Tunnel measuring device and trimming method

Abstract

To solve the problems of the prior art, that is, to provide a tunnel measuring device capable of grasping a position of contact in the longitudinal direction of a tunnel, and a method of trimming using the same.SOLUTION: A tunnel measuring device of the present invention is a device for measuring an "excavation surface" and comprises a mobile body, natural ground measurement means, measurement targets, position measurement means, representative coordinate calculation means, and contact detection means. The representative coordinate calculation means converts the measurement points acquired by the natural ground measurement means into three-dimensional coordinates in the master coordinate system. The representative coordinate calculation means obtains representative coordinates for a divided area by statistically processing the three-dimensional coordinates in the master coordinate system of multiple measurement points included in the divided area.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to technology related to "crawling" in tunnel excavation, and more specifically to a tunnel measurement device that can detect "hits" on the peripheral portion of the exposed ground after excavation, and a method of crawling using the same. [Background technology]

[0002] Approximately two-thirds of Japan's land area is mountainous, and as a result, many sections of roads and railways (hereinafter referred to as "roads, etc.") pass through mountainous areas. When it is necessary to remove part of the natural ground when constructing roads, etc. in mountainous areas, it is common to use a cut-and-soil method, in which the natural ground is excavated, or a tunneling method, in which the interior of the natural ground is hollowed out. While tunneling methods tend to have higher construction costs (construction costs per length of road, etc.) than cut-and-soil methods, they also tend to require less excavated soil (i.e., less soil removal) than cut-and-soil methods, and offer advantages such as a high degree of freedom in the linear planning of roads, etc. (for example, the ability to take shortcuts), and more than 10,000 tunnels have been constructed in Japan to date.

[0003] Until the 1970s, the "sheet pile method," which combined steel arch supports with wooden sheet piles to support the natural ground, was the mainstream construction method for mountain tunnels, but now the New Austrian Tunnelling Method (NATM), which actively utilizes the strength of the natural ground, has become the mainstream. NATM's main feature is its design philosophy, which relies on the strength of the natural ground (arch effect), and as such, it is possible to reduce the scale of tunnel supports compared to the conventional sheet pile method, and in addition, construction costs can be reduced due to the increased construction speed.

[0004] Here is a brief explanation of the NATM excavation procedure. First, the tunnel face is excavated using either blasting or mechanical excavation. In the case of blasting, a drill jumbo is used to drill the hole and load explosives (water-containing explosives). After the workers and the drill jumbo evacuate, blasting is carried out. In contrast, in mechanical excavation, the tunnel face is cut using a free-profile excavation machine. The excavation length (one span) per cycle varies depending on the support pattern set according to the strength of the ground, but excavation is generally performed for a span length of 1.0 to 2.0 m. After one span is excavated, unstable ground (loose rocks, etc.) is removed and the debris is removed (shredded) using a dump truck (or rail method). After the shearing, plasterwork or primary concrete spraying is performed, and steel supports are erected as needed (depending on the support pattern), secondary concrete spraying is performed, and then rock bolts are installed. The primary concrete spraying work, secondary concrete spraying work, and rock bolting work are carried out for the excavated span length, i.e., the circumferential surface of the tunnel in the unexcavated section (the circumferential surface from the side wall to the top).

[0005] In this way, NATM is a construction method that excavates one span (1.0 to 2.0 m) at a time by repeating a series of processes (hereinafter referred to as the "excavation cycle"), such as excavation (for example, drilling holes at the tunnel face and blasting), removal of debris, erection of steel supports, spraying concrete, and driving rock bolts. Since shortening the time required for the excavation cycle (hereinafter referred to as the "cycle time") directly leads to reductions in the overall construction period and construction costs for the tunnel, work at the construction site is focused on shortening this cycle time.

[0006] Once a certain excavation depth has been achieved, lining concrete is constructed on the hollow side of the sprayed concrete. The space created by the lining concrete is the cross section used as the tunnel, or the finished cross section, so to speak. The upper half of the tunnel cross section is often circular (semicircular), so the radius of the finished cross section (the inner surface of the lining concrete) is sometimes called the "design hollow radius," the radius obtained by adding the thickness of the lining concrete and shotcrete to the design hollow radius is sometimes called the "design excavation radius," and the radius obtained by adding the thickness of the over-excavation to the design excavation radius is sometimes called the "payment excavation radius."

[0007] Because support materials such as sprayed concrete and steel shoring will be installed on the natural ground side of the lining concrete, tunnel excavation must create a cross section that ensures at least the design excavation radius (hereinafter referred to as the "design cross section"). However, tunnel cross sections excavated by blasting or mechanical excavation may not reach the design excavation radius in some areas, meaning that so-called "marks" protruding into the design cross section may remain. In order to ensure the design cross section, it is of course necessary to remove the mark, and the process of chipping (removing) the mark using a breaker or similar tool is called "kosoku."

[0008] As mentioned above, reliable drilling is necessary to ensure the designed cross section, and accurate drilling is required to achieve this. Traditionally, drilling was performed by construction managers or workers (such as miners) visually inspecting the tunnel face. The operator, informed of the results of the inspection, would then use a breaker or other tool to remove the drilling. Therefore, the accuracy of drilling depends on the skill and experience of the worker conducting the visual inspection. Given the recent labor shortage in the construction industry, it has become difficult to secure workers capable of highly accurate drilling. However, leaving drilling to inexperienced workers can lead to drilling errors, potentially resulting in significant rework.

