. Using the calculated distance, as shown in Equation 1 below, each data is classified into a facility and a tunnel lining group.

FIG. 9 shows laser scanning data of one section and representative values of reflection intensity and X-axis coordinates of the facility and tunnel lining used in the section. That is, one data is calculated as two distances from a tunnel lining to a representative value of a facility in one section, and a group of i-th data is determined as a group of close distances.

Comparing the two distances calculated in FIG. 9, since d ₁ > d ₂ , the point P is closer to the facility group than the tunnel lining group, so the point P is determined toward the facility.

As described above, after separating and removing the facility from the scanning data in which the facility exists by using the optical characteristics of the reflection intensity and the geometric characteristics according to the location of the facility, the third separation unit 23 physically damages the tunnel lining. The lining is considered as a plane for detection and the geometric change generated at the plane surface is detected (304). Therefore, if the process of facility detection and separation has been processed for each section within one profile, the detection of physical damage site will process the sections of all profiles in units of planes. At this time, when the treatment section is determined as, for example, 50 cm in the vertical direction (Y-axis direction) of the tunnel such as facility detection, the size of one section for detecting the damaged area is 80 × 50 cm. The shape of the entire tunnel is gentle, but when divided into 50cm sections, each section can be considered as one plane. Therefore, this section can be expressed by the equation of one plane. The plane uses the X, Y, and Z-axis coordinates of each data to determine the coefficients that form a plane, as shown in Equation 2 below.

The distance from each of the data may be calculated based on the plane established by Equation 2 above. In the case where the physically damaged part, that is, the concrete of the lining of the tunnel is dropped by an impact or a crack occurs, the distance from the laser data to the surface of the tunnel lining becomes large. Distance calculation is calculated as shown in [Equation 3] to maintain the orientation.

The distance calculated by Equation 3 is categorized into the lining part of the tunnel and the facility or damage part by this threshold as described in Equation 4 below. When the distance calculated in Equation 3 is smaller than the threshold value, the data is classified as tunnel lining, and when the distance is larger than the threshold value, the data is classified as data corresponding to the facility or the damaged part.

Thus, since each segment shown in FIG. 9 has three-dimensional data, it has the form of one plane. Therefore, a plane fitting is performed from the three-dimensional data to consider the point of the facility having a distance in the normal direction (see [Equation 3] above) of 20 mm or more in the plane (see FIG. 10).

Based on the above method, the result of extracting the tunnel facility from the 3D scanning data as shown in FIG. 5 is shown in FIG. 11.

As such, the process of separating the facility 303 may be a process of removing an outlier for introducing an approach of deriving an equation of a plane when detecting damage in the tunnel lining. When using the acquired data to derive the equations of lines or planes, it is expected to remove the outliers as much as possible. Therefore, the separation of facility data from the tunnel lining must be preceded to derive the plane equation for damage detection. In the present invention, the distance calculated by using the horizontal direction (X-axis) position information of the tunnel and the reflection intensity to clearly distinguish the tunnel lining and the data of the facility to separate the facility.

On the other hand, the detection process 304 of the physical damage site proceeds after removing most of the facilities from the data of the laser-scanned tunnel. After most of the facilities are removed, the entire data corresponding to 80cm length is divided into 50cm sections in the vertical direction. At this time, the threshold required for detecting the physical damage is determined by calculating the vertical distance between the plane formed by the tunnel lining and the data, and is set based on the distribution of the distance calculated in one section. In the distribution of distances, the vertical distance from the plane has an average of 0, and the distribution is almost symmetrical starting from the average. Based on the lining of the tunnel, the facility appears inside the tunnel and the damaged part appears outside the tunnel, so the facility and the damaged part can be separated by considering the direction of the vertical distance. Looking at the distribution of the calculated distance, it can be seen that most of the data are located between -30 and 30mm from the derived plane in the section where no facility exists. Therefore, it is possible to set a threshold for determining facilities and damages based on the distribution of distances.

As a result of detecting the threshold value by setting various values, the smaller the threshold value is, the larger the number of data classified as damaged parts and facilities, so a considerable number of data corresponding to tunnel lining can be separated into facilities. . Therefore, in the present invention, more preferably, the threshold value of the facility and the damaged part is different, and the facility is determined from the data about 20 mm apart from the facility, and the damaged part is determined from the data about 30 mm away from the plane.

Through the process 304 of detecting the physical damage site, the laser scanning data of the tunnel is separated into data of only the tunnel lining in which the facility is completely separated and data considered as physical damage.

Damages on the linings of the detected tunnels may be visualized in a two-dimensional representation (305). By way of example, the entire two-dimensional tunnel displayed using the reflection intensity of the scanning data of the tunnel shows the damage on the tunnel lining detected thereon.

As described above, the method of the present invention may be implemented as a program and stored in a recording medium (CD-ROM, RAM, ROM, floppy disk, hard disk, magneto-optical disk, etc.) in a computer-readable form. Since this process can be easily implemented by those skilled in the art will not be described in more detail.

The present invention described above is capable of various substitutions, modifications, and changes without departing from the technical spirit of the present invention for those skilled in the art to which the present invention pertains. It is not limited by the drawings.

As described above, the present invention can extend the utilization of the three-dimensional laser scanner, and there is an advantage that can be applied to maintenance of various facilities. In particular, when the laser scanner is used, three-dimensional positional information can be obtained. Therefore, the method of digitalization and virtual engineering is much easier than conventional methods.

