Wall surface shape estimation system and wall surface shape estimation method

Abstract

To enhance efficiency and accuracy of distance measurement to a wall surface in estimating a wall surface shape of an underground hole or an underground trench filled with fresh water or a stabilizing liquid.SOLUTION: A wall surface shape estimation system includes a wall surface measurement apparatus including a sensor unit that is inserted into a liquid filling an underground hole or an underground trench to measure a distance to a wall surface, and a hoisting mechanism that hoists the sensor unit via a wire, a rotary base on which the hoisting mechanism is mounted and that rotates the hoisting mechanism about a vertical axis, and a hoisting-side rotation angle detector that detects a rotation angle of the hoisting mechanism.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a wall shape estimation system and a wall shape estimation method for estimating the wall shape of an underground hole or underground trench. [Background technology]

[0002] Traditionally, in construction work involving excavating the ground to construct a borehole, an ultrasonic measuring device is inserted into the borehole, which is then filled with stabilizing fluid, and the distance to the wall is measured while being lowered or raised. Based on the measurement results, the finished shape is managed by checking whether the internal dimensions of the borehole are within the allowable error range.

[0003] However, ultrasonic measuring instruments generally have measurement sensors installed in a maximum of four locations (one on each side of the rectangular cylinder), which limits the range that can be measured.For this reason, in relatively collapsible ground such as sand or gravel layers, if the mud film of the stabilizing liquid cannot adequately hold the borehole wall in place and there is a possibility that there may be areas of localized collapse on the borehole wall, measurements using the ultrasonic measuring instrument must be carried out multiple times, with the instrument being relocated using a crane to change the range that can be measured.

[0004] In this context, for example, Patent Document 1 discloses a borehole wall shape identification system that identifies the borehole wall shape around the entire borehole wall. Specifically, a rotary drive means is suspended within a borehole by a wire, and an ultrasonic distance detector is attached to the rotary drive means. Then, at a predetermined depth level, the ultrasonic distance detector is rotated around a vertical axis via the rotary drive means, measuring the distance to the borehole wall and identifying the borehole wall shape around the entire borehole wall. Thereafter, the ultrasonic distance detector is moved to another depth level using the wire, and the procedure of measuring the distance to the borehole wall as described above is repeated.

[0005] Patent Document 2 also discloses a borehole wall measurement device. The borehole wall measurement device is intended to measure the wall surface of a vertical hole formed by waterless drilling, and therefore employs a laser scanner to measure the distance to the wall surface. Specifically, a crane is operated to lower and swing the laser scanner at a predetermined speed, while measuring the distance to the wall surface. Once the laser scanner reaches the bottom of the hole, a crane or a device using the gyro effect principle is used to rotate the laser scanner around a vertical axis, changing its direction to a different orientation from that used during descent. The laser scanner is then raised and swung at a predetermined speed, while measuring the distance to the wall surface. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] Japanese Patent Publication No. 2022-187765 [Patent Document 2] Japanese Patent Application Laid-Open No. 2015-184213 Summary of the Invention [Problem to be solved by the invention]

[0007] According to Patent Document 1, the ultrasonic distance detector is rotated around a vertical axis by a rotary drive means, which eliminates the need to relocate the ground mount that supports it on the ground via wires. However, since the process of measuring the distance to the hole wall and the process of moving the ultrasonic distance detector to the depth level are performed separately, a significant amount of work time is required. In addition, the rotation angle of the rotary drive means must be calibrated in advance, which can make the work complicated.

[0008] According to Patent Document 2, the distance to the wall surface is measured while the laser scanner is oscillated, so it is possible to grasp the shape of the hole bottom if the hole is in an anhydrous state. However, it is not clear how the rotation angle is adjusted and controlled using a lifting machine or a device that uses the principle of the gyro effect when rotating the laser scanner around the vertical axis. Furthermore, if the hole is filled with a stabilizing liquid or the like, the hole wall measurement device in Patent Document 2 cannot measure the distance to the hole wall.

[0009] The present invention has been made in consideration of such problems, and its main purpose is to improve the efficiency and accuracy of measuring the distance to the wall when estimating the wall shape of an underground hole or underground trench filled with clean water, a stabilizing solution, or the like. [Means for solving the problem]

[0010] In order to achieve this objective, the wall shape estimation system of the present invention is characterized by comprising a wall surface measurement device having a sensor unit that is inserted into the liquid that fills an underground hole or trench to measure the distance to the wall surface, and a lifting mechanism that lifts the sensor unit via a wire, a rotating stand on which the lifting mechanism is placed and which rotates the lifting mechanism around a vertical axis, and a lifting side rotation angle detector that detects the rotation angle of the lifting mechanism.

[0011] The wall shape estimation system of the present invention is equipped with a management support device that manages and supports the work of measuring the distance to the wall surface using the wall surface measurement device, and is characterized in that the management support device is equipped with a distance information acquisition unit that acquires wall distance information detected by the sensor unit, and a rotation information acquisition unit that acquires lifting side rotation angle information detected by the lifting side rotation angle detector.

[0012] The wall shape estimation system of the present invention is characterized in that it is equipped with a unit-side rotation angle detector that detects the rotation angle of the sensor unit around the vertical axis, and the management support device acquires the unit-side rotation angle information detected by the unit-side rotation angle detector using the rotation information acquisition unit.

[0013] The wall shape estimation system of the present invention is characterized in that it comprises an underwater rotation mechanism that rotates the sensor unit underwater, and the management support device comprises an operation command unit that issues an operation command to the underwater rotation mechanism to control the rotation of the sensor unit based on the lifting side rotation angle information and the unit side rotation angle information.

[0014] The wall shape estimation system of the present invention is characterized in that the management support device is provided with a volume calculation unit that calculates the volume of the underground hole or underground trench based on the lifting side rotation angle information or the unit side rotation angle information, the wall distance information, and information on the depth at which the wall distance information was obtained.

[0015] The wall surface shape estimation system of the present invention is characterized by including an underwater wireless system that receives the unit side rotation angle information and inputs it into the management support device.

[0016] The wall shape estimation method of the present invention is a method for estimating the wall shape of an underground hole or underground trench using the wall shape estimation system of the present invention, and is characterized in that the lifting mechanism is rotated using the rotating stand to rotate the sensor unit around a vertical axis and move it in the depth direction, while measuring the distance to the wall surface.