[0009] Therefore, technologies have been proposed to objectively detect impact without relying on workers. For example, Patent Document 1 proposes a technology to detect impact by measuring the face after excavation and comparing the measured cross section with the design cross section. [Prior art documents] [Patent documents]

[0010] [Patent Document 1] Japanese Patent Publication No. 2020-26697 Summary of the Invention [Problem to be solved by the invention]

[0011] The invention disclosed in Patent Document 1 uses an optical distance sensor to measure the mirror-like surface of the tunnel face. It detects the impact by comparing the point where the light emitted by the optical distance sensor is reflected by the tunnel face (measurement point) with the design cross section. However, the actual target of the excavation is the unexcavated section excavated by tunnel excavation, which is essentially a band of natural ground that appears on the inner periphery of the tunnel. In other words, the area where the impact should be detected should be this band of natural ground, not the tunnel face. However, prior art, including Patent Document 1, only measures the mirror-like surface of the tunnel face and does not directly measure the band of natural ground. When measuring the tunnel face, the impact is displayed on a planar view of the tunnel face from the front. While the impact position on the tunnel cross section can be determined, the position in the longitudinal direction (depth direction) of the tunnel cannot be determined. As a result, pinpoint excavation is not possible, so to speak, and the excavation must be performed over a relatively wide area, which makes it difficult to shorten the excavation work time and thus prevents the cycle time from being reduced.

[0012] The object of the present invention is to solve the problems of the prior art, that is, to provide a tunnel measurement device that can grasp the position of the hit in the longitudinal direction of the tunnel, and a method of scanning using the same. [Means for solving the problem]

[0013] The present invention is based on an unprecedented concept of measuring the band-like natural ground portion (hereinafter referred to as the "excavation surface") that appears due to tunnel excavation, determining the coordinates of representative measurement points (hereinafter referred to as "representative coordinates") for each area into which this excavation surface is divided, and comparing these representative coordinates with the design cross section.

[0014] The tunnel measurement device of the present invention measures the "excavation periphery" and includes a mobile body, natural ground measurement means, measurement targets, position measurement means, representative coordinate calculation means, and impact detection means. The natural ground measurement means and measurement targets are attached to the mobile body, and the position measurement means is installed inside the tunnel. The representative coordinate calculation means calculates representative coordinates for each of multiple divided areas set on the excavation periphery. The impact detection means compares the "planned periphery" with the representative coordinates and, when the representative coordinates are located closer to the interior of the tunnel than the planned periphery, detects the divided area corresponding to the representative coordinates as a "impact area." The planned periphery is a peripheral portion of the natural ground after planned excavation and is set in a three-dimensional primary coordinate system. The natural ground measurement means measures the excavation periphery to obtain multiple measurement points with three-dimensional coordinates in a secondary coordinate system. The position measurement means collimates the measurement targets to determine the positions of the measurement targets as three-dimensional coordinates in the primary coordinate system. The representative coordinate calculation means calculates the position of the natural ground measurement means as three-dimensional coordinates in the master coordinate system based on the positions of the measurement targets obtained by the position measurement means, and converts the measurement points into three-dimensional coordinates in the master coordinate system. The representative coordinate calculation means calculates the representative coordinates for the divided area by statistically processing the three-dimensional coordinates in the master coordinate system of the multiple measurement points included in the divided area.

[0015] The tunnel measurement device of the present invention may also use a laser surveying instrument as the natural ground measurement means. This laser surveying instrument acquires measurement points on the excavation surface by laser measurement.

[0016] The tunnel measurement device of the present invention may further include two or more illumination means. These illumination means are attached to the mobile body and positioned to indicate the range in which measurement points can be acquired by the natural ground measurement means.

[0017] The tunnel measurement device of the present invention may further include a first case and a second case. The first case is attached to the movable body so as to surround the natural ground measurement means, and the second case is attached to the movable body so as to surround the measurement target. The first case has a first opening / closing means that is remotely controlled to open and close, and the second case has a second opening / closing means that is remotely controlled to open and close. When the first opening / closing means is in an open state, measurement by the natural ground measurement means becomes possible, and when the first opening / closing means is in a closed state, the natural ground measurement means is covered by the first case. When the second opening / closing means is in an open state, collimation of the measurement target by the position measurement means becomes possible, and when the second opening / closing means is in a closed state, the measurement target is covered by the second case.

[0018] The tunnel measurement device of the present invention can also be configured to use a breaker as the moving body. In this case, the divided regions are set to have dimensions equivalent to those of the breaker alone.

[0019] The tunnel measurement device of the present invention may further include a collision amount calculation means for calculating the "collision amount" in the divided area detected by the collision area detection means, and calculates the shortest distance between the representative coordinates and the planned perimeter as the collision amount.

[0020] The tunnel measurement device of the present invention may further comprise an excavation surface display means for displaying the excavation surface so as to clearly indicate the divided areas detected by the impact detection means, and for displaying the position of the impact in the longitudinal direction of the tunnel so as to be able to grasp the position.

[0021] The tunnel measurement device of the present invention is a method for performing excavation on a contact area, and includes a measurement target positioning step, an excavation surface measurement step, a measurement point conversion step, a representative coordinate calculation step, and a contact area detection step. In the measurement target positioning step, the position of the measurement target is determined as a three-dimensional coordinate in a primary coordinate system by aiming a measurement target attached to a breaker with a position measurement device installed inside the tunnel. In the excavation surface measurement step, the position of the measurement target is obtained as a three-dimensional coordinate in a secondary coordinate system by measuring the excavation surface using a natural ground measurement device attached to the breaker. In the measurement point conversion step, the position of the natural ground measurement device is determined as a three-dimensional coordinate in the primary coordinate system based on the position of the measurement target, and the measurement points are converted to three-dimensional coordinates in the primary coordinate system. In the representative coordinate calculation step, representative coordinates are calculated for each divided area. In the contact area detection step, the planned surface and the representative coordinates are compared, and if the representative coordinates are located closer to the interior of the tunnel than the planned surface, the divided area corresponding to the representative coordinates is detected as a contact area. In the representative coordinate calculation process, the representative coordinates for the divided area are calculated by statistically processing the three-dimensional coordinates in the main coordinate system of multiple measurement points included in the divided area.Then, the detected contact points are broken by a breaker. [Effects of the Invention]

