Tunnel construction management device

Abstract

A construction management device that can suitably manage tunnel construction work is provided. [Solution] The tunnel construction management device 1 disclosed herein comprises a processor 303, a storage device 302, a network interface board 301, a 3D laser scanner 200 that acquires three-dimensional coordinates of the shape of a predetermined construction location of a tunnel 10, and a projector 100 that projects measurement information onto the construction location. The storage device 302 stores tunnel design data and the three-dimensional coordinates acquired by the 3D laser scanner 200 and input via the network interface board 301, and the processor 303 calculates measurement information for the construction location based on the design data and three-dimensional coordinates stored in the storage device 302.

Description

[Technical Field]

[0001] The present invention relates to a tunnel construction management device that manages tunnel construction by projecting surveying information onto the tunnel. [Background technology]

[0002] Generally, in tunnel excavation work, after blasting, the ground is inspected, and then support work, primary lining (spraying concrete onto the tunnel face), and rock bolts are installed.

[0003] When checking the ground, if the hit points are confirmed and judged by human eyes, the worker must perform the checking work directly below the mirror surface (face), which can pose a risk of skin slippage. Therefore, technology has been developed to project markers showing insufficient excavation areas directly onto the face so that workers can easily recognize them.

[0004] For example, Patent Document 1 discloses an excavation support system that detects areas of insufficient excavation from the difference between the face shape at the time of measurement and the pre-recorded design face shape, and projects and displays a marker indicating the area of ​​insufficient excavation directly onto the face. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 2019-15040 Summary of the Invention [Problem to be solved by the invention]

[0006] During tunnel excavation work, steel arch supports are sometimes installed at predetermined intervals (for example, every 1 meter) as the tunnel is excavated. When installing the steel arch supports, if the alignment checks are not performed properly, it may be impossible to install the supports. Therefore, during tunnel excavation work, proper construction management of the tunnel face, such as alignment checks, is required. Furthermore, during tunnel construction, an inverted concrete wall, known as an invert, may also be installed at the bottom of the tunnel.

[0007] While there is a risk of skin-drop injuries when workers check for impacts directly below the mirror surface (face), the technology described in Patent Document 1 allows for relatively easy identification of impacts directly below the mirror surface (face) without relying on human visual inspection. This may suggest that work related to checking for impacts at the tunnel face can be appropriately managed. However, this technology is not capable of accurately detecting impacts. Furthermore, invert excavation involves a series of tasks, including rock excavation, shaping the excavation surface, and excavation work, performed using heavy machinery. When checking the finished shape, heavy machinery operations must be temporarily suspended so that workers can enter the excavation area to take measurements. However, frequent measurements are required on the finished surface, placing a heavy burden on workers and increasing the risk of serious injury due to contact with heavy machinery, as well as time loss due to interruptions to excavation work.

[0008] An object of the present disclosure is to provide a technology that enables construction management of tunnel construction to be carried out in an optimal manner. [Means for solving the problem]

[0009] The tunnel construction management device disclosed herein is a device that manages tunnel construction by projecting surveying information for the tunnel construction onto the tunnel. The tunnel construction management device includes a processor that executes arithmetic processing, a storage device that stores data used by the processor, a network interface board for connecting to a network, a 3D laser scanner that acquires three-dimensional coordinates of the shape of a predetermined construction location of the tunnel, and a projection device that projects the surveying information onto the construction location. The storage device stores design data for the tunnel and the three-dimensional coordinates acquired by the 3D laser scanner and input via the network interface board. The processor calculates the surveying information for the construction location based on the design data and the three-dimensional coordinates stored in the storage device.

[0010] In the tunnel construction management device described above, measurement information (amount of unevenness) at construction sites such as the invert excavation surface and the invert concrete pouring surface can be projection-mapped onto the construction site as, for example, RGB color. Then, for example, during invert excavation, a heavy equipment operator can check the design surface from the projection-mapped color gradation, eliminating the need for workers to perform measurement work and entering the heavy equipment work area. Furthermore, for example, during concrete pouring, a worker can use the projection-mapped color gradation to level the concrete crown with a radius of curvature, eliminating the need for concrete crown height markers, and saving the time required for setting markers and surveying.