[0017] The wall shape estimation method of the present invention is a method for estimating the wall shape of an underground borehole using the wall shape estimation system of the present invention, and is characterized by comprising: a first measurement step of measuring the distance to the wall while moving the sensor unit in one direction in the depth direction; a direction change step of rotating the sensor unit by rotating the lifting mechanism a predetermined amount around a vertical axis to change the direction of measuring the distance to the wall; and a second measurement step of measuring the distance to the wall after performing the direction change step, while moving the sensor unit in the other direction in the depth direction.

[0018] The wall surface shape estimation method of the present invention is characterized in that, after rotating the sensor unit in the direction change process, if the rotation angle deviation calculated based on the lifting side rotation angle information and the unit side rotation angle information exceeds the allowable error, the sensor unit is rotated around the vertical axis using an underwater rotation mechanism to bring it within the allowable error range.

[0019] According to the wall shape estimation system and wall shape estimation method of the present invention, the lifting mechanism constituting the wall surface measurement device is rotated around a vertical axis via a rotating base. This allows the sensor unit inserted in the liquid filling the underground hole or trench to be easily rotated by rotating the lifting mechanism, eliminating the need to re-install the lifting mechanism.

[0020] In addition, the rotation angle during rotation is detected by the lifting-side rotation angle detector and can be acquired as lifting-side rotation angle information. This allows the distance measurement direction of the measurement sensor provided in the sensor unit to be changed to the desired direction with high accuracy. Therefore, distance measurements can be performed at desired positions and multiple positions on the wall surface, making it possible to improve the efficiency and accuracy of distance measurement work.

[0021] Furthermore, by using a unit-side rotation angle detector to acquire the rotation angle of the sensor unit around its vertical axis as unit-side rotation angle information, it becomes possible to accurately grasp and correct any discrepancies in the rotation angle between the lifting mechanism and the sensor unit due to the great depth of the underground hole or trench or the high specific gravity of the stabilizing liquid that fills them.In this case, if an underwater rotation mechanism that rotates the sensor unit underwater is provided, it becomes possible to easily and accurately correct any discrepancies in the rotation angle between the lifting mechanism and the sensor unit.

[0022] Furthermore, by acquiring the lifting-side rotation angle information detected by the lifting-side rotation angle detector or the unit-side rotation angle information detected by the unit-side rotation angle detector, and the wall distance information detected by the sensor unit, it is possible to combine the wall distance information with the depth information to acquire quantitative data on three-dimensional information on the wall surface of the underground hole or trench. This not only makes it possible to estimate the wall shape, but also to calculate the volume of the underground hole or trench, and when filling with concrete or other filler material in the post-excavation process, it is also possible to estimate the amount of filler to be poured.

[0023] In addition, since the wall surface measurement device has a simple configuration that simply adds a rotating stand and a lifting side rotation angle detector to the wall surface measurement device, there is no need to modify the wall surface measurement device, and it can be retrofitted to an existing wall surface measurement device. [Effects of the Invention]

[0024] According to the present invention, by rotating the lifting mechanism that constitutes the wall surface measuring device around a vertical axis via a rotating stand and detecting the rotation angle during rotation using a lifting-side rotation angle detector, it is possible to improve the efficiency and accuracy of distance measurement work carried out to estimate the wall surface shape, even in an underground hole or trench filled with clean water or stabilizing liquid. [Brief explanation of the drawings]

[0025] [Figure 1] 1 is a diagram showing an outline of a wall surface shape estimation system according to an embodiment of the present invention; [Figure 2] 1A and 1B are diagrams illustrating an example of an underwater rotation mechanism according to an embodiment of the present invention. [Figure 3] FIG. 1 is a diagram showing a rotating gantry according to an embodiment of the present invention. [Figure 4] 1 is a diagram showing a configuration of an underwater wireless system according to an embodiment of the present invention. [Figure 5] 1 is a diagram illustrating a configuration of a management support device according to an embodiment of the present invention. [Figure 6] FIG. 10 is a diagram showing a flow of wall surface shape estimation according to an embodiment of the present invention. [Figure 7]1A to 1C are diagrams illustrating a wall surface shape estimation method according to an embodiment of the present invention (part 1). [Figure 8] 10A and 10B are diagrams illustrating a wall surface shape estimation method according to an embodiment of the present invention (part 2). [Figure 9] 10 is a diagram showing a state in which information acquired by the management support device according to the embodiment of the present invention is output to a display device. FIG. [Figure 10] FIG. 10 is a diagram showing measurement points at which distances to wall surfaces are measured according to an embodiment of the present invention. [Figure 11] 10A and 10B are diagrams showing another example (part 1) of the wall surface shape estimation method according to the embodiment of the present invention. [Figure 12] FIG. 10 is a diagram showing another example (part 2) of the wall surface shape estimation method according to the embodiment of the present invention. [Figure 13] 1A to 1C are diagrams illustrating a procedure for measuring the wall surface of an underground trench according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0026] The present invention can be applied not only to excavation trenches and boreholes constructed by excavating the ground, but also to any underground hole or trench, such as a cavity formed in the ground for some reason. The underground hole or trench may be filled with any liquid, such as fresh water or a stabilizer. In this embodiment, the case where the underground hole is a borehole constructed by excavating the ground and filled with a stabilizer is taken as an example, and the details thereof will be described below.

[0027] As shown in Figure 1, the inside of a borehole H is filled with a stabilizing solution W to prevent the wall from collapsing, and the mouth of the borehole is protected by a casing pipe C. The wall shape of a borehole H having such a shape can be estimated using a wall shape estimation system 100 equipped with a wall surface measurement device 10.

[0028] <<<<Wall Shape Estimation System 100>>>> As shown in Figure 1, the wall surface shape estimation system 100 includes a wall surface measurement device 10, a rotating stand 50, an underwater rotation mechanism 60, a lifting side rotation angle detector 71, a unit side rotation angle detector 72, an underwater wireless system 80, and a management support device 90.

[0029] <<Wall Surface Measurement Device 10>> The wall surface measurement device 10 comprises a sensor unit 20 that measures the distance to the wall surface of the underground borehole H, a lifting mechanism 30 that lifts the sensor unit 20 vertically within the underground borehole H, and a recorder 40 connected to the sensor unit 20 and the lifting mechanism 30.

[0030] <Sensor Unit 20> As shown in FIG. 2(a), the sensor unit 20 includes a plurality of measurement sensors 21 that measure the distance to the wall surface inside the underground borehole H, and a storage case 22 that stores the measurement sensors 21.