[0022] The tunnel measurement device and tunnel measurement method of the present invention have the following effects. (1) It is possible to grasp the position of the hits in the tunnel cross section, which allows pinpoint excavation. As a result, the excavation work time can be shortened, which means that the cycle time can be shortened. (2) The parts that need to be inspected can be objectively and automatically indicated, allowing even inexperienced operators to inspect independently. (3) Since the visual inspection of the fracturing area by the worker can be omitted, the worker can avoid approaching the face for the purpose of observation, which means that safety during the fracturing work is improved. [Brief explanation of the drawings]

[0023] [Figure 1] (a) is a perspective view showing the tunnel's "longitudinal direction," and (b) is a vertical cross-sectional view showing the tunnel's "transverse direction" and "circumferential direction." [Figure 2] 1A is a vertical cross-sectional view showing the "excavation surface" in a simplified manner, and FIG. 1B is a development view showing the divided areas set on the excavation surface in a simplified manner. [Figure 3] A model diagram showing measurement points and representative coordinates. [Figure 4] A vertical cross-sectional view showing the excavated surface and the planned surface. [Figure 5] 1 is a block diagram showing the main configuration of a tunnel measurement device according to the present invention; [Figure 6] FIG. 2 is a side view schematically showing a breaker as a moving body. [Figure 7] FIG. 1 is a perspective view showing a schematic diagram of a position measurement means installed behind the tunnel face inside the tunnel. [Figure 8] FIG. 10 is a plan view schematically showing a situation in which measurements of the excavation surface are being performed by the natural ground measurement means. [Figure 9] A photograph showing the measurement range of the ground measurement means clearly indicated by the laser light from the four points scanned by the irradiation means. [Figure 10] FIG. 2 is a perspective view schematically showing the ground measurement means, measurement target, and irradiation means on which the base plate is installed. [Figure 11] FIG. 10 is a diagram showing a display screen showing the excavation surface displayed to clearly indicate the detected hit area. [Figure 12] FIG. 2 is a flowchart showing the main processing flow of the tunnel measurement device of the present invention. [Figure 13] 1 is a flow chart showing the main steps of the method for scouring the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0024] An embodiment of the tunnel measurement device and tunneling method of the present invention will be described with reference to the drawings.

[0025] 1.Definition Before describing the embodiments of the tunnel measurement device and the tunnel measurement method of the present invention, definitions of terms used herein will be given first.

[0026] (Tunnel direction) As shown in Figure 1(a), the tunnel TN under construction is essentially cylindrical, extending from the portal to the tunnel face, and a long axis (the left-right axis in the figure) can be set for this cylindrical shape. For convenience, the direction of this long axis will be referred to as the "longitudinal direction," and the horizontal direction perpendicular to the longitudinal direction will be referred to as the "transverse direction." Furthermore, when the tunnel face of the tunnel TN is viewed from the front in the longitudinal direction, it often has a "horseshoe shape" with different radii, with the spring line SL as the boundary, as shown in Figure 1(b). Therefore, for convenience, the direction along the periphery of this horseshoe shape will be referred to as the "circumferential direction."

[0027] (Excavation surface) As mentioned above, the construction of tunnel TN involves a repeated cycle of excavation, removal of debris, erection of steel shoring, spraying of concrete, and installation of rock bolts. Therefore, immediately after excavation, there are areas where support elements such as steel shoring and shotcrete are not installed, meaning that the natural ground is exposed (hereinafter referred to as "unlined areas"). This unlined area includes not only the face (the so-called mirror surface) but also the sidewalls with a width of one travel length (the longitudinal length traveled in one cycle), as shown in Figure 2(a). For convenience, the unlined area, which is a strip of material extending circumferentially and whose width is one travel length, will be referred to as the "excavation periphery."

[0028] When the excavation surface is unfolded on a plane, a roughly rectangular shape is formed, which is the product of one travel length and the circumferential length, as shown in Figure 2(b). The present invention detects "hits" on the excavation surface after excavation. One of its technical features is that it sets multiple regions on the excavation surface and then detects these hits. For convenience, the regions set on the excavation surface—in other words, the regions that divide the excavation surface—are referred to as "divided regions MS." In the present invention, the presence or absence of a hit is determined for each divided region MS, and then a break is performed on the divided region MS that has been determined to be a hit. Since the breaker is typically used to perform the hit operation, the divided region MS should be set according to the dimensions of the breaker's "chisel." For example, if the chisel has a diameter of 20 cm, the divided region MS should be set to a dimension of 20 cm x 20 cm.

[0029] (Measurement points and representative coordinates) The present invention measures the unexcavated portion (excavation surface and mirror surface) after excavation. For example, when measuring using a laser scanner (rangefinder), a large number of lights are reflected by the excavation surface, and the three-dimensional coordinates of the reflection points are obtained. For convenience, the three-dimensional coordinate points obtained by measuring the excavation surface are referred to as "measurement points PM."

[0030] As described above, multiple divided areas MS are set on the excavation surface, and each divided area MS usually includes multiple measurement points PM, as shown in Figure 3. Therefore, in the present invention, a point representing the divided area MS is set. For convenience, the point representing the divided area MS will be referred to simply as the "representative point," and the three-dimensional coordinates of the representative point will be referred to as the "representative coordinates PR."

[0031] The representative coordinate PR can be calculated by statistically processing the three-dimensional coordinates of the measurement points PM contained in the same divided area MS. For example, if the measurement points PM are composed of (X, Y, Z), the arithmetic mean can be calculated for each of the X, Y, and Z coordinates, and the result can be used as the representative coordinate PR. Alternatively, instead of the arithmetic mean, the representative coordinate PR can be calculated using various statistical processes, such as using the median to calculate the representative coordinate PR, using the mode to calculate the representative coordinate PR, or using an average value from which noise values exceeding a threshold have been removed. Note that when only one measurement point PM is contained in the same divided area MS, the representative coordinate PR is calculated by using that measurement point PM as the representative point.