[0011] In the tunnel construction construction management device disclosed herein, the construction location is the invert excavation surface of the tunnel. In this case, the processor transforms the three-dimensional coordinates into a center line segment coordinate system with the center line of the tunnel as the y-axis, the vertical direction of the tunnel as the z-axis, and the direction perpendicular to the plane defined by these two axes as the x-axis, and calculates the amount of unevenness of the construction location with respect to the design excavation cross section of the construction location defined by the design data based on the coordinates transformed from the three-dimensional coordinates into the center line segment coordinate system. Also, the construction location is the invert concrete pouring surface of the tunnel. In this case, the processor transforms the three-dimensional coordinates into a center line segment coordinate system with the center line of the tunnel as the y-axis, the vertical direction of the tunnel as the z-axis, and the direction perpendicular to the plane defined by these two axes as the x-axis, and calculates the amount of unevenness of the construction location with respect to the design pouring surface of the construction location defined by the design data based on the coordinates transformed from the three-dimensional coordinates into the center line segment coordinate system. [Effects of the Invention]

[0012] According to the present disclosure, construction management of tunnel construction can be carried out in an optimal manner. [Brief explanation of the drawings]

[0013] [Figure 1] 1 is a diagram showing a schematic configuration of a construction management device in a first embodiment. [Figure 2] FIG. 2 is a diagram illustrating an example of the flow of operations of the construction management device in the first embodiment. [Figure 3] FIG. 10 is a diagram for explaining the amount of unevenness of the invert excavation surface. [Figure 4] 10A and 10B are diagrams illustrating examples of methods for calculating the amount of unevenness, a method based on the z coordinate and a method based on the coordinate in the normal direction. [Figure 5] FIG. 10 is a diagram for explaining the RGB colors of projection mapping projected onto an inverted excavation surface by a projector. [Figure 6]This is a diagram to explain the RGB colors of projection mapping projected onto an invert concrete pouring surface by a projector. DETAILED DESCRIPTION OF THE INVENTION

[0014] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. The configurations of the following embodiments are examples, and the present disclosure is not limited to the configurations of the embodiments.

[0015] First Embodiment An overview of the tunnel construction construction management device in the first embodiment will be described with reference to Fig. 1. Fig. 1 is a diagram showing the schematic configuration of the tunnel construction construction management device in this embodiment. The construction management device 1 in this embodiment is a device that projects information necessary for a rough measurement onto the invert excavation face 20 of a tunnel 10, and includes a projector 100, a 3D laser scanner 200, and an information processing device 300.

[0016] The projector 100 is a projection device that projects information necessary for determining the hit of the inverted excavation surface 20, and is a device for projection mapping the information using the colors of image light. The information necessary for determining the hit of the inverted excavation surface 20 is input from the information processing device 300.

[0017] The 3D laser scanner 200 is a device that acquires three-dimensional coordinates of the shape of the invert excavation surface 20 as current data, and is a LiDAR scanner that performs laser scanning on the invert excavation surface 20. The 3D point cloud data (three-dimensional coordinates) acquired by the 3D laser scanner 200 is transmitted to the information processing device 300.

[0018] The information processing device 300 executes predetermined processing based on the design data of the tunnel 10 and the three-dimensional coordinates of the shape of the invert excavation surface 20. The information processing device 300 may be any electronic device, such as a computer, capable of performing arithmetic and processing operations, such as data acquisition, generation, and updating. That is, the information processing device 300 may be configured as a computer having a processor such as a CPU or GPU, a main memory device such as RAM or ROM, and an auxiliary memory device such as an EPROM, a hard disk drive, or removable media. The removable media may be, for example, a USB memory or a disc recording medium such as a CD or DVD. The auxiliary memory device stores an operating system (OS), various programs, various tables, and the like. The information processing device 300 may use software as a service (SaaS), platform as a service (PaaS), or infrastructure as a service (IaaS) provided by a cloud server, as appropriate, without providing dedicated software, hardware, or an OS for the construction management device 1 according to this embodiment.

[0019] The information processing device 300 has a network interface board 301, a memory device 302, and a processor 303, and loads a program stored in the auxiliary memory device into the working area of ​​the main memory device and executes it.By controlling each device through the execution of the program, it is possible to realize functions that match the specified purpose of each device.

[0020] Here, the network interface board 301 is a communication interface for connecting the information processing device 300 to various devices, and the information processing device 300 is connected to the projector 100 and the 3D laser scanner 200 via the network interface board 301 so as to be able to communicate with them.