[0031] The measurement sensors 21 employ ultrasonic sensors that can stably measure the distance to a wall surface not only in water but also in the stabilizing liquid W, which has a high specific gravity. In this embodiment, four measurement sensors 21 are installed on each side of a rectangular storage case 22. The sensor unit 20 configured in this manner is suspended from the underwater rotation mechanism 60, which will be described later, via a first hanging balance 23.

[0032] ≪Lifting mechanism 30≫ As shown in FIG. 1, the lifting mechanism 30 includes a wire winch 31, a cable winch 32, and a storage frame 33 for storing the wire winch 31 and the cable winch 32.

[0033] The wire winch 31 pays out and takes up the wire 34 that suspends the underwater rotation mechanism 60, and the cable winch 32 pays out and takes up the electric cable 35 connected to the sensor unit 20 (measurement sensor 21). In this embodiment, two wires 34 are used to suspend the underwater rotation mechanism 60 via a second lifting balance 36. The storage frame 33 is installed via a rotating platform 50 on a casing pipe C that protects the mouth of the underground hole H, at a position where the electric cable 35 is arranged on the axis Ch of the underground hole H.

[0034] <Recorder 40> 1, the recorder 40 is connected to the lifting mechanism 30 and controls the operation of the wire winch 31 and the cable winch 32. It is also connected to the sensor unit 20 and processes information on the distance to the wall surface acquired by the measurement sensor 21, and information on the depth detected from the wire winch 31 (information related to the depth measured by the measurement sensor 21). It also has a function to output information on the distance to the wall surface, information on the depth, etc. to a paper form.

[0035] The recorder 40 is provided with an output unit that can output the distance information to the wall (hereinafter referred to as wall distance information) and depth information as digital data by associating them together. Thus, by connecting the recorder 40 to a management support device 90 (described later) via a wired connection, the various information acquired by the recorder 40 can be processed by the management support device 90.

[0036] <<Rotating stand 50>> 1 and 3, the rotating stand 50 includes a rotating table 51 and a table support member 52 that rotatably supports the rotating table 51. The rotating table 51 and the table support member 52 may have any shape as long as they can be placed above the underground hole H, but FIGS. 3(a) and 3(b) show an example in which a ring-shaped member is used for the rotating table 51 and a frame member with an opening in the center is used for the table support member 52.

[0037] In these, the table support 52 is installed on the casing pipe C, and the rotary table 51 is placed on the table support 52 so that its central axis coincides with the axis Ch of the underground hole H, and the lifting mechanism 30 is installed on the rotary table 51. As a result, when the rotary table 51 is rotated manually by an operator or by some other means, the lifting mechanism 30 can be easily rotated around the axis Ch of the underground hole H, as shown in Figure 3(b).

[0038] Therefore, when the underground hole H is filled with clean water or a stabilizing liquid W with a low specific gravity, or when the distance between the sensor unit 20 and the lifting mechanism 30 is short, the sensor unit 20 can be made to follow and rotate by approximately the same rotation angle as the lifting mechanism 30.

[0039] However, due to various factors, such as the underground hole H being filled with a stabilizing solution W having a high specific gravity, or the distance between the sensor unit 20 and the lifting mechanism 30 being long, a discrepancy in the rotation angle may occur between the sensor unit 20 and the lifting mechanism 30. Therefore, in order to assist the rotational operation of the sensor unit 20 so as to correct this discrepancy, a submersible rotation mechanism 60 shown in Fig. 1 is provided.

[0040] <<Underwater Rotation Mechanism 60>> Any underwater rotation mechanism 60 may be used as long as it functions as a rotational drive source for the sensor unit 20. For example, the following is an example of a mechanism that applies a high-output rotational moment generated by the gyro effect to the rotational drive of the sensor unit 20.

[0041] 2(a), the underwater rotation mechanism 60 utilizing the gyro effect comprises a rectangular parallelepiped frame 61, a rotation drive unit 62, and a rotation control unit 65. The rotation drive unit 62 includes a flywheel unit 63 and a gimbal unit 64, both of which are installed within the frame 61.

[0042] 2(b), while the flywheel 631 is rotated at high speed around the rotation axis 632, the gimbal 641 is tilted around the support axis 642 to tilt the flywheel 631 by a predetermined angle. This causes the underwater rotation mechanism 60 to rotate around the moment axis A', and the sensor unit 20 can be rotated accordingly.

[0043] On the other hand, when the sensor unit 20 is rotating around the moment axis A' together with the underwater rotation mechanism 60, the electromagnetic brake of the gimbal motor 643 is opened, causing the flywheel unit 63 (the flywheel 631 maintains high-speed rotation) to tilt around the support shaft 642 by inertial force. This generates a gyro moment M around the moment axis A' in the opposite direction to the rotation direction of the sensor unit 20, making it possible to stop the rotation of the sensor unit 20.

[0044] The swing control unit 65 controls the operation of the swing drive unit 62, which includes the flywheel unit 63 and the gimbal unit 64, and is connected to the swing drive unit 62 so as to be able to communicate with each other. The swing control unit 65 is also connected to the management support device 90, which will be described later, via the underwater wireless system 80 so as to be able to communicate with each other.

[0045] As a result, if a discrepancy occurs in the rotation angle between the sensor unit 20 and the lifting mechanism 30, the management support device 90 can be used to remotely operate the underwater rotation mechanism 60 to rotate the sensor unit 20 so as to correct the discrepancy. It is also possible to stop the rotation of the sensor unit 20 after the correction.

[0046] In order to grasp the amount of rotation angle deviation that may occur between the lifting mechanism 30 and the sensor unit 20 after rotating the lifting mechanism 30, as shown in Figure 1, a lifting-side rotation angle detector 71 that measures the rotation angle of the lifting mechanism 30 and a unit-side rotation angle detector 72 that measures the rotation angle of the sensor unit 20 are provided.

[0047] <<Lifting side rotation angle detector 71>> The lifting-side rotation angle detector 71 is a sensor that detects the rotation angle when the lifting mechanism 30 is rotated around the vertical axis using the rotating platform 50, and is installed on the rotating platform 50 as shown in Figures 1 and 3(a) and (b).

[0048] The lifting-side rotation angle detector 71 is connected to the management support device 90 wirelessly or by wire, and outputs information relating to the detected rotation angle of the lifting mechanism 30 (hereinafter referred to as lifting-side rotation angle information) to the management support device 90. Note that the lifting-side rotation angle detector 71 can be any detector that can detect a rotation angle, and examples include a rotary encoder and an attitude angle detection gyro device.

