Tunnel soundness assessment device and inspection support system

Abstract

To provide a tunnel soundness determination device capable of automatically determining uniform soundness in consideration of deformation peculiar to tunnels, and an inspection support system equipped with the device.SOLUTION: A tunnel soundness determination device 1 determines soundness by inspecting an inner peripheral surface of a tunnel. The tunnel soundness determination device includes: an image acquisition unit 31 that acquires an image of the inner peripheral surface of the tunnel; a crack detection unit 33 that detects cracks based on the image; a crack pattern determination unit 34 that determines patterns of the cracks; a water leakage detection unit 35 that detects a water leakage situation; a rebar exposure detection unit 36 that detects a rebar exposure situation; a primary determination processing unit 37 that performs primary determination based on a detection result of the crack detection unit; and a secondary determination processing unit 38 that determines soundness by adjusting a result of the primary determination processing unit based on results of the crack pattern determination unit, the water leakage detection unit, and the rebar exposure detection unit.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a tunnel soundness determination device that determines the soundness of a tunnel by inspecting the inner surface of the tunnel, and an inspection support system equipped with the same. [Background technology]

[0002] In railway tunnels, inspections are carried out based on maintenance standards such as "Railway Structure Maintenance Standards and Commentary (Structures Edition) Tunnels" (Railway Technical Research Institute, February 2007), and measures are taken to extend their lifespan. Railway tunnels are about twice as old as road tunnels, and the railway sector is ahead of the others in systematizing inspections.

[0003] On the other hand, regular general inspections of tunnels such as railway tunnels and road tunnels involve checking the current situation on-site, extracting any abnormalities such as cracks or spalling, and judging the soundness based on the inspection data, after which any areas requiring caution are re-inspected.

[0004] As disclosed in Patent Document 1, a tunnel integrity assessment system has been developed that creates an electronic deformation diagram from crack information extracted from image information or input by an inspector, and assesses the integrity of the tunnel against spalling.

[0005] Patent Document 2 discloses an inspection support device for concrete structures that improves the estimation accuracy when identifying the cause of deterioration based on image data of the concrete structure to be inspected. This document also discloses an evaluation category for the degree of damage related to cracks in concrete slabs.

[0006] Furthermore, Patent Document 3 discloses a work support device that can measure the structure inside an aisle using a measurement unit and can irradiate light indicating a work area using an illumination unit to a corrected work position corrected using the measurement results from the measurement unit. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] JP 2005-207044 A [Patent Document 2] JP 2016-65809 A [Patent Document 3] JP 2021-42073 A Summary of the Invention [Problem to be solved by the invention]

[0008] However, although there is known technology for extracting cracks through image analysis, as disclosed in Patent Documents 1 and 2, the soundness of a tunnel is not judged solely by the cracks, and the evaluation results of the soundness are affected by factors such as the crack pattern and the degree of progress of the leakage.

[0009] In addition, while the types of cracks do not vary significantly depending on the type of concrete structure, such as the deck, building, or tunnel lining, the crack patterns, water leakage conditions, exposed rebar conditions, and other abnormalities have shapes and colors that are unique to tunnels. For this reason, traditionally, skilled engineers (inspectors) have judged the soundness of tunnels by taking into consideration each individual abnormality comprehensively, but there is variation depending on the inspector.

[0010] Therefore, an object of the present invention is to provide a tunnel soundness assessment device that can automatically perform a uniform assessment of soundness taking into account deformations specific to tunnels, and an inspection support system equipped with the same. [Means for solving the problem]

[0011] In order to achieve the above-mentioned object, the tunnel soundness determination device of the present invention is a tunnel soundness determination device that determines the soundness by inspecting the inner surface of a tunnel, and is characterized in that it includes an image acquisition unit that acquires an image of the inner surface of the tunnel, a crack detection unit that detects cracks based on the image, a crack pattern determination unit that determines the pattern of cracks detected by the crack detection unit, a water leakage detection unit that detects a water leakage situation based on the image, a rebar exposure detection unit that detects a rebar exposure situation based on the image, a primary determination processing unit that makes a primary determination based on the detection result of the crack detection unit, and a secondary determination processing unit that determines the soundness by adjusting the result of the primary determination processing unit based on the results of the crack pattern determination unit, the water leakage detection unit, and the rebar exposure detection unit.