[0032] (primary and secondary coordinate systems) As will be described later, the present invention uses a coordinate system that can indicate a position inside the tunnel TN and a coordinate system based on an instrument (such as a laser scanner) that measures the unexcavated portion. For convenience, the former coordinate system will be referred to as the "primary coordinate system" and the latter coordinate system as the "secondary coordinate system."

[0033] The primary coordinate system can be the World Geodetic Coordinate System or the Japanese Geodetic Coordinate System, or any coordinate system established in the area, as long as the position inside the tunnel TN can be determined. The primary coordinate system can also be a "latitude-longitude coordinate system" based on latitude, longitude, and altitude, a "plane rectangular coordinate system" consisting of X, Y, and Z axes, or any other coordinate system with three axes. The secondary coordinate system, on the other hand, is a three-axis coordinate system based on a surveying instrument such as a laser scanner. For example, a three-axis coordinate system can be used, with the center of the surveying instrument as the origin, the longitudinal direction as the X axis, the transverse direction as the Y axis, and the vertical direction as the Z axis.

[0034] (Planning area) Naturally, the construction of Tunnel TN is designed in advance, with the aforementioned design borehole radius, design excavation radius, and payload excavation radius set. Support patterns are also planned based on the tunnel distance (distance from the tunnel portal). Because the thickness of the shotcrete and the presence or absence of structural support vary depending on the support pattern, the design excavation radius varies for each support pattern. Furthermore, as explained above, the excavation length (1.0 m, 1.2 m, 1.5 m, 2.0 m, etc.) also varies for each support pattern. Once a support pattern is planned based on the tunnel distance, specifying a location within Tunnel TN determines the excavation length and design excavation radius for that support pattern, thereby determining the strip (Figure 2) corresponding to the excavation perimeter. For convenience, this design-based strip, or the planned excavation perimeter, is referred to as the "planned perimeter." Because the planned perimeter is determined during the design phase, it is a three-dimensional model defined in the master coordinate system.

[0035] Kosaku is the process of removing any "hits" that intrude into the "design cross section (cross section where the design excavation radius is secured)." In the present invention, these hits are detected by comparing the "excavation periphery," which is the actual finished shape, with the "planned periphery" determined in the design. In detail, as shown in Figure 4, the parts of the excavation periphery that intrude into the inside of the planned periphery (the air side of the tunnel) (two places in the figure) are detected as "hits."

[0036] 2.Tunnel measurement equipment The tunnel measurement device of the present invention will be described in detail with reference to the drawings. The chipping method of the present invention is a method of chipping using the tunnel measurement device of the present invention. Therefore, the tunnel measurement device of the present invention will be described first, and then the chipping method of the present invention will be described.

[0037] 5 is a block diagram showing the main components of the tunnel measurement device 100 of the present invention. As shown in this figure, the tunnel measurement device 100 of the present invention comprises a moving body 101, natural ground measurement means 102, measurement target 103, position measurement means 104, representative coordinate calculation means 105, and impact detection means 106, and can also comprise irradiation means 107, impact amount calculation means 108, excavation surface display means 109, planned surface storage means 112, opening and closing means (described later), etc.

[0038] Among the main components of the tunnel measurement device 100, the representative coordinate calculation means 105, the impact detection means 106, and the impact amount calculation means 108 can be manufactured as dedicated units or can be made from general-purpose computers. This computer includes a processor such as a CPU, memory such as ROM and RAM, input means such as a mouse and keyboard, and a display. It can be configured as a personal computer, server, tablet PC such as an iPad (registered trademark), or mobile device such as a smartphone. In other words, the processing of these various means is performed by having the computer execute calculations using a predetermined program. The excavation surface display means 109 and the planned surface storage means 112 can also be prepared as dedicated units or can be included in the computer (display and storage device). When a tablet PC or the like is used, the breaker operator can carry the tablet PC. When a server or the like is used, the server can be installed in an administrative building or other location away from the tunnel TN, and the breaker operator can carry the excavation surface display means 109 that can communicate with the server.

[0039] Below, each of the main elements that make up the tunnel measurement device 100 of the present invention will be explained.

[0040] (Mobile) The mobile body 101 is capable of moving within the tunnel TN, and can be, for example, a construction machine or a regular automobile. As shown in Fig. 5, the mobile body 101 is equipped with a natural ground measurement means 102, a measurement target 103, and an irradiation means 107, so it is preferable to use a mobile body 101 that has space for installing these. Furthermore, since one of the purposes of the tunnel measurement device 100 is to detect a hit, and considering that it is possible to move quickly to the excavation work after detecting a hit, it is preferable to use a breaker as the mobile body 101.

[0041] FIG. 6 is a side view that schematically shows a breaker as a mobile body 101. As shown in this figure, the breaker (mobile body 101) is a construction machine equipped with a cabin 101C that serves as an operator's control room, a boom, an arm, and a "chisel 101D" fixed to the end of the arm, and is particularly used for excavation work. When this breaker is used as the mobile body 101, it is possible to attach a ground measurement means 102, a measurement target 103, and an irradiation means 107 to the top surface of the cabin 101C. As mentioned above, the size of the divided area MS set on the excavation surface should be set according to the dimensions (e.g., diameter) of the breaker chisel 101D used for excavation work.

[0042] (Ground measurement method) The natural ground measurement means 102 is a surveying instrument capable of measuring excavation surfaces and mirror surfaces, in other words, capable of acquiring multiple measurement points PM from the excavation surface; for example, a laser scanner can be used. This laser scanner is a device that performs measurements using a technology called LiDAR (Light Detection and Ranging). More specifically, it irradiates a surrounding object with a laser pulse, receives the reflected wave, calculates the distance to the surrounding object by calculating the time difference between the irradiation time and the reception time, and further calculates the three-dimensional coordinates of the laser reflection point (i.e., measurement point PM) based on the known irradiation position (x, y, z) and irradiation attitude (ω, φ, κ). As long as it can acquire multiple measurement points PM from the excavation surface, various conventional surveying instruments, such as those using photogrammetry, can be used as the natural ground measurement means 102.