[0049] <<<Unit side rotation angle detector 72>> The unit-side rotation angle detector 72 is a sensor that detects the rotation angle when the sensor unit 20 rotates around the vertical axis, and an example of such a sensor is an attitude angle detection gyro device. Information relating to the rotation angle of the sensor unit 20 detected by such a unit-side rotation angle detector 72 (hereinafter referred to as unit-side rotation angle information) is output to the management support device 90 via the underwater wireless system 80.

[0050] The unit side rotation angle detector 72 may be installed anywhere as long as it can measure the rotation angle of the sensor unit 20, but in this embodiment, it is installed on the underwater rotation mechanism 60 that rotates together with the sensor unit 20, as shown in Figure 2(a).

[0051] <<<Underwater Wireless System 80>> The underwater wireless system 80 can employ underwater optical communication, underwater acoustic communication, etc. Here, an example will be given in which underwater optical wireless communication is employed.

[0052] As shown in Fig. 1, an underwater wireless system 80 using underwater optical wireless communication comprises a unit-side communication section 81 provided in the underwater rotation mechanism 60 and a lifting-side communication section 82 suspended underwater from the rotating base 50. They emit communication light of different wavelengths and are capable of two-way communication. The specific configuration is as follows.

[0053] The unit-side communication section 81 includes an irradiation section 811 and a light-receiving section 812 as shown in Fig. 2(a), and also includes an optical communication control section 813 as shown in Fig. 4. The lifting-side communication section 82 has the same structure, and includes an irradiation section 821, a light-receiving section 822, and an optical communication control section 823.

[0054] As shown in Fig. 4, the optical communication control unit 813 of the unit-side communication unit 81 modulates transmission data input from the connected device together with time data and the like to generate an optical emission signal. The optical emission signal generated in this manner is transmitted from the irradiation unit 811 to the light receiving unit 822 of the lifting-side communication unit 82. The optical reception signal transmitted from the irradiation unit 821 of the lifting-side communication unit 82 and received by the light receiving unit 812 of the unit-side communication unit 81 is demodulated and input to the connected device. The optical communication control unit 823 of the lifting-side communication unit 82 also has a similar function.

[0055] The optical communication control unit 813 of the unit side communication unit 81 is connected to the unit side rotation angle detector 72 and the rotation control unit 65 of the underwater rotation mechanism 60, and the optical communication control unit 823 of the lifting side communication unit 82 is connected to the management support device 90. As a result, the unit side rotation angle information detected by the unit side rotation angle detector 72 is output to the management support device 90 via the underwater wireless system 80.

[0056] Furthermore, as will be described in detail later, when the management support device 90 outputs operational command information, it can be input to the rotation control unit 65 of the underwater rotation mechanism 60 via the underwater wireless system 80. This allows the operation of the rotation drive unit 62 to be controlled by remote operation of the management support device 90, and the underwater rotation mechanism 60 can be used as a rotation drive source to rotate the sensor unit 20 clockwise or counterclockwise, or to stop the rotational behavior and maintain it in a stationary state.

[0057] ≪Management support device 90≫ The management support device 90 may be any of a notebook PC, tablet terminal, smartphone, etc., and as shown in Figure 5, it is equipped with an input unit 91, an output unit 92, an arithmetic processing unit 93, and a memory unit 94. It is also connected wirelessly or by wire to the lifting-side rotation angle detector 71 and the recorder 40 of the wall surface measuring device 10, and is connected to the unit-side rotation angle detector 72 and the underwater rotation mechanism 60 via an underwater wireless system 80.

[0058] The input unit 91 receives information input from, for example, the lifting-side rotation angle detector 71, the unit-side rotation angle detector 72, the recorder 40 of the wall surface measuring device 10, etc. It is also configured to be connected to input devices such as a keyboard, mouse, and scanner, and to receive information input thereto. The output unit 92 is connected to a display device 300 such as a display or printer, and outputs information received by the input unit 91 and information generated by the arithmetic processing unit 93 to the display device 300 and the underwater rotation mechanism 60. The storage unit 94 is composed of a semiconductor memory, a hard disk drive, etc., and stores information received by the input unit 91, information generated by the arithmetic processing unit 93, etc.

[0059] The calculation processing unit 93 is a computer that performs predetermined control according to a program, and includes a CPU (Central Processing Unit), storage devices such as a ROM (Read Only Memory) and a RAM (Random Access Memory), a hardware interface, etc. This storage device includes, for example, a rotation information acquisition unit 931, a displacement amount calculation unit 932, and an operation command unit 933. It also includes a distance information acquisition unit 934, a volume calculation unit 935, and an equipment management unit 936.

[0060] The rotation information acquisition unit 931 acquires lifting-side rotation angle information detected by the lifting-side rotation angle detector 71 and unit-side rotation angle information detected by the unit-side rotation angle detector 72 when the lifting mechanism 30 is rotated on the rotating platform 50. The deviation amount calculation unit 932 calculates the rotation angle deviation amount based on the lifting-side rotation angle information and the unit-side rotation angle information. If the rotation angle deviation amount deviates from the allowable error R2, the operation command unit 933 issues an operation command to the underwater rotation mechanism 60 to rotate the sensor unit 20 so that it falls within the range of the allowable error R2.

[0061] The distance information acquisition unit 934 acquires wall surface distance information (distance information from the measurement sensor 21 to the wall surface) associated with depth information indicating the measurement depth output from the recorder 40 of the wall surface measurement device 10. The volume calculation unit 935 calculates the volume of the underground hole H based on the lifting-side rotation angle information or the unit-side rotation angle information, the wall surface distance information, and the depth information. The equipment management unit 936 constantly monitors the status of the wall surface shape estimation system 100, and if a malfunction is detected, issues an alert via the output unit 92 to, for example, the display device 300.

[0062] The management support device 90 having the above configuration may be capable of transmitting data to and from a terminal device 200, such as a mobile terminal carried by a worker or a management PC installed in a construction office, via a communication network, as shown in Fig. 1. This allows information to be input from the terminal device 200 to the management support device 90 via an input unit 91, or various information to be output from the management support device 90 to the terminal device 200 via an output unit 92. The communication network may be constructed using the Internet, a dedicated communication line, or the like.

[0063] ≪≪≪Wall surface shape estimation method≫≫≫ The procedure for measuring the distance to the wall surface and estimating the wall surface shape of the underground borehole H using the wall surface shape estimation system 100 will be described below in accordance with the flow shown in FIG. 6 along with details of the wall surface shape estimation system 100.