[0021] The storage device 302 is configured to include a main storage device and an auxiliary storage device. The main storage device is a memory in which the programs executed by the processor 303 and the data used by the control programs are deployed. The auxiliary storage device is a device in which the programs executed by the processor 303 and the data used by the control programs are stored. The storage device 302 stores design data for the tunnel 10 and three-dimensional coordinates of the shape of the invert excavation surface 20. The information processing device 300 can acquire three-dimensional coordinates transmitted from the 3D laser scanner 200 via the network interface board 301.

[0022] The processor 303 is a device that controls the processing performed by the information processing device 300. The processor 303 can be realized by an arithmetic processing device such as a CPU.

[0023] Here, the processor 303 converts the three-dimensional coordinates acquired by the 3D laser scanner 200 into a central line segment coordinate system in which the center line of the tunnel 10 is the y-axis, the vertical direction of the tunnel 10 is the z-axis, and the perpendicular direction of the plane defined by these two axes is the x-axis.

[0024] Furthermore, the processor 303 calculates the amount of unevenness relative to the design excavation cross section of the invert excavation surface of the tunnel 10 based on the coordinates obtained by converting the above three-dimensional coordinates into the center line segment coordinate system. Here, the above design excavation cross section is defined by the design data of the tunnel 10 stored in the memory device 302, and represents the design excavation cross section of the tunnel 10 that corresponds to the invert excavation surface 20 of the current tunnel.

[0025] Next, the flow of operations of the construction management device 1 in this embodiment will be described. Fig. 2 is a diagram illustrating the flow of operations of the construction management device 1 in this embodiment. Fig. 2 explains the flow of operations between the information processing device 300, the projector 100, and the 3D laser scanner 200 in the construction management device 1 in this embodiment, and the processes executed by these.

[0026] In this embodiment, first, the information processing device 300 acquires design data (S101). Here, the design data is data including information about the design excavation cross section of the tunnel 10, information about the centerline coordinates of the tunnel 10 (for example, coordinate values ​​at 1 m intervals), and the target excavation distance to each design excavation cross section, and is input to the information processing device 300 and stored in the storage device 302 in advance.

[0027] Then, the information processing device 300 acquires the survey coordinates (S102). Here, the survey coordinates are the coordinates of the projector 100 and the 3D laser scanner 200 placed at a predetermined position in the tunnel 10 (for example, 10 to 15 m from the tunnel face), and are expressed in national coordinates (a plane rectangular coordinate system in which the height direction is the altitude). Note that such coordinates can be measured using the well-known prism method. Then, the surveyed data (survey coordinates) are input to the information processing device 300 and stored in the storage device 302.

[0028] Next, the 3D laser scanner 200 measures the three-dimensional coordinates of the shape of the invert excavation surface 20 (S103). Then, the measured three-dimensional coordinates are transmitted to the information processing device 300 by wireless or wired communication.

[0029] Then, the information processing device 300 acquires the three-dimensional coordinates transmitted from the 3D laser scanner 200 (S104). At this time, the information processing device 300 can define the above three-dimensional coordinates in terms of national coordinates based on the measurement coordinates acquired in the process of S102 and the position and orientation of the 3D laser scanner 200 that has been calibrated in advance.

[0030] Furthermore, the information processing device 300 may define the above three-dimensional coordinates by thinning out the point cloud data of the inverted excavation surface 20. In this case, the point cloud data measured by the 3D laser scanner 200 is thinned out based on the number of pixels of the liquid crystal of the projector 100.

[0031] Specifically, the information processing device 300 first converts the three-dimensional coordinates defined in the national coordinate system as described above into the coordinate system of the projector 100 body (a three-dimensional coordinate system with the center of the lens of the projector 100 as the origin). The converted coordinates are then further converted into the coordinate system of the projector 100 image (a two-dimensional coordinate system representing positions within the liquid crystal panel of the projector 100). Based on the number of pixels of the liquid crystal of the projector 100, the converted coordinates can be thinned to the number of pixels of the liquid crystal of the projector 100, for example, so that there is one point per pixel of the liquid crystal of the projector 100. The three-dimensional coordinates may then be defined by converting these coordinates back into national coordinates. This allows the processing from S105 onward to be performed using the number of data corresponding to the resolution at which projection mapping by the projector 100 is possible, thereby improving the processing speed of the construction management device 1.