[0043] The three-dimensional coordinates of the measurement points PM obtained by the natural ground measurement means 102 are coordinates set in a secondary coordinate system. As mentioned above, this secondary coordinate system is a three-axis coordinate system based on the natural ground measurement means 102, and can be, for example, a three-axis coordinate system with the center of the natural ground measurement means 102 as the origin, the X axis in the longitudinal direction, the Y axis in the transverse direction, and the Z axis in the vertical direction. Because the measurement points PM are set in the secondary coordinate system, it is possible to determine the relative position of the natural ground measurement means 102 and the measurement points PM, but it is not possible to determine the position of the measurement points PM within the tunnel TN.

[0044] (Measurement target and position measurement means) The position measurement means 104 is a surveying instrument that can determine the position of the measurement target 103 by sighting the measurement target 103, and a total station, for example, can be used. On the other hand, the measurement target 103 is a target for the position measurement means 104, and various conventionally used marks such as a surveying prism (also called a mirror or target) or a black and white patterned target can be used.

[0045] The position measurement means 104 is installed inside the tunnel TN, and it is preferable to install it at a position slightly away from the face as shown in Figure 7. However, if the distance from the face (i.e., the moving body 101) to the position measurement means 104 is too great, the positioning accuracy of the measurement target 103 may decrease. Therefore, when excavation progresses and the face becomes farther away, it is preferable to gradually move (reposition) the position measurement means 104 toward the face.

[0046] The position measurement means 104 sights the measurement target 103 to determine its position, but some measurement targets 103 can only be sighted when they are oriented in a specific direction. Of course, the measurement target 103 can be positioned appropriately by adjusting the direction of the moving body 101, but if you want to omit such adjustments, it is recommended to use a measurement target 103 that can be sighted from any direction (for example, a 360° prism). Furthermore, by using an automatic tracking type position measurement means 104, the position of the measurement target 103 can be determined even more easily.

[0047] The coordinates of the center (mechanical point) of the position measurement means 104 are known and are grasped as three-dimensional coordinates in the main coordinate system. As a result, the position coordinates of the measurement target 103 measured by the position measurement means 104 are also grasped as three-dimensional coordinates in the main coordinate system. As will be described later, the coordinates of the center (mechanical point) of the natural ground measurement means 102 are calculated based on the position coordinates of the measurement target 103 and the relative positions of the natural ground measurement means 102 and the measurement target 103. To find the center coordinates of the natural ground measurement means 102, the position coordinates of two or more measurement targets 103 are required, and to obtain the attitude (tilt) of the natural ground measurement means 102, three measurement targets 103 that are not aligned on the same line are required.

[0048] (irradiation means) 8 is a plan view that shows a schematic diagram of the situation in which the excavation surface is being measured by the natural ground measurement means 102. When performing measurements using the natural ground measurement means 102, it is advisable to keep the mobile body 101 stationary. Furthermore, when using a breaker as the mobile body 101, it is advisable to rotate the cabin 101C to the left or right (to the right in the figure) so that the arm or the like does not interfere with the measurement.

[0049] When performing measurements using the natural ground measurement means 102, it is desirable to measure the entire excavation surface. However, when measuring using a laser scanner, for example, it is difficult to immediately determine the actual measurement range. Therefore, to clearly indicate the measurement range of the natural ground measurement means 102, an irradiation means 107 that emits light such as laser light LS may be installed on the mobile body 101. The measurement range of the natural ground measurement means 102 may be determined to be a range in the transverse direction or a range in the vertical direction. To do this, light must be irradiated at least two points, and therefore at least two irradiation means 107 are attached to the mobile body 101. In the example of Figure 9, four irradiation means 107 are attached to the mobile body 101, and these irradiation means 107 irradiate laser light LS at four points to clearly indicate the measurement range in the transverse and vertical directions. Note that, to ensure that the measurement range can be indicated by the irradiation means 107, it is recommended that the orientation of the irradiation means 107 (especially the irradiation direction) be determined in advance before installing the irradiation means 107 on the mobile body 101.

[0050] (Opening and closing means) As described above, the ground measurement means 102, measurement target 103, and irradiation means 107 are attached to the mobile body 101, for example, on the top surface of a breaker. When attaching the ground measurement means 102, measurement target 103, etc. to the mobile body 101, they can be firmly fixed so that they cannot be easily removed, or they can be installed so that they can be easily attached and detached.

[0051] For example, in Figure 10, the ground measurement means 102, measurement target 103, and irradiation means 107 are mounted on a base plate BP, and the various means are assembled into a set, so to speak, for easy attachment and detachment. That is, by attaching the base plate BP to the mobile body 101 using magnets, bolts, etc., the ground measurement means 102, measurement target 103, etc. can be easily attached to and detached from the mobile body 101. Note that in this figure, two ground measurement means 102 are mounted on the base plate BP, but this is not limited to this; a single ground measurement means 102 or three or more ground measurement means 102 can also be mounted. Similarly, two or more measurement targets 103 can be mounted on the base plate BP, not limited to the three shown in the figure, and two or more irradiation means 107 can be mounted on the base plate BP, not limited to the four shown in the figure. Of course, the ground measurement means 102, measurement target 103, and irradiation means 107 may be mounted directly on the mobile body 101 without using the base plate BP.

[0052] However, the inside of the tunnel TN is subject to flying stones, dust, and spring water, making it an unsuitable environment for instruments. Therefore, it is desirable to protect at least the natural ground measurement means 102 and measurement target 103 from flying stones, dust, and the like. For this reason, in Figure 10, the natural ground measurement means 102 is covered with a casing (hereinafter referred to as the "first case 110"), and the measurement target 103 is also covered with a casing (hereinafter referred to as the "second case 111"). However, if these were completely covered, the natural ground measurement means 102 would not be able to perform measurements, and the position measurement means 104 would not be able to sight the measurement target 103.