[0012] Here, the system may be configured to include a pre-processing unit that performs a digitalization process on the image acquired by the image acquisition unit. The adjustment by the secondary judgment processing unit may be performed by performing a weighting process on the result of the primary judgment processing unit, obtained from the results of the crack pattern judgment unit, the water leakage detection unit, and the exposed rebar detection unit. Furthermore, the system may be configured to include a mesh conversion unit that applies the soundness judgment result by the secondary judgment processing unit to a divided area of ​​the inner circumferential surface of the tunnel.

[0013] The present invention provides an inspection support system comprising any one of the tunnel soundness determination devices described above, and a projection device that projects the determination result of the soundness by the secondary determination processing unit onto the inner circumferential surface of the tunnel, the projection device comprising a projection unit, a travel unit that mounts the projection unit and moves it in the extension direction of the tunnel, an attitude control unit that controls the attitude of the projection unit, and an output adjustment unit that adjusts the output of the projection unit in accordance with the shape of the inner circumferential surface of the tunnel. Here, the projection device may be configured to include a shape measurement unit that measures the shape of the inner circumferential surface of the tunnel. Effect of the Invention

[0014] The tunnel soundness assessment device of the present invention, configured in this manner, not only comprises a crack detection unit that detects cracks, but also a crack pattern assessment unit that determines the crack pattern, a water leakage detection unit that detects water leakage conditions, and a rebar exposure detection unit that detects rebar exposure conditions.

[0015] Then, the results of the primary judgment, which is based on the detection results of the crack detection unit, are adjusted based on the results of the crack pattern judgment unit, the water leakage detection unit, and the rebar exposure detection unit, and the secondary judgment processing unit judges the soundness.

[0016] Therefore, it is possible to automatically perform a uniform assessment of soundness that takes into account tunnel-specific abnormalities such as crack patterns, water leakage conditions, and exposed rebar conditions. Here, the detection of crack patterns, water leakage conditions, and exposed rebar conditions can be performed efficiently by using the processing results of a pre-processing unit that digitizes images when detecting cracks from images.

[0017] Furthermore, if the adjustment by the secondary judgment processing unit is processed using weighting obtained from the results of the crack pattern judgment unit, water leakage detection unit, and rebar exposure detection unit, a more rational and comprehensive judgment can be made with high accuracy.

[0018] Furthermore, if the system is equipped with a mesh conversion section that applies the results of the soundness assessment made by the secondary assessment processing section to the divided areas of the tunnel's inner surface, it will be easier to identify areas that require re-inspection, such as areas requiring caution after the soundness assessment, and it will be possible to carry out re-inspection work efficiently.

[0019] The invention of the inspection support system also includes a projection device that can project the results of the tunnel soundness assessment made by the tunnel soundness assessment device onto an appropriate location on the inner circumference of the tunnel. This makes it possible to efficiently carry out re-inspection work that must be done in a short time, such as after train operations have ended, with a small number of inspectors.

[0020] Furthermore, if the projection device is equipped with a shape measurement unit that measures the shape of the tunnel's inner surface, the health assessment result can be projected at an appropriate position on the inner surface even in cases where the tunnel's inner surface has a shape that deviates from a standard cross-section or where the positional relationship between the projection device and the tunnel's inner surface changes depending on the position in the direction of the tunnel's extension. [Brief description of the drawings]