[0064] ≪≪Advance preparation process: STEP 1≫ After constructing a borehole H in the ground, as shown in Figure 1, a wire 34 is let out from the lifting mechanism 30 of the wall surface measuring device 10, and the underwater rotating mechanism 60 and sensor unit 20 are suspended in the borehole H. In addition, the lifting mechanism 30 is installed via a rotating stand 50 on a casing pipe C installed at the mouth of the borehole H.

[0065] At this time, the central axis of the rotating platform 50 is placed on the axis Ch of the underground hole H. In addition, the electric cable 35 connected to the sensor unit 20 is positioned so that it is located on the axis Ch of the underground hole H. In other words, the sensor unit 20 is placed on the axis Ch of the underground hole H. Simultaneously with or before or after these operations, the lifting-side rotation angle detector 71, the unit-side rotation angle detector 72, and the underwater wireless system 80 are installed in predetermined positions.

[0066] Furthermore, the memory unit 94 of the management support device 90 pre-stores the design radius L0 of the underground hole H and the allowable error R1 between the design radius L1 and the measured radius calculated based on the wall surface measurement information output from the recorder 40. Also stored is an allowable error R2 for the amount of rotation angle deviation calculated based on the lifting-side rotation angle information detected by the lifting-side rotation angle detector 71 and the unit-side rotation angle information detected by the unit-side rotation angle detector 72. Furthermore, an upper interruption time limit T1 is set for determining that the communication conditions are poor when a signal indicating soundness, which is transmitted continuously or intermittently from the underwater wireless system 80 or the like, is interrupted.

[0067] <<First measurement step (descent measurement): STEP 2>> 7(a) and (b), the lifting mechanism 30 is operated to lower the submersible rotation mechanism 60 and the sensor unit 20 while maintaining a predetermined speed in the stabilizing liquid W. At the same time, the distance to the wall surface is measured using each of the four measurement sensors 21 provided in the sensor unit 20. In the first measurement step, the distance measurement direction of each of the four measurement sensors 21 coincides with the virtual X-X' axis and Y-Y' axis in the planar view of the underground borehole H.

[0068] The operation and control of the wall surface measurement device 10 is performed by the recorder 40. In addition, the wall surface distance information detected continuously or intermittently by each of the four measurement sensors 21 is stored in the recorder 40 in association with the depth information, and is input from the output unit 41 of the recorder 40 to the management support device 90 via the input unit 91.

[0069] When wall distance information associated with depth information is input to the management support device 90, the calculation processing unit 93 receives a command from the distance information acquisition unit 934 and acquires wall distance information for each piece of depth information as the measured radius from the axis Ch of the underground hole H to points X, X', Y, and Y'. In addition, each time wall distance information is acquired, it is stored in the memory unit 94 and output to the display device 300.

[0070] 9 shows an example of a display on the display device 300. In the example, the measured radius of the borehole H, the design radius L0, and the allowable error R1 between the measured radius and the design radius L0 are displayed for each measurement depth based on the depth information. This makes it possible to estimate the wall shape of the borehole H for each measurement depth, and to check whether the measured radius is within the range of the allowable error R1.

[0071] <<<Direction change process: STEP 3>> As shown in Figure 7(b), the first measurement step ends when the sensor unit 20 reaches the vicinity of the bottom of the underground hole H. Thereafter, as shown in Figure 7(c), the lifting mechanism 30 is rotated around the axis Ch of the underground hole H using the rotating stand 50 until the rotation angle reaches 45 degrees. As a result, the sensor unit 20 rotates around the axis Ch of the underground hole H together with the lifting mechanism 30, and the distance measurement direction of each of the four measurement sensors 21 is changed to a direction different from that in the first measurement step.

[0072] Furthermore, when the lifting mechanism 30 is rotated, the lifting-side rotation angle information detected by the lifting-side rotation angle detector 71 is input to the management support device 90 via the input unit 91. The unit-side rotation angle information detected by the unit-side rotation angle detector 72 is also input to the management support device 90 via the input unit 91. In response to a command from the rotation information acquisition unit 931, the calculation processing unit 93 of the management support device 90 stores the acquired lifting-side rotation angle information and unit-side rotation angle information in the memory unit 94 and outputs it to the display device 300.

[0073] For example, in the display example shown in Figure 9, the lifting-side rotation angle information is displayed as "lifting mechanism (rotary table) detected angle," and the unit-side rotation angle information is displayed as "sensor unit detected angle." Note that until the direction change process (STEP 3) is performed, both of these values ​​are displayed as "0."

[0074] Furthermore, the calculation processing unit 93 receives a command from the deviation amount calculation unit 932 and acquires the rotation angle deviation amount (difference in rotation angle) based on the lifting-side rotation angle information and the unit-side rotation angle information. The acquired rotation angle deviation amount is stored in the memory unit 94 and compared with a preset allowable error R2. If the rotation angle deviation amount is within the allowable error R2, a second measurement step (STEP 4) described below is performed. On the other hand, if the rotation angle deviation amount exceeds the allowable error R2, the rotation of the sensor unit 20 is controlled so that it falls within the allowable error R2.

[0075] When it is confirmed that the rotation angle deviation exceeds the range of the allowable error R2, the calculation processing unit 93 receives a command from the operation command unit 933 and outputs operation command information for bringing the rotation angle deviation within the range of the allowable error R2 to the underwater rotation mechanism 60. The operation command information is input to the rotation control unit 65 of the underwater rotation mechanism 60 from the management support device 90 via the underwater wireless system 80, as described with reference to Fig. 4 .

[0076] The rotation control unit 65 of the underwater rotation mechanism 60 controls the operation of the rotation drive unit 62 based on the operation command information. As a result, as shown in Figure 8(a), the underwater rotation mechanism 60 rotates together with the sensor unit 20 around the axis Ch of the underground borehole H so that the rotation angle deviation falls within the range of the allowable error R2. Then, unit-side rotation angle information is input from the unit-side rotation angle detector 72 to the management support device 90, and each time the unit-side rotation angle information is input, the management support device 90 calculates the rotation angle deviation using the above-mentioned means. These steps are repeated until the rotation angle deviation falls within the range of the allowable error R2.

[0077] Then, when it is confirmed that the rotation angle deviation falls within the allowable error R2, the calculation processing unit 93 receives a command from the operation command unit 933 and outputs operation command information to the underwater rotation mechanism 60 to maintain the current rotation angle. Based on the operation command information, the rotation control unit 65 of the underwater rotation mechanism 60 controls the operation of the rotation drive unit 62 so as to maintain the stationary state of the underwater rotation mechanism 60 and the sensor unit 20. This operation of the underwater rotation mechanism 60 to maintain the stationary state may also be performed during the first measurement step (descent measurement) and during the second measurement step (symptom measurement) described below.