[0032] Next, the information processing device 300 converts the above three-dimensional coordinates defined by the national coordinate system into a center line segment coordinate system (S105). Here, the center line segment coordinate system is a coordinate system in which the center line of the tunnel 10 is the y-axis, the vertical direction of the tunnel 10 is the z-axis, and the direction perpendicular to the plane defined by these two axes is the x-axis, and the origin is the design excavation cross section of the invert excavation face 20. Since the storage device 302 of the information processing device 300 stores information on the design excavation cross section of the tunnel 10 and information on the center line coordinates of the tunnel 10 as design data in national coordinates, the information processing device 300 can perform the above coordinate conversion using this information.

[0033] Then, the information processing device 300 calculates the amount of unevenness of the invert excavation surface 20 based on the z coordinate obtained by converting the above three-dimensional coordinate into the center line segment coordinate system (S106). The amount of unevenness of the invert excavation surface 20 will be described below based on FIG. 3.

[0034] Figure 3 is a diagram for explaining the amount of unevenness of the invert excavation surface 20. Figure 3(a) shows the relationship between the center line of the tunnel 10 and the center line segment coordinate system, and Figure 3(b) is a diagram showing the yz cross section of Figure 3(a), and is a diagram for explaining the amount of unevenness with respect to the design excavation cross section corresponding to the invert excavation surface 20.

[0035] As shown in Figure 3(b), based on the z coordinate obtained by converting the above three-dimensional coordinates into the center line segment coordinate system, if the z coordinate is positive, its absolute value is defined as the amount of convexity of the invert excavation surface 20, and if the z coordinate is negative, its absolute value is defined as the amount of concavity of the invert excavation surface 20. In this way, the information processing device 300 calculates the amount of concavity and convexity of the invert excavation surface 20. In this way, according to the method of calculating the amount of concavity and convexity of the invert excavation surface 20 based on the z coordinate obtained by converting the above three-dimensional coordinates into the center line segment coordinate system, the amount of concavity and convexity can be calculated easily.

[0036] The amount of unevenness of the inverted excavation surface 20 can also be calculated based on coordinates in the normal direction of the design excavation cross section. Here, Fig. 4 is a diagram illustrating examples of methods for calculating the amount of unevenness, a method based on z coordinates and a method based on coordinates in the normal direction. The method of calculating the amount of unevenness of the inverted excavation surface 20 based on coordinates in the normal direction of the design excavation cross section allows for more accurate calculation of the amount of unevenness.

[0037] The unevenness amount of the inverted excavation surface 20 calculated by the information processing device 300 is transmitted to the projector 100. At this time, the information processing device 300 sets an RGB color to be assigned based on the calculated unevenness amount (details will be explained based on FIG. 4(a) to be described later), and transmits information including the RGB color to the projector 100.

[0038] 2, the projector 100 acquires the above information transmitted from the information processing device 300 (S107) and performs projection mapping onto the inverted excavation surface 20 (S108). This will be described below with reference to FIG.

[0039] 4 is a diagram for explaining the RGB colors of the projection mapping projected onto the inverted excavation surface 20 by the projector 100. Fig. 4(a) shows the RGB colors assigned according to the amount of unevenness of the inverted excavation surface 20, and Fig. 4(b) is a diagram illustrating the projection mapping projected onto the inverted excavation surface 20.

[0040] As shown in Fig. 4(a), if the amount of unevenness calculated in the process of S106 is equal to or greater than a predetermined set amount of convexity, the RGB color is assigned red, if it is equal to or greater than the predetermined set amount of concavity, the RGB color is assigned blue, and if it is within the range of these set amounts, a hue from red to blue is assigned. Then, as shown in Fig. 4(b), the RGB colors assigned in this way are projection mapped onto the inverted excavation surface 20 by the projector 100.

[0041] According to the above-described process, during invert excavation, the heavy equipment operator can check the design surface from the projection-mapped color gradation, eliminating the need for workers to take measurements and entering the heavy equipment work area, thereby improving construction efficiency.

[0042] The projector 100 and the 3D laser scanner 200, whose positions are measured in the process of S102 in Fig. 2, may be arranged on a vehicle. In this case, the vehicle on which the projector 100 and the 3D laser scanner 200 are arranged is stopped as a tool cart at a predetermined position in the tunnel 10 (for example, a position 10 to 15 m from the tunnel face), and the coordinates of the projector 100 and the 3D laser scanner 200 are measured.

[0043] In this way, according to the construction management device 1 of this embodiment, construction management of tunnel construction can be suitably carried out.

[0044] Second Embodiment The second embodiment will be described with reference to Fig. 5. The construction management device 1 according to this embodiment is a device that projects information relating to an excess or shortage of concrete onto an invert concrete pouring surface 30 of a tunnel 10.