For example, in the case of tunnel facilities, various types of facilities can be pre-installed and constructed virtually for the maintenance of the facilities, and an immediate inspection can be performed when there are doubts about the construction limits due to the installation of the facilities and additional supporting materials in the tunnel. There is a possible effect.

Claims (14)

In the facility detection device, First separating means for separating the scanning data photographed in a profile manner by the laser scanner into the lining part and the facility part in each profile according to the distribution characteristic of the reflection intensity; Second separation means for separating and removing the facility from the scanning data in which the facility separated by the first separation means exists, by using the optical characteristics of the reflection intensity and the geometric characteristics according to the location of the facility; And A third separating means for separating the facility and / or the damaged part remaining on the basis of this surface by forming a surface serving as a basis for the entire profile of the scanning lining data from which the facilities are separated by the second separating means Facility detection device using a laser scanning data comprising a. The method of claim 1, The laser scanner, A time-of-flight laser scanner that measures distance through the relationship between the speed of light and time, characterized by recording the three-dimensional coordinates of the point where the laser beam is reflected and returning the intensity of reflection Facility detection device using laser scanning data. The method according to claim 1 or 2, The facility detection device, An apparatus for detecting facilities using laser scanning data, which is used to determine a change in state and maintenance in a tunnel. The method of claim 3, wherein The scanning data, The coordinate values (X, Y, Z) of the width (horizontal direction) X of the tunnel representing the spatial position, the height (vertical direction) Y of the tunnel, and the axis (direction of scanner movement) Z of the tunnel and The apparatus for detecting facilities using laser scanning data, comprising: intensity information which is optical information. The method of claim 4, wherein The second separating means, Determine the section in which the facility exists using the correlation between the width direction (X axis) and the height direction (Y axis) of the tunnel, calculate the correlation coefficient for each section, and then select the section with the low coefficient as the section where the facility exists. And the other sections are excluded from the process of detecting and separating facilities by determining that there are no facilities. The method of claim 5, wherein The second separating means, For the section where the facility is located, the tunnel lining and the facility are separated based on the distance calculated using the horizontal direction (X-axis) position information of the tunnel and the reflection intensity that can clearly distinguish the data between the tunnel lining and the facility. Facility detection device using laser scanning data. The method of claim 6, The third separating means, An apparatus for detecting facilities using laser scanning data, which detects facilities or physical damages or cracks that appear on the lining of a tunnel based on the proximity of the tunnel lining. The method of claim 7, wherein The facility detecting apparatus using the laser scanning data, characterized in that through the third separation means, the facility is separated into completely separate lining data and data considered as the facility or physical damage. In the facility detection method, A first separation step of separating the scanning data photographed in a profile manner by the laser scanner into the lining portion and the facility portion in each profile according to the distribution characteristic of the reflection intensity; A second separation step of separating and removing the facility from the scanning data in which the facility separated by the first separation step exists, by using the optical characteristics of the reflection intensity and the geometric characteristics according to the location of the facility; And The third separation step of separating the entire surface of the scanning lining data from which the facilities are separated by the second separation step as a reference for each segment, and separating the remaining facilities and / or damaged areas based on this surface Facility detection method using a laser scanning data comprising a. The method of claim 9, The scanning data, The coordinate values (X, Y, Z) of the width (horizontal direction) X of the tunnel representing the spatial position, the height (vertical direction) Y of the tunnel, and the axis (direction of scanner movement) Z of the tunnel and Method for detecting a facility using laser scanning data, characterized in that it comprises optical information, intensity information (intensity). The method of claim 10, In the second separation step, The correlation between the width direction (X axis) and the height direction (Y axis) of the tunnel is used to determine the section in which the facility exists, and the reflection intensity to clearly distinguish the tunnel lining and the facility data for the section where the facility is located. And the tunnel lining and the facility are separated on the basis of the distance calculated using the horizontal direction (X-axis) position information of the tunnel. The method of claim 11, In the third separation step, Detects facilities or physical damages or cracks that appear on the tunnel linings based on proximity to the linings of the tunnel, but is considered to be the data and facilities or physical damages of the linings in which the facilities are completely separated. Facility detection method using laser scanning data, characterized in that separated into data. In the tunnel management system for determining the change in status and maintenance of the facilities in the tunnel by using the data of the lining portion of the tunnel and the facility and / or damaged portion separated by the facility detection device of claim 3, The result of separation of facilities and damage areas detected by detecting the facilities and / or damages on the linings in the tunnel based on the analysis of the structural and optical characteristics of the data using the data of the tunnels taken with the laser scanner. Tunnel management system, characterized in that showing. In the tunnel management method, A first separation step of tunneling data pre-photographed by a laser scanner in a profile manner into lining portions and facility portions in each profile according to distribution characteristics of reflection intensity; A second separation step of separating and removing the facilities of the tunnel from the tunnel scanning data in which the facilities separated by the first separation step exist, by using the optical characteristics of the reflection intensity and the geometric characteristics according to the location of the facilities; A third separation step of forming a surface on which the entire profile of tunnel scanning lining data is segmented by the second separation step, and separating facilities and / or damages remaining on the surface; And Tunnel management step to determine the status change and maintenance of the facilities in the tunnel by using data that separates the lining part of the tunnel and the facility and / or damaged part Tunnel management method comprising a.

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