[0053] Therefore, it is preferable to provide the first housing 110 with a first opening / closing means 110W shown in FIG. 10. This first opening / closing means 110W generally consists of an opening window and a door (e.g., a shutter), and the door is configured to be opened and closed by remote control. That is, when the door is opened, the opening window is opened, allowing measurements to be taken by the ground measurement means 102. When the door is closed, the opening window is closed, and the ground measurement means 102 is covered by the first housing 110, protecting it from flying stones, dust, and the like. It is also preferable to provide the second housing 111 with a second opening / closing means having a structure similar to that of the first opening / closing means 110W. That is, when the door is opened, the opening window is opened (open state), allowing the position measurement means 104 to collimate the measurement target 103. When the door is closed, the opening window is closed (closed state), and the measurement target 103 is covered by the second housing 111, protecting it from flying stones, dust, and the like. The opening window can be opened and closed in various ways, such as by rotating the door body or by moving the door body left and right (or up and down).

[0054] (Representative coordinate calculation means) The representative coordinate calculation means 105 is a means for calculating "representative coordinates PR", which are the three-dimensional coordinates of a "representative point" for each divided area MS set on the excavation surface. Specifically, the representative coordinates PR are calculated by statistically processing the three-dimensional coordinates of multiple measurement points PM included in the same divided area MS. As mentioned above, various statistical processing methods can be used to statistically process the measurement points PM, such as using the arithmetically averaged coordinate value as the representative coordinate PR, or using the median value as the representative coordinate PR, or using the most frequent value as the representative coordinate PR.

[0055] As mentioned above, the three-dimensional coordinates of the measurement points PM obtained by the natural ground measurement means 102 are in the secondary coordinate system. In contrast, the "planned surface" that is compared to detect the impact area is a three-dimensional model set in the primary coordinate system. Since it is not possible to compare three-dimensional coordinates in different coordinate systems, it is necessary to convert the three-dimensional coordinates of the measurement points PM into the primary coordinate system and then find the representative coordinates PR in the primary coordinate system. This procedure is explained in detail below.

[0056] First, the coordinates of the center point (machine point) of the natural ground measurement means 102 (hereinafter simply referred to as "natural ground measurement point coordinates") are found as coordinates in the primary coordinate system based on the three-dimensional coordinates of two or more measurement targets 103 (hereinafter simply referred to as "measurement target coordinates"). The measurement target coordinates obtained by the position measurement means 104 aiming at the measurement targets 103 are in the primary coordinate system, and therefore the natural ground measurement point coordinates found based on these coordinates are also in the primary coordinate system. Note that when only two measurement targets 103 are installed (or the position measurement means 104 only aims at two measurement targets 103), it is advisable to assume that the natural ground measurement means 102 and the measurement targets 103 are on the same horizontal plane (for example, the base plate BP is horizontal), and then find the natural ground measurement point coordinates using the previously determined positional relationship (distance and angle) between the natural ground measurement means 102 and the measurement targets 103. On the other hand, when measurement targets 103 are installed in three or more locations (but are not arranged in the same straight line), it is advisable to determine the ground measurement point coordinates using the coordinates of the three or more measurement targets and the positional relationship between the ground measurement means 102 and the measurement targets 103.

[0057] Once the coordinates of the natural ground measurement points in the primary coordinate system are obtained, the relationship between the primary coordinate system and the secondary coordinate system, which are spatially arranged, can be grasped; that is, the three-dimensional coordinates of the measurement points PM can be converted into the primary coordinate system. Specifically, by performing rotation and translation in the coordinate conversion, the three-dimensional coordinates of the measurement points PM in the secondary coordinate system are converted into three-dimensional coordinates in the primary coordinate system. Then, the representative coordinate calculation means 105 calculates the representative coordinates PR by statistically processing the three-dimensional coordinates of the measurement points PM in the primary coordinate system.

[0058] (Means for detecting impact) The impact detection means 106 is a means for detecting the "impact portion" shown in Figure 4. Specifically, it reads out the design cross section stored in the planned periphery storage means 112 (Figure 5) and compares this design cross section with the representative coordinates PR. When the representative coordinates PR are located closer to the interior of the tunnel than the planned periphery, the divided area MS associated with the representative coordinates PR is detected as the impact portion. In other words, the impact detection means 106 detects the impact portion for each divided area MS, and therefore, it is preferable to set the size of the divided area MS according to the dimensions of the breaker chisel 101D.

[0059] (Method of calculating the amount of hit) The impact amount calculation means 108 is a means for calculating the "impact amount" which indicates the degree of the size of the impact portion. Specifically, it compares the representative coordinates PR of the divided area MS detected as the impact portion with the design cross section read out from the planned periphery storage means 112 (Fig. 5). Then, it calculates the shortest distance between the representative coordinates PR and the planned periphery as the impact amount. The shortest distance between the representative coordinates PR and the planned periphery is, so to speak, a three-dimensional distance in three-dimensional space.

[0060] (Excavation surface display means) The excavation surface display means 109 is a means for displaying the excavation surface. However, as shown in Fig. 11, the excavation surface display means 109 displays the excavation surface so as to clearly indicate the divided areas MS detected as hit areas by the hit area detection means 106 and so as to enable the longitudinal direction of the tunnel TN to be grasped. For example, in Fig. 11, the divided areas MS determined to be hit areas are clearly indicated by coloring them in a special color so as to be distinguishable from the others, and the display also enables the longitudinal direction of the tunnel TN to be grasped by a bird's-eye perspective view (left side of the figure) and a longitudinal cross-sectional view (right side of the figure).