[0021] [Figure 1] 1 is a block diagram illustrating an overall configuration of an inspection support system according to an embodiment of the present invention. [Diagram 2] 4 is a flowchart illustrating a process flow of the inspection support system according to the present embodiment. [Diagram 3] FIG. 11 is an explanatory diagram showing an example of a crack detection situation. [Figure 4] 1A and 1B are diagrams illustrating crack patterns, where (a) is an illustration of closure and (b) is an illustration of intersection and parallel. [Diagram 5] FIG. 1 is a diagram illustrating an example of exposed rebar conditions, where (a) is an overall view of a box culvert-type tunnel, and (b) is an explanatory diagram showing an enlarged view of an exposed rebar area. [Figure 6] FIG. 11 is an explanatory diagram showing an example of weighting of anomalies used in the secondary determination process. [Figure 7] This is an explanatory diagram showing an example in which the results of a primary judgment made based on the crack detection results are corrected by weighting based on other abnormalities. [Figure 8] 11 is an explanatory diagram showing an example of an image screen on which a captured image and a result of a health level determination are displayed as an image, and a mesh screen on which the result of the health level determination is displayed; FIG. [Figure 9] FIG. 2 is a perspective view illustrating a configuration of a projection device. [Figure 10] 10A and 10B are diagrams for explaining the operation of the projection device, in which (a) is an explanatory diagram during tilt adjustment, (b) is an explanatory diagram during surveying of the inner periphery of a tunnel, and (c) is an explanatory diagram during projection. [Figure 11]These are diagrams explaining the re-inspection work using a projection device, where (a) is an explanatory diagram at the starting point of the re-inspection, (b) is an explanatory diagram during movement and projection, (c) is an explanatory diagram during position adjustment in the tunnel extension direction, and (d) is an explanatory diagram of movement and projection after inspection is resumed. [Figure 12] 1 is a perspective view illustrating a situation in which a projection device projects a result of a soundness assessment onto the inner circumferential surface of a tunnel. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Fig. 1 is a block diagram illustrating the overall configuration of an inspection support system 1 according to the present embodiment. Fig. 2 is a flowchart illustrating the flow of processing by the inspection support system 1 according to the present embodiment.

[0023] The inspection support system 1 of this embodiment is a system for inspecting an inner circumferential surface T1 (see FIG. 3, FIG. 4(a), etc.) formed by a lining of a tunnel T such as a railway tunnel or a road tunnel. In short, it is a system for supporting work associated with tunnel maintenance such as a general inspection, in which the soundness is determined by inspecting the inner circumferential surface T1 of a concrete structure such as a lining constructed of reinforced concrete or unreinforced concrete.

[0024] As shown in Figure 1, the inspection support system 1 of this embodiment includes a judgment device 3 that serves as a tunnel soundness judgment device, and a projection device 6 that projects the soundness judgment result obtained by the judgment device 3 onto the inner surface T1 of the tunnel T.

[0025] The determination device 3 determines the soundness of the inner circumferential surface T1 of the tunnel T based on an image of the inner circumferential surface T1 of the tunnel T captured by the photographing device 2 or the like. The photographing device 2 can be an imaging device such as a digital camera, such as an area sensor camera or a line sensor camera. The images captured by the photographing device 2 are stored in a storage unit 21, such as a flash memory (such as an SD memory card), a hard disk, a magnetic disk, or an optical disk.

[0026] The determination device 3 captures and uses an image of the inner circumferential surface T1 of the tunnel T. Although Fig. 1 shows an example in which the determination device 3 and the photographing device 2 are connected, the storage unit 21 and the determination device 3 may be connected. For example, the determination device 3 can be caused to acquire image data each time photographing is performed by the photographing device 2, or the determination device 3 can be caused to acquire image data stored in the storage unit 21 regardless of the time of photographing.

[0027] The judgment device 3 of this embodiment includes an image acquisition unit 31 that acquires an image of the inner surface T1 of the tunnel T, an image data pre-processing unit 32, a crack detection unit 33 that detects cracks, a crack pattern judgment unit 34, a water leakage detection unit 35 that detects a water leakage condition, a rebar exposure detection unit 36 ​​that detects a rebar exposure condition, a primary judgment processing unit 37, and a secondary judgment processing unit 38 that judges the soundness.