[0078] <<Second measurement step (rise measurement): STEP 4>> When it is confirmed that the rotation angle deviation is within the range of the allowable error R2, as shown in Figure 8(b), the four measurement sensors 21 provided in the sensor unit 20 change their distance measurement direction to a position rotated 45 degrees from the virtual X-X' axis and Y-Y' axis directions measured in the first measurement process.

[0079] In this state, the lifting mechanism 30 is operated to raise the submersible rotation mechanism 60 and the sensor unit 20 while maintaining a predetermined speed in the stabilizing liquid W, as shown in Figure 8(c). At the same time, the four measurement sensors 21 provided on the sensor unit 20 are used to measure the distance to the wall surface.

[0080] In this way, the wall distance information detected continuously or intermittently by each of the four measurement sensors 21 is stored in the recorder 40 in association with the depth information, as in the first measurement step, and is input from the output unit 41 of the recorder 40 to the management support device 90 via the input unit 91. In response to a command from the distance information acquisition unit 934, the calculation processing unit 93 of the management support device 90 acquires wall distance information for each piece of depth information as the measurement radius at a position rotated 45 degrees (or the rotation angle acquired from the unit-side rotation angle information) from the virtual X-X' axis and Y-Y' axis directions. In addition, each time wall distance information is acquired, it is stored in the memory unit 94 and output to the display device 300. The second step ends when the sensor unit 20 rises to near the bottom end of the casing pipe C.

[0081] As described above, by moving the sensor unit 20 back and forth in the depth direction of the borehole H (height direction of the wall surface), it is possible to obtain measurement radii at eight points (P1 to P8) in a plan view of the borehole H as shown in Fig. 7(b) and Fig. 8(c), and to obtain measurement radii at multiple points in the depth direction continuously or intermittently as shown in Fig. 10. Furthermore, since each measurement radius is associated with depth information, it is possible to obtain three-dimensional information about the wall surface of the borehole H as quantitative data, and it is also possible to represent the borehole wall of the borehole H as a three-dimensional model. In this way, the wall shape of the borehole H can be estimated more accurately.

[0082] <<Implementation of the equipment management process and volume calculation process>> In addition to the above steps, the wall surface shape estimation system 100 may also carry out a volume calculation step and an equipment management step for the underground hole H. The volume calculation method and the equipment management method are not limited in any way, but can be carried out, for example, as follows.

[0083] <<Process for calculating the volume of underground hole H>> After the second measurement step (STEP 4) is completed, the calculation processing unit 93 receives a command from the volume calculation unit 935 to calculate the volume of the underground hole H based on the measurement radius based on the unit side rotation angle information and wall distance information, and on the depth information, and stores the volume in the memory unit 94 and also outputs it to the display device 300. This makes it possible to estimate the filling amount when backfilling the underground hole H with a filling material such as concrete.

[0084] <Equipment management process: Monitoring the rotation angle control state of the sensor unit 20> In the management support device 90, during the period when the above-mentioned first and second measurement processes are being carried out, the calculation processing unit 93 receives instructions from the equipment management unit 936 and calculates the amount of rotation angle deviation from the lifting side rotation angle information based on the unit side rotation angle information input continuously or intermittently via the underwater wireless system 80, and compares this rotation angle deviation with the allowable error R2.

[0085] If it is confirmed that the rotation angle deviation exceeds the range of the allowable error R2, there is a possibility that a malfunction has occurred in the underwater rotation mechanism 60, preventing the rotation angle of the sensor unit 20 from being controlled. Alternatively, there is a possibility that a malfunction has occurred in the unit-side rotation angle detector 72. Therefore, it is determined that the rotation angle control state of the sensor unit 20 is in a defective state, and the calculation processing unit 93, upon receiving a command from the equipment management unit 936, outputs defective information to the display device 300 via the output unit 92. For example, in the display example of FIG. 9, these malfunctions can be displayed as defective information under the heading "sensor unit angle control status."

[0086] <Facility management process: Monitoring underwater optical communication status> In the management support device 90, during the period during which each of the above steps is being performed, the calculation processing unit 93 receives commands from the equipment management unit 936 and periodically acquires signals output from the underwater wireless system 80 to check the soundness. When it is confirmed that the time interval between the acquired signals exceeds the interruption time upper limit T1 set in the advance preparation step (STEP 1), it determines that the underwater wireless system 80 is in a faulty state, and outputs that fact to the display device 300 via the output unit 92. For example, in the display example of Figure 9, these malfunctions can be displayed as fault information under the heading "underwater optical communication status."

[0087] 7 and 8, the sensor unit 20 is moved back and forth in the depth direction to measure the distance to the wall surface at eight points (P1 to P8) in a plan view continuously or intermittently in the depth direction, but this is not limited to this. For example, if the borehole H has a large diameter, the steps from the first measurement step (STEP 2) to the second measurement step (STEP 4) may be repeated multiple times to increase the number of points at which distances are measured in a plan view. Furthermore, the distance to the wall surface may be measured not only parallel to the depth direction of the borehole H, but also in a spiral along the wall surface.

[0088] <<<<Wall shape estimation method: when measuring in a spiral>>>> After carrying out the above-mentioned preliminary preparation process (STEP 1), the lifting mechanism 30 is continuously rotated at a constant speed using the rotating stand 50, thereby lowering the sensor unit 20 while rotating, and using each of the four measurement sensors 21 provided on the sensor unit 20, distance measurements to the wall surface are carried out until the sensor unit reaches near the bottom of the underground borehole H.

[0089] The wall distance information detected by each of the four measurement sensors 21 is stored in the recorder 40 in association with the depth information, and is input from the output unit 41 of the recorder 40 to the management support device 90 via the input unit 91. Note that when wall distance measurement is performed using one measurement sensor 21, the distance measurement point (P S1 , P S211(a). In this embodiment, four measurement sensors 21 are provided in the sensor unit 20 at intervals of 90 degrees, so that the above spiral is formed like a four-start screw with one wall distance measurement.

[0090] Next, in the procedure of the direction change step (STEP 3) described above, the sensor unit 20 is rotated a predetermined amount around the axis Ch of the underground hole H, changing the distance measurement direction of each of the four measurement sensors 21. After this, the lifting mechanism 30 is continuously rotated at a constant speed using the rotating base 50, thereby rotating and raising the sensor unit 20, and each of the four measurement sensors 21 provided on the sensor unit 20 measures the distance to the wall surface until it reaches the vicinity of the mouth of the underground hole H.