[0061] (Processing flow) The main processing flow of the tunnel measurement device 100 of the present invention will be described with reference to Fig. 12. Fig. 12 is a flow diagram showing the main processing flow of the tunnel measurement device 100 of the present invention, with the processing to be performed shown in the center column, information necessary for that processing shown in the left column, and information resulting from that processing shown in the right column. Note that the "primary" in parentheses next to each coordinate indicates a coordinate in the primary coordinate system, and "secondary" indicates a coordinate in the secondary coordinate system.

[0062] To detect a hit point using the tunnel measurement device 100, the position measurement means 104 sights the measurement target 103 to obtain the "measurement target coordinates (position coordinates of the measurement target 103)" as shown in Fig. 12 (Step 201 in Fig. 12), and the natural ground measurement means 102 measures the excavation surface to obtain the measurement points PM (Step 202 in Fig. 12). Note that the measurement target coordinates obtained here are in the primary coordinate system, and the three-dimensional coordinates of the measurement points PM at this stage are in the secondary coordinate system.

[0063] Once the measurement target coordinates (primary coordinate system) are obtained, the "natural ground measurement point coordinates (coordinates of the machine points of the natural ground measurement means 102)" in the primary coordinate system are calculated (Step 203 in Fig. 12), and each measurement point PM (secondary coordinate system) is converted to three-dimensional coordinates in the primary coordinate system based on the natural ground measurement point coordinates (primary coordinate system) (Step 204 in Fig. 12). Next, the representative coordinate calculation means 105 calculates representative coordinates PR (primary coordinate system) by statistically processing the measurement points PM (primary coordinate system) included in the divided area MS (Step 205 in Fig. 12).

[0064] Once the representative coordinates PR (main coordinate system) for each divided area MS are obtained, the impact detection means 106 compares the representative coordinates PR with the design cross section, and if the representative coordinates PR are located closer to the interior of the tunnel than the planned periphery, detects the divided area MS associated with the representative coordinates PR as a impact area (Step 206 in Fig. 12). In addition, the impact amount calculation means 108 calculates the shortest distance between the representative coordinates PR of the divided area MS detected as a impact area and the planned periphery as the impact amount (Step 207 in Fig. 12).

[0065] When the impact area is detected and the impact amount is calculated, the excavation surface display means 109 displays the excavation surface (Step 208 in Fig. 12). At this time, as shown in Fig. 11, the excavation surface is displayed so as to clearly indicate the divided area MS that is determined to be the impact area and so that the longitudinal direction of the tunnel TN can be grasped.

[0066] 3. How to write Next, the chipping method of the present invention will be explained with reference to the drawings. The chipping method of the present invention is a method of performing chipping work using the tunnel measurement device 100 explained so far. Therefore, we will avoid overlapping explanations with those explained for the tunnel measurement device 100 and will mainly explain the details unique to the chipping method of the present invention. In other words, the details not mentioned here are the same as those explained in "2. Tunnel Measurement Device" and "1. Definitions."

[0067] Figure 13 is a flow diagram showing the main steps of the excavation method of the present invention. When performing chipping work using the tunnel measurement device 100, first, the breaker is placed in front of the tunnel face (Step 301 in Figure 13). The timing for placing the breaker is after one advance length of excavation has been completed by blasting or the like, and before concrete spraying. The breaker is also equipped with natural ground measurement means 102, measurement target 103, and irradiation means 107; in other words, the breaker functions as a moving body 101.

[0068] Once the breaker has been placed in the approximate location, the cabin 101C is rotated to the left or right so that the arm etc. does not obstruct the measurement (Fig. 8). Then, the irradiation means 107 emits a laser beam LS etc. (Fig. 9), and the measurement range by the natural ground measurement means 102 is indicated (Step 302 in Fig. 13). If the measurement range indicated by the laser beam LS etc. covers the entire excavation surface, the process proceeds to the next step; if the entire excavation surface is not included, the placement and posture of the breaker are corrected.

[0069] Once the breaker is properly positioned, the breaker is brought to a stationary state, and the position measurement means 104 is used to sight the measurement target 103 to obtain the "measurement target coordinates" (Step 303 in Fig. 13), and the natural ground measurement means 102 measures the excavation surface to obtain the measurement points PM (Step 304 in Fig. 13). Once the measurement target coordinates (primary coordinate system) are obtained, the "natural ground measurement point coordinates" in the primary coordinate system are calculated, and each measurement point PM (secondary coordinate system) is converted to three-dimensional coordinates in the primary coordinate system based on these natural ground measurement point coordinates (primary coordinate system) (Step 305 in Fig. 13). Next, the representative coordinates PR (primary coordinate system) are calculated by statistically processing the measurement points PM (primary coordinate system) included in the divided area MS (Step 306 in Fig. 13).

[0070] Once the representative coordinates PR (main coordinate system) for each divided area MS are obtained, these coordinates PR are compared with the design cross section, and if the representative coordinates PR are located closer to the interior of the tunnel than the planned periphery, the divided area MS associated with the representative coordinates PR is detected as a contact area (Step 307 in Figure 13). In addition, the shortest distance between the representative coordinates PR of the divided area MS detected as a contact area and the planned periphery is calculated as the contact amount (Step 308 in Figure 13).