[0028] In addition, a storage unit 5 serving as a storage medium for recording data generated by processing in the determination device 3 and data necessary for arithmetic processing is connected to the determination device 3. The storage unit 5 may be a hard disk, a solid state drive (SSD), a flash memory (such as an SD memory card), a magnetic disk, an optical disk, or the like. Also, a cloud server may be used as the storage unit 5.

[0029] A display device 4 such as a display is connected to the determination device 3. The determination device 3 and the display device 4 may be configured as a determination device 3 mounted on a personal computer or the like and a display device 4 such as a liquid crystal display connected thereto. The determination device 3 and the display device 4 may be integrated together, as in a notebook computer or tablet terminal.

[0030] The pre-processing unit 32 performs a digitalization process on the image acquired by the image acquiring unit 31. For example, by digitalizing RGB image data, detection data is generated for detecting cracks, leaking locations (leakage conditions), and exposed rebar locations (exposed rebar conditions).

[0031] The crack detection unit 33 detects cracks that have appeared on the inner surface T1 of the tunnel T from the data digitized by the pre-processing unit 32. Such a detector can be generated by machine learning such as deep learning (multi-layered neural network). In other words, a product generated by machine learning using high-quality training data can be used before being incorporated as a detector for the crack detection unit 33. Images of deformations in railway tunnels throughout Japan (approximately 10,000 or more images) can be used as high-quality training data.

[0032] The crack detection unit 33 obtains individual information such as the position, length, angle, and width of the cracks from the image data. The crack pattern determination unit 34 creates a development of the crack group using the crack information detected by the crack detection unit 33, and determines the pattern of the cracks that appear in the development.

[0033] The crack patterns will be described in detail later with reference to Figure 4, but there are patterns such as closed, intersecting, parallel, and cross-joint. The results generated by machine learning such as deep learning can also be used to determine this crack pattern.

[0034] The leakage detection unit 35 detects the leakage condition of the inner circumferential surface T1 of the tunnel T from the data digitized by the pre-processing unit 32. This detector can also use artifacts generated by machine learning such as deep learning. The leakage conditions to be determined are described in detail below with reference to FIG. 6, and include initial, efflorescence, rust, leakage traces, and the like.

[0035] The rebar exposure detection unit 36 ​​detects the state of rebar exposure on the inner circumferential surface T1 of the tunnel T from the data digitized by the preprocessing unit 32. This detector can also use artifacts generated by machine learning such as deep learning. The detected state of rebar exposure will be described in detail later with reference to FIG. 5, and includes the presence or absence of exposed rebar and the range of exposure.

[0036] The primary judgment processing unit 37 performs a primary judgment based on the detection result of the crack detection unit 33. Details will be described later with reference to Fig. 7, but by using the individual crack information obtained by the crack detection unit 33 to add up the width and length of the crack, the amount of cracks is quantified (TCI value).

[0037] Then, the quantified value of the number of cracks (TCI value) is compared with a threshold value set based on empirical values, etc., and the locations of cracks that should be noted when making the final assessment of soundness are output as the primary assessment result.

[0038] The secondary judgment processor 38 performs a final judgment of soundness by adjusting the result of the primary judgment by the primary judgment processor 37 based on the results of the crack pattern judgment unit 34, the water leakage detection unit 35, and the exposed rebar detection unit 36. As will be described in detail later, the results of the crack pattern judgment unit 34, the water leakage detection unit 35, and the exposed rebar detection unit 36 ​​are weighted to correct the judgment result of the primary judgment processor 37.

[0039] The soundness assessment result by the secondary assessment processing unit 38 is applied to the divided regions of the inner circumferential surface T1 of the tunnel T by the mesh conversion unit 39. As will be described in detail later, data to be projected by the projection device 6 is generated by the mesh conversion unit 39. The projection device 6 will be described in detail later.

[0040] 2 is a flowchart illustrating the flow of processing in the inspection support system 1 according to the present embodiment. Details will be described below in accordance with this flowchart with reference to examples in FIGS. 3 to 12.