[0045] In this embodiment, the processor 303 calculates the amount of unevenness of the invert concrete pouring surface of the tunnel 10 relative to the design pouring surface, based on the z coordinate obtained by converting the three-dimensional coordinates of the invert concrete pouring surface 30 acquired by the 3D laser scanner 200 into a center line segment coordinate system. As described in the above description of the first embodiment, the amount of unevenness of the invert concrete pouring surface of the tunnel 10 relative to the design pouring surface can also be calculated based on the coordinates in the normal direction of the design pouring surface. Here, the above design pouring surface is defined by the design data of the tunnel 10 stored in the storage device 302, and represents the design pouring surface of the tunnel 10 that corresponds to the invert concrete pouring surface 30 of the current tunnel 10.

[0046] Here, Fig. 5 is a diagram for explaining the RGB colors of the projection mapping projected onto the invert concrete pouring surface 30 by the projector 100. Fig. 5(a) shows the RGB colors assigned according to the amount of unevenness of the invert concrete pouring surface 30, and Fig. 5(b) is a diagram illustrating the projection mapping projected onto the invert concrete pouring surface 30.

[0047] As shown in Figure 5(a), if the unevenness calculated by processor 303 is equal to or greater than a predetermined set amount of convexity, red is assigned to the RGB color; if the unevenness is equal to or greater than the predetermined set amount of concavity, blue is assigned to the RGB color; and if it is within the range of these set amounts, a hue between red and blue is assigned. Then, as shown in Figure 5(b), the RGB colors assigned in this way are projection mapped onto invert concrete pouring surface 30 by projector 100. In Figure 5(b), areas where the RGB color is red represent a state in which there is an excess of concrete on invert concrete pouring surface 30, and areas where the RGB color is blue represent a state in which there is an insufficient amount of concrete on invert concrete pouring surface 30.

[0048] According to the process described above, when pouring concrete, workers can use the projection-mapped color gradation to even out the surface of the concrete top edge with the radius of curvature, eliminating the need for concrete top edge height markers and saving the time required for setting markers and surveying. This improves the accuracy of the finished product and improves work efficiency.

[0049] The construction management device 1 described above also makes it possible to appropriately manage the construction of tunnel construction.

[0050] <Other variations> The above-described embodiment is merely an example, and the present disclosure may be modified as appropriate within the scope of the present disclosure. For example, the processes and means described in the present disclosure may be freely combined and implemented as long as no technical contradiction occurs. [Explanation of symbols]

[0051] 1. Tunnel construction management device 10. Tunnel 20. Invert excavation surface 30 Invert concrete pouring surface 100···Projector 200···3D laser scanner 300 Information processing device 301 Network Interface Board 302...Storage device 303 Processor

Claims

1. A tunnel construction management device for managing tunnel construction by projecting survey information in tunnel construction onto the tunnel, a processor for executing arithmetic processing; a storage device in which data used by the processor is stored; a network interface board for connecting to a network; a 3D laser scanner for acquiring three-dimensional coordinates of the shape of a predetermined construction point of the tunnel; a projection device that projects the measurement information onto the construction site; Equipped with The storage device stores design data of the tunnel and the three-dimensional coordinates acquired by the 3D laser scanner and input via the network interface board, The processor calculates the measurement information of the construction site based on the design data and the three-dimensional coordinates stored in the storage device. Construction management device for tunnel construction.

2. The construction site is an invert excavation surface of the tunnel, The processor: The three-dimensional coordinates are transformed into a center line coordinate system in which the center line of the tunnel is the y-axis, the vertical direction of the tunnel is the z-axis, and the perpendicular direction of the plane defined by these two axes is the x-axis, and based on the coordinates transformed from the three-dimensional coordinates into the center line coordinate system, the unevenness of the construction location relative to the design excavation cross section of the construction location defined by the design data is calculated. A tunnel construction management device according to claim 1.

3. The construction site is an invert concrete pouring surface of the tunnel, The processor: The three-dimensional coordinates are transformed into a center line coordinate system in which the center line of the tunnel is the y-axis, the vertical direction of the tunnel is the z-axis, and the perpendicular direction of the plane defined by these two axes is the x-axis, and based on the coordinates transformed from the three-dimensional coordinates into the center line coordinate system, the unevenness of the construction location relative to the design pouring surface of the construction location defined by the design data is calculated. A tunnel construction management device according to claim 1.

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