[0071] Once the impact area is detected and the impact volume is calculated, the excavation surface is displayed on the excavation surface display means 109 (Step 309 in FIG. 13). Note that the steps from "Positioning the measurement target (Step 303 in FIG. 13)" to "Displaying the excavation surface (Step 309 in FIG. 13)" can be performed while the breaker is operating, or of course while stationary. The breaker operator then checks the excavation surface display means 109 and performs the scraping to remove the impact area. At this time, if the impact area is displayed in divided area MS units and the size of the divided area MS is set according to the dimensions of the breaker chisel 101D, the scraping operation becomes easier and more suitable. Once the scraping operation is generally completed, a series of measurements can be performed again and the excavation surface can be displayed on the excavation surface display means 109. In this case, if any impact areas remain, the scraping operation is performed again. [Industrial Applicability]

[0072] The tunnel measurement device and excavation method of the present invention can be used for excavating various tunnels, including road tunnels, railway tunnels, pedestrian tunnels, etc. The present invention reliably ensures the designed cross section, meaning that concrete (shotcrete or lining concrete) of the specified thickness can be reliably laid, resulting in the completion of a high-quality tunnel. Considering this, the invention is not only applicable industrially but is also expected to make a significant contribution to society. [Explanation of symbols]

[0073] 100 Tunnel measurement device of the present invention 101 (Tunnel measurement device) moving body 101C (Breaker's) Cabin 101D (breaker) only 102 (Tunnel measurement device) ground measurement means 103 (Tunnel measurement device) measurement target 104 (Tunnel measurement device) position measurement means 105 (Tunnel measurement device) representative coordinate calculation means 106 (Tunnel measurement device) impact detection means 107 (Tunnel measurement device) irradiation means 108 (Tunnel measurement device) per unit amount calculation means 109 (Tunnel measurement device) excavation surface display means 110 (Tunnel measurement device) first box 110W (first housing) first opening and closing means 111 (Tunnel measurement device) second housing 112 (Tunnel measurement device) Plan surface storage means BP Base Plate LS laser light MS split area PM measurement points PR representative coordinates SL Spring Line TN Tunnel

Claims

1. This is a device that measures the "excavation surface," which is the surface portion of the ground exposed by tunnel excavation. A mobile object moving in the tunnel; a ground measurement means attached to the moving body; a measurement target attached to the moving body; a position measurement means installed in the tunnel; a representative coordinate calculation means for calculating representative coordinates for each of a plurality of divided regions set on the excavation surface; a hit detection means for comparing the "planned periphery" with the representative coordinates and detecting the divided area related to the representative coordinates as a hit portion when the representative coordinates are located on the inner space side of the tunnel than the planned periphery; The planned periphery is a periphery portion of the ground after excavation that has been planned in advance, and is set in a three-dimensional main coordinate system, the natural ground measurement means measures the excavation surface to obtain a plurality of measurement points having three-dimensional coordinates in a secondary coordinate system; the position measurement means determines the position of the measurement target as three-dimensional coordinates in the main coordinate system by collimating the measurement target; the representative coordinate calculation means determines the position of the natural ground measurement means as a three-dimensional coordinate in the main coordinate system based on the position of the measurement target obtained by the position measurement means, and converts the measurement points into three-dimensional coordinates in the main coordinate system; The representative coordinate calculation means calculates the representative coordinates for the divided region by statistically processing three-dimensional coordinates in the main coordinate system of the plurality of measurement points included in the divided region. A tunnel measurement device characterized by:

2. The ground measurement means is a surveying instrument that acquires the measurement points on the excavation surface by laser measurement.

2. The tunnel measurement device according to claim 1.

3. Further comprising two or more illumination means attached to the moving body and emitting light, The irradiation means is arranged to indicate a range in which the measurement points can be acquired by the natural ground measurement means.

2. The tunnel measurement device according to claim 1.

4. a first box attached to the movable body so as to surround the natural ground measurement means; a second housing attached to the moving body so as to surround the measurement target; the first housing has a first opening / closing means that is opened and closed by remote control, the second housing has a second opening / closing means that is opened and closed by remote control, When the first opening / closing means is in an open state, measurement by the ground measurement means becomes possible, and when the first opening / closing means is in a closed state, the ground measurement means is covered by the first box, When the second opening / closing means is in an open state, the measurement target can be collimated by the position measurement means, and when the second opening / closing means is in a closed state, the measurement target is covered by the second case.

2. The tunnel measurement device according to claim 1.

5. The moving body is a breaker that breaks the excavation surface, The divided regions are set to have dimensions equivalent to the dimensions of only the breaker.

2. The tunnel measurement device according to claim 1.

6. a contact amount calculation unit that calculates a contact amount in the divided area detected by the contact portion detection unit; The contact amount calculation means calculates the shortest distance between the representative coordinates and the planned circumferential surface as the contact amount.

2. The tunnel measurement device according to claim 1.

7. Further provided is an excavation surface display means for displaying the excavation surface so as to clearly indicate the divided area detected by the hit detection means, The excavation surface display means displays the excavation surface so that the longitudinal direction of the tunnel can be grasped.

2. The tunnel measurement device according to claim 1.

8. A method for excavating a "hit area" created by tunnel excavation, a measurement target positioning step of determining the position of the measurement target as three-dimensional coordinates in the main coordinate system by aiming the measurement target attached to the breaker with a position measurement means installed inside the tunnel; an excavation periphery measurement process for acquiring a plurality of measurement points having three-dimensional coordinates in a secondary coordinate system by measuring the "excavation periphery," which is the peripheral portion of the ground exposed by tunnel excavation, using a natural ground measurement means attached to the breaker; a measurement point conversion step of determining the position of the natural ground measurement means as a three-dimensional coordinate in the main coordinate system based on the position of the measurement target, and converting the measurement points into three-dimensional coordinates in the main coordinate system; a representative coordinate calculation step of calculating representative coordinates for each of a plurality of divided areas set on the excavation surface; a hit portion detection step of comparing a "planned periphery" with the representative coordinates, and detecting the divided area related to the representative coordinates as a "hit portion" when the representative coordinates are located on the inner space side of the tunnel than the planned periphery, The planned periphery is a periphery portion of the ground after excavation that has been planned in advance and is set in the main coordinate system, In the representative coordinate calculation step, the representative coordinates relating to the divided region are calculated by statistically processing three-dimensional coordinates in the main coordinate system of the plurality of measurement points included in the divided region; The detected hit portion is broken by the breaker. A method for producing a kosaku product, characterized by the following.

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