[0041] First, in step S1, an image of the inner circumferential surface T1 of the tunnel T is acquired. The inner circumferential surface T1 of the tunnel T can be photographed by an imaging device 2 such as a digital camera and can be input to the determination device 3 in real time, or the image data can be temporarily stored in the storage unit 21 of the imaging device 2 and then input to the determination device 3. In addition, if the determination device 3 is incorporated in a tablet terminal equipped with a camera, the captured image can be simultaneously acquired by photographing with the camera.

[0042] The image data acquired by the image acquisition unit 31 of the determination device 3 is subjected to digitalization processing in the pre-processing unit 32 (step S2). For example, the RGB image data is converted into a four-dimensional array of R=256, G=256, B=256 pixels. The digitalized data becomes input data for the crack detection unit 33, the water leakage detection unit 35, and the rebar exposure detection unit 36.

[0043] In step S3, cracks are detected by the crack detection unit 33. When the digitized data is input to the crack detection unit 33, the detector automatically outputs information on each crack. The crack information includes data on the position on the inner circumferential surface T1 of the tunnel T, as well as data on the length, angle, and width of the crack.

[0044] The cracks automatically detected by the crack detection unit 33 have position information, and therefore can be outputted in a development diagram of the inner circumferential surface T1 of the tunnel T. FIG. 3 shows an example of the crack detection status displayed on the display device 4. In this figure, a plurality of detected crack lines K are displayed superimposed on a photographed image of the inner circumferential surface T1 of the tunnel T. The photographed image also includes the water leakage location W to be detected in step S32.

[0045] In step S31, the crack pattern determination unit 34 determines the crack pattern from the development of the crack group. FIG. 4 is a diagram for explaining the crack pattern. FIG. 4(a) illustrates an example of a state determined as a closed pattern. Closure includes a form in which an area surrounded by multiple crack lines K is formed, and a form in which an area surrounded by the construction joints of the lining of the tunnel T and multiple crack lines K is formed (joint spanning). When an inner circumferential surface T1 determined to be closed is subjected to a tapping test, a dull sound is generated, which can be distinguished from the surrounding areas where clear sounds are generated by a skilled inspector (skilled technician).

[0046] FIG. 4(b) is a diagram explaining the intersecting and parallel forms. Intersecting refers to a form in which multiple crack lines K cross each other in a cross shape, while parallel refers to a form in which adjacent crack lines K run side by side without crossing each other. It is also possible to extract crack lines K with a width of 3 mm or more and determine whether they are intersecting or parallel. Here, intersecting and parallel are determined as one pattern.

[0047] In step S32, the leakage detection unit 35 detects the leakage location and its state as the leakage situation. The leakage location W shown in FIG. 3 is judged as "rust present". Furthermore, the leakage location W where efflorescence appears is judged as "efflorescence present". In addition to this, the state of the leakage location W can be judged as "initial" or "leakage trace" as shown in FIG. 4(b) or FIG. 5(b).

[0048] In step S33, the rebar exposure detection unit 36 ​​detects the locations where the rebar is exposed as the rebar exposure status. Fig. 5 is an explanatory diagram showing an example of the exposure status of the rebar exposed location R. Fig. 5(a) illustrates an overall view of a box culvert type tunnel BT, and Fig. 5(b) shows an enlarged view of the rebar exposed location R that appears on the inner periphery BT1 of the upper corner portion. The position and length of the rebar exposed location R are stored as information.

[0049] The crack pattern, water leakage status, and rebar exposure status detected in steps S31 to S33 are used to adjust (correct) the results of the primary assessment process output in step S5, which will be described later. Fig. 6 is an explanatory diagram showing an example of weighting of the abnormalities used in the secondary assessment process.

[0050] As shown in the table in Figure 6, crack patterns are classified as "closed," "cross / parallel," "crossing joint," and "none." Meanwhile, leakage conditions are classified as "leakage trace," "rust," "efflorescence," "initial stage," and "none." As for the exposed rebar conditions, the weights can be changed between "exposed rebar" and "not exposed rebar." If the lining of tunnel T is constructed of unreinforced concrete, the same weight as for "exposed rebar" is used.