[0091] The wall distance information detected by each of the four measurement sensors 21 is stored in the recorder 40 in association with the depth information, as in the case of descent measurement, and is input from the output unit 41 of the recorder 40 to the management support device 90 via the input unit 91.

[0092] In this way, when descending and ascending measurements are performed in a spiral, a spiral of continuous wall surface measurement points is formed, resembling a total of eight threads. In this way, the number of measurement points from which measurement radii are obtained increases significantly, making it possible to estimate the wall surface shape with greater accuracy. As described above, both descending and ascending measurements may be performed, but it is also possible to perform only descending measurements, for example. In addition, the wall surface shape estimation system 100 may omit some of its components.

[0093] <When the hole length is short or the specific gravity of the stabilizing liquid is about 1.0> For example, when the specific gravity of the stabilizing liquid is about 1.0 due to the use of an earth drilling method or when the hole length is short, the sensor unit 20 is likely to rotate smoothly following the rotation of the lifting mechanism 30 even in the stabilizing liquid W. Therefore, the wall surface shape estimation system 100 can omit the unit-side rotation angle detector 72, the underwater wireless system 80, and the underwater rotation mechanism 60, as shown in Figure 11(b).

[0094] In this case, the calculation processing unit 93 of the management support device 90 receives a command from the distance information acquisition unit 934, links the wall distance information with the lifting-side rotation angle information detected by the lifting-side rotation angle detector 71, and acquires the wall distance information as a measured radius. Since the measured radius is associated with the depth information, it becomes possible to calculate the volume of the underground hole H based on the measured radius based on the lifting-side rotation angle information and the wall distance information, or to represent the hole wall of the underground hole H as a three-dimensional model. The wall distance information and the lifting-side rotation angle information may be linked using, for example, time information.

[0095] <When the hole length is too long or the specific gravity of the stabilizing liquid exceeds 1.0> For example, when the specific gravity of the stabilizing liquid exceeds 1.0 (or 1.20 or more) due to the use of a TBH (Tone Boring Hole) method or the like, or when the hole length is long, the sensor unit 20 rotates in the stabilizing liquid W following the rotation of the lifting mechanism 30, but the timing may be significantly off. Therefore, it is preferable that the wall surface shape estimation system 100 omits only the underwater rotation mechanism 60, leaving the unit-side rotation angle detector 72 and the underwater wireless system 80, as shown in Figure 12(a).

[0096] In this case, the calculation processing unit 93 of the management support device 90 receives instructions from the distance information acquisition unit 934, links the wall distance information with the unit side rotation angle information detected by the unit side rotation angle detector 72, and acquires the wall distance information as a measured radius.

[0097] In Fig. 12(a), the lifting-side communication unit 82 of the underwater wireless system 80 is suspended underwater from the rotating platform 50, but instead, a repeater 83 as shown in Fig. 12(b) may be used. By using this repeater 83, the signal transmitted from the unit-side communication unit 81 can be received by the management support device 90 via the repeater 83.

[0098] As described above, according to the wall surface shape estimation system and wall surface shape estimation method of the present invention, by rotating the lifting mechanism 30 using the rotating stand 50, the sensor unit 20 inserted in the stabilizing liquid W can be easily rotated, thereby eliminating the need to re-install the lifting mechanism 30 as was previously required.

[0099] Furthermore, because the lifting-side rotation angle information and the unit-side rotation angle information can be detected, the amount of rotation angle deviation can be calculated based on these. Furthermore, by rotating the sensor unit 20 using the underwater rotation mechanism 60, the amount of rotation angle deviation can be kept within the range of the allowable error R2. This allows the distance measurement direction of the measurement sensor 21 to be changed to the desired direction with high accuracy.

[0100] Therefore, distance measurements can be performed at desired positions and multiple positions on the wall surface, making it possible to improve the efficiency and accuracy of distance measurement work. In addition, since the wall surface shape estimation system 100 has a simple configuration in which the rotating stand 50 and the lifting-side rotation angle detector 71 are added to the wall surface measurement device 10, there is no need to modify the wall surface measurement device 10, making it economical and highly versatile.

[0101] The wall surface shape estimation system 100 and the wall surface shape estimation method of the present invention are not limited to the above-described embodiment, and it goes without saying that various modifications are possible without departing from the spirit of the present invention.

[0102] For example, in this embodiment, the wall shape estimation method has been explained using an underground hole H that is circular in plan view as an example, but it can also be applied to an underground trench T that is rectangular in plan view, as shown in Fig. 13(a). The trench wall of the underground trench T can be estimated, for example, by the following procedure.

[0103] <<<<Wall shape estimation method: underground trench>>>>> First, the above-mentioned advance preparation step (STEP 1) is carried out. In measuring the wall distance of the underground trench T, as shown in FIG. 13(a), the rotating platform 50 is placed near one end of the underground trench T, and the lifting mechanism 30 is installed. At this time, the central axis of the rotating platform 50 is aligned with the center line T parallel to the longitudinal direction of the underground trench T. L The electric cable 35 connected to the sensor unit 20 is also arranged on the center line T of the underground trench T. L In other words, the sensor unit 20 is positioned so that it is positioned on the center line T L Furthermore, the four measurement sensors 21 provided in the sensor unit 20 are arranged so that the distance measurement direction is parallel to the short side or long side of the underground trench T.

[0104] After this, the first measurement step (downward measurement: STEP 2) described above is carried out, and the distance to the groove wall is measured at three points in a plan view (P t1 ~P t3 ) are simultaneously measured. Measurement ends when the sensor unit 20 reaches the vicinity of the bottom of the ditch. The wall distance information detected by the sensor unit 20 is stored in the recorder 40 in association with the depth information, and is also input from the output unit 41 of the recorder 40 to the management support device 90 via the input unit 91.

[0105] Next, as shown in FIG. 13(b), the direction change step (STEP 3) described above is performed to determine whether the distance measurement direction of any one of the four measurement sensors 21 provided in the sensor unit 20 is pointing toward the corner of the underground trench T (point P t4 ) and rotate the sensor unit 20 around the vertical axis.

[0106] After this, the second measurement step (rise measurement: STEP 4) described above is carried out, and the distance to the groove wall is measured at four points in a plan view (P t4 ~P t7) are measured simultaneously. Measurement ends when the sensor unit 20 reaches the vicinity of the mouth of the underground trench T. The wall distance information detected by the sensor unit 20 is stored in the recorder 40 in association with the depth information, and is also input from the output unit 41 of the recorder 40 via the input unit 91 to the management support device 90.