[0051] There are various methods for weighting, but for example, the results of the primary assessment process can be weighted by increasing the rank by 2 (◎), increasing the rank by 1 (◯), decreasing the rank by 1 (△), etc. (step S34). Here, increasing the rank means that the health level is lowered, in other words, it is approaching a place requiring attention. This weighting can also be corrected according to the region and environment.

[0052] Meanwhile, in step S4, a process is performed to digitize the crack information obtained by the crack detection unit 33. Specifically, as shown in Fig. 7, the information on the width and length of the crack is integrated to calculate a TCI value that indicates the amount of cracks.

[0053] In step S5, a primary soundness assessment is performed based on the TCI value calculated in step S4. Here, the soundness is classified into stages, such as A, B, C, and S, with A being the lowest soundness and S being no soundness problem. A threshold value is set in advance to indicate which soundness level the range of the quantified value (TCI value) of the number of cracks is judged to be. Fig. 7 shows an example where the TCI value is 3.1 and the soundness is judged to be B.

[0054] In step S6, a secondary assessment process is performed in which the results of the primary assessment process are corrected based on the detection results of the crack pattern, the water leakage state, and the exposed rebar state to determine the final soundness. Fig. 7 shows an example in which the soundness has been "up by one rank" based on the results obtained by the weighting process in step S34 (up by two ranks, up by one rank, down by one rank, etc.). By changing the soundness level to A, the area is ultimately determined to be an "area requiring caution."

[0055] In step S7, the soundness assessment result performed by the secondary assessment processing unit 38 is sent to the mesh conversion unit 39 and converted into mesh data. Fig. 8 is an explanatory diagram showing an example of an image screen M1 on which the photographed image and the soundness assessment result are displayed as images, and a mesh screen M2 on which the soundness assessment result is displayed.

[0056] Both the image screen M1 and the mesh screen M2 are displayed on the display device 4 and can be switched between the two. On the image screen M1, the photographed image acquired by the image acquisition unit 31 can be displayed as is, the detected crack lines K can be superimposed, and the soundness assessment result can be displayed together.

[0057] On the other hand, the mesh screen M2 displays the inner circumferential surface T1 of the tunnel T, such as the lining, divided into mesh areas of, for example, 1 m x 1 m. The soundness levels given by the secondary judgment processing unit 38 are displayed for these divided mesh areas. Since it would be difficult to understand if all soundness levels were displayed here, it is possible to display only the mesh areas that have been judged to have soundness level A (areas requiring caution), for example, by darkening the display.

[0058] Steps S8 and after may be performed in a single sequence up to step S7, or the soundness assessment results and mesh data by the secondary assessment processing unit 38 may be temporarily stored in the memory unit 5, and then the steps may be performed in accordance with the timing of a re-inspection of tunnel T.

[0059] 9 is a perspective view for explaining the configuration of the projection device 6. In order to project the soundness determination result onto the inner circumferential surface T1 of the tunnel T by the projection device 6, it is necessary to transmit mesh data to the projection device 6 (step S8).

[0060] The projection device 6 includes a projection unit 61, a running unit 62 for mounting and moving the projection unit 61, an attitude control unit 63 for controlling the attitude of the projection unit 61, an output adjustment unit 64 for adjusting the output of the projection unit 61, and a shape measurement unit 65 for measuring the shape of the inner surface T1 of the tunnel T.

[0061] The projection unit 61 is a laser irradiator that projects the judgment result of the soundness converted by the mesh conversion unit 39 by laser light onto the inner circumferential surface T1 of the tunnel T. That is, the laser light irradiated from the projection unit 61 becomes the projection light PL as shown in FIG.

[0062] 9, the running unit 62 is a cart having a plurality of wheels 621 for moving in the extension direction of the tunnel T. The projection unit 61 is attached to a stand 622 provided on the running unit 62. A rotary encoder is installed on the wheels 621 of the running unit 62, so that the distance traveled by the running unit 62 due to the rotation of the wheels 621 can be measured.

[0063] The attitude control unit 63 includes an actuator for controlling the attitude of the projection unit 61. For example, rails laid in a railway tunnel may be installed at a higher position than the inner rail due to cant in a curved section. Also, the rails may have track irregularities such as track irregularities. In such cases, the upper surface of the running unit 62, which moves the wheels 621 on the rails, cannot be kept horizontal.

[0064] Therefore, by interposing the attitude control unit 63 between the stand 622 of the running unit 62 and the projection unit 61, it is possible to adjust the projection unit 61 to a desired attitude even if the running unit 62 is tilted. The projection unit 61 is attached so as to be movable up, down, left and right while being sandwiched between the attitude control unit 63 on the lower side and the upper support unit 631 on the upper side.

[0065] The orientation of the projection unit 61 can be adjusted by the attitude control unit 63 by an inspector using the operation terminal 66 (see FIG. 10(b)), but it can also be controlled to automatically maintain horizontality, for example. For example, by attaching a sensor unit 632 that measures the orientation of the projection unit 61 on nine axes (three axes each for gyro, acceleration, and earth axis) and driving the actuator (motor) of the attitude control unit 63 using the signal obtained from the sensor unit, the horizontality of the projection unit 61 can be always maintained even if the traveling unit 62 is tilted.

[0066] The output adjustment unit 64 adjusts the output of the projection unit 61 in accordance with the shape of the inner circumferential surface T1 of the tunnel T to be projected. In other words, the mesh data transmitted from the mesh conversion unit 39 is data for a plane that matches the development of the inner circumferential surface T1. On the other hand, since the inner circumferential surface T1 of the tunnel T is often not flat, for example, having a curvature, the output adjustment unit 64 performs adjustment to correct the projection mesh (mesh data) so that the output matches the shape of the inner circumferential surface T1.

[0067] Furthermore, the inner circumferential surface T1 of the tunnel T does not necessarily have a fixed cross section, which is the designed cross section, at all points in the extension direction. Also, for tunnels T that were constructed a long time ago, accurate design drawings may not remain. Furthermore, due to the influence of the above-mentioned cant, etc., the positional relationship (distance) between the projection device 6 and the inner circumferential surface T1 may change depending on the position in the extension direction of the tunnel T.

[0068] Therefore, it is preferable to mount a shape measuring unit 65 for measuring the shape of the inner circumferential surface T1 of the tunnel T on the projection device 6 and measure the distance between the projection device 6 and the inner circumferential surface T1 before projecting the soundness. The results of the laser measurement performed by the shape measuring unit 65 are input directly to the output adjustment unit 64 and used to adjust the projection mesh.

[0069] Fig. 10 is a diagram for explaining the operation of the projection device 6. Fig. 10(a) is an explanatory diagram for adjusting the inclination. As described above, in the curved section of the tunnel T, the traveling section 62 is inclined due to the cant, so the actuator of the attitude control section 63 is driven based on the information of the inclination detected by the sensor section 632 to hold the projection section 61 horizontally.

[0070] 10(b) is an explanatory diagram of the measurement of the inner circumferential surface T1 of the tunnel T. The measurement by the shape measuring unit 65 of the projection device 6 is performed, for example, by inputting an angle indicating the measurement range from an operation terminal 66 carried by an inspector. This operation terminal 66 may be one in which the determination device 3 is built in, or may be a dedicated operation device for the projection device 6.

[0071] The projection device 6, which has received a command for the survey range from the operation terminal 66, performs laser surveying within the set angle range by driving the attitude control unit 63 while irradiating the inner circumferential surface T1 of the tunnel T with the survey laser light SL. The measurement values ​​of the laser surveying are used by the output adjustment unit 64, but the configuration may also be such that the measurement values ​​are once sent to the operation terminal 66, and the output adjustment unit 64 of the projection device 6 receives the results after arithmetic processing.