[0107] Next, as shown in FIG. 13(c), the direction change step (STEP 3) described above is performed to determine whether the distance measurement direction of any one of the four measurement sensors 21 provided in the sensor unit 20 is pointing toward the corner of the underground trench T (point P t8 ) and rotate the sensor unit 20 around the vertical axis.

[0108] After this, the first measurement step (downward measurement: STEP 2) described above is carried out, and the distance to the groove wall is measured at four points in a plan view (P t8 ~P t11 ) are simultaneously measured. Measurement ends when the sensor unit 20 reaches the vicinity of the bottom of the ditch. The wall distance information detected by the sensor unit 20 is stored in the recorder 40 in association with the depth information, and is also input from the output unit 41 of the recorder 40 to the management support device 90 via the input unit 91.

[0109] In this way, two points (P t4 , P t8 After measuring the distance to the trench wall, including the corner of the trench T, the rotating platform 50 is moved to the vicinity of the other end of the underground trench T, the lifting mechanism 30 is installed, and the above-mentioned operation is repeated.

[0110] In any of the above measurement processes, when the wall distance information is input to the management support device 90, the calculation processing unit 93 receives a command from the distance information acquisition unit 934, links the wall distance information with the unit side rotation angle information detected by the unit side rotation angle detector 72, and calculates the distances from 11 planar view points (P t1 ~P t11) is obtained as the trench wall distance to the underground trench T. Since these trench wall distances are associated with depth information, it is possible to represent the trench wall of the underground trench T in a 3D model, just like with the underground borehole H, and it is also possible to calculate the volume of the underground trench T.

[0111] In this way, wall distance information to the trench wall of the underground trench T can be obtained at multiple points, including the four corners, making it possible to estimate the trench wall shape with high accuracy. If the distance measurement to the trench wall is insufficient in the middle part of the underground trench T in a plan view, the rotating platform 50 and wall surface measuring device 10 can be moved to the middle part of the underground trench T and the distance to the wall surface can be measured using the same procedure. [Explanation of symbols]

[0112] 100 Wall Shape Estimation System 10 Wall surface measurement device 20 Sensor Unit 21 Measurement sensors 22 Storage case 23 First Hanging Balance 30 Lifting mechanism 31 Wire winch 32 Cable winch 33 Storage Frame 34 wires 35 Electrical Cable 36 Second Hanging Balance 40 Recorder 50 Rotating stand 51 Rotating Table 52 Table Support 60 Underwater rotation mechanism 61 frames 62 Swivel drive unit 63 Flywheel unit 631 Flywheel 632 Rotating Axis 633 Flywheel Motor 64 Gimbal Unit 641 Gimbal 642 Spindle 643 Gimbal motor 65 Swivel control section 71 Lifting side rotation angle detector 72 Unit side rotation angle detector 80 Underwater Radio System 81 Unit side communication section 811 Irradiation unit 812 Light receiving section 813 Optical communication control unit 82 Lifting side communication unit 821 Irradiation unit 822 Light receiving part 823 Optical communication control unit 90 Management support equipment 91 Input section 92 Output section 93 Processing Unit 931 Rotation information acquisition unit 932 Deviation calculation unit 933 Operation command section 934 Distance information acquisition unit 935 Volume Calculation Unit 936 Equipment Management Department 94 Memory section 200 Terminal Device 300 display device H underground hole T Underground trench T L center line W stabilizer C Casing pipe Ch axis A' moment axis M gyro moment

Claims

1. a wall surface measurement device including a sensor unit that is inserted into a liquid that fills an underground hole or an underground trench and measures the distance to a wall surface, and a lifting mechanism that lifts the sensor unit via a wire; a rotating stand on which the lifting mechanism is placed and which rotates the lifting mechanism around a vertical axis; a lifting-side rotation angle detector that detects a rotation angle of the lifting mechanism; A wall surface shape estimation system comprising:

2. The wall surface shape estimation system according to claim 1, a management support device that supports the management of the wall distance measurement work performed by the wall surface measurement device; The management support device a distance information acquisition unit that acquires wall distance information detected by the sensor unit; A wall surface shape estimation system comprising a rotation information acquisition unit that acquires lifting-side rotation angle information detected by the lifting-side rotation angle detector.

3. 3. The wall surface shape estimation system according to claim 2, a unit-side rotation angle detector that detects a rotation angle of the sensor unit about a vertical axis; The management support device The wall surface shape estimation system, wherein the rotation information acquisition unit acquires unit side rotation angle information detected by the unit side rotation angle detector.

4. The wall surface shape estimation system according to claim 3, an underwater rotation mechanism that rotates the sensor unit in water; The management support device A wall shape estimation system characterized by having an operation command unit that issues an operation command to the underwater rotation mechanism to control the rotation of the sensor unit based on the lifting side rotation angle information and the unit side rotation angle information.

5. The wall surface shape estimation system according to claim 3, The management support device includes: A wall shape estimation management system characterized by having a volume calculation unit that calculates the volume of the underground hole or underground trench based on the lifting side rotation angle information or the unit side rotation angle information, the wall distance information, and the depth information from which the wall distance information was obtained.

6. The wall surface shape estimation system according to claim 3, A wall shape estimation system comprising an underwater wireless system that receives the unit side rotation angle information and inputs it into the management support device.

7. A method for estimating the wall shape of an underground hole or an underground trench using the wall shape estimation system according to claim 1, A method for estimating the wall shape of an underground borehole, characterized in that the lifting mechanism is rotated using the rotating stand to rotate the sensor unit around a vertical axis and move it in the depth direction, while measuring the distance to the wall.

8. A method for estimating the wall shape of an underground borehole using the wall shape estimation system according to claim 3, comprising: a first measurement step of measuring a distance to a wall surface while moving the sensor unit in one direction in the depth direction; a direction changing step of rotating the lifting mechanism by a predetermined amount around a vertical axis to rotate the sensor unit and change the direction of measuring the distance to a wall surface; a second measurement step of measuring a distance to a wall surface while moving the sensor unit in another direction in the depth direction after the direction change step is performed; A method for estimating the wall shape of an underground borehole, comprising:

9. The method for estimating the wall shape of an underground borehole according to claim 8, A method for estimating the wall shape of an underground hole, characterized in that, after rotating the sensor unit in the direction change process, if the rotation angle deviation calculated based on the lifting side rotation angle information and the unit side rotation angle information exceeds an allowable error, the sensor unit is rotated around a vertical axis using an underwater rotation mechanism so as to bring it within the allowable error range.

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