[0072] 10(c) is an explanatory diagram during projection. The mesh data corrected by the output adjustment unit 64 in accordance with the curvature of the inner circumferential surface T1 of the projection destination according to the set inclination of the projection device 6 is irradiated as projection light PL from the projection unit 61 of the projection device 6.

[0073] Figure 11 is a diagram explaining the re-inspection work using the projection device 6. Figure 11(a) is an explanatory diagram of the starting point of the re-inspection, and a positioning sign T3 is attached to the joint T2 which is the starting point. The joint interval of this tunnel T is about 10m-20m.

[0074] 11(b), the projection device 6, which has been aligned at the starting point, is moved in the extension direction of the tunnel T. Since the moving distance from the starting point is measured based on the amount of rotation of the wheels 621 of the projection device 6, the position information of the projection device 6 in the extension direction of the tunnel T is always known.

[0075] Therefore, the projection device 6 is stopped at a position where projection is desired, and the projection light PL is irradiated onto the inner circumferential surface T1 of the tunnel T. Fig. 12 is a perspective view illustrating a situation in which the projection device 6 projects the judgment result of the soundness onto the inner circumferential surface T1 of the tunnel T.

[0076] As shown in this figure, projection by the projection device 6 during reinspection may be performed only on the "point requiring caution" that has been determined to have a soundness level of A. In short, the projection device 6 is automatically moved to the position of the "point requiring caution" by the traveling unit 62, and after it stops, the projection unit 61 is directed in the direction of the "point requiring caution" by the posture control unit 63, and then the "point requiring caution" based on the soundness level determined by the determination device 3 is projected onto the inner circumferential surface T1 of the tunnel T (step S9).

[0077] In the reinspection, for the parts judged as having a soundness level of A in the general inspection, a preliminary confirmation work is carried out for an individual inspection in which the cause of the abnormality is estimated, future predictions are made, and a judgment is made as to whether or not measures are required. In addition, in the individual inspection, a detailed investigation is carried out using measuring instruments, etc., and a more detailed soundness level (AA, A1, A2) is judged.

[0078] Fig. 11(c) shows the situation where the projection device 6 is being repositioned at the position of joint T2. By not only measuring the distance with the rotary encoder of the wheel 621 but also adjusting the position using a laser irradiator for each position of joint T2, it becomes possible to accurately grasp the position in the tunnel extension direction. After the position adjustment, inspection is resumed as shown in Fig. 11(d), and the projection device 6 is moved and projected.

[0079] Next, the operation of the tunnel soundness determination device 3 according to this embodiment and the inspection support system 1 including the same will be described. The tunnel soundness determination device 3 of this embodiment configured as described above not only has a crack detection unit 33 that detects cracks, but also has a crack pattern determination unit 34 that determines the crack pattern, a water leakage detection unit 35 that detects the water leakage condition, and a rebar exposure detection unit 36 ​​that detects the exposed condition of rebar.

[0080] Then, the results of the primary judgment, which is based on the detection results of the crack detection unit 33, are adjusted based on the results of the crack pattern judgment unit 34, the water leakage detection unit 35, and the rebar exposure detection unit 36, and a final judgment of the soundness is made in the secondary judgment processing unit 38.

[0081] Therefore, it is possible to automatically perform a uniform assessment of soundness that takes into account tunnel-specific abnormalities such as crack patterns, water leakage conditions, and exposed rebar conditions. Here, the detection of crack patterns, water leakage conditions, and exposed rebar conditions can be performed efficiently by using the processing results of the pre-processing unit 32, which digitizes images when detecting cracks from images.

[0082] Furthermore, if the adjustment by the secondary judgment processing unit 38 is processed using weighting obtained from the results of the crack pattern judgment unit 34, the water leakage detection unit 35, and the rebar exposure detection unit 36, a more rational and comprehensive judgment can be made with high accuracy, comparable to the judgment of an experienced inspector (skilled technician).

[0083] Furthermore, if a mesh conversion unit 39 is provided that applies the results of the soundness assessment by the secondary assessment processing unit 38 to the divided areas of the inner surface T1 of the tunnel T, it will be easier to identify areas that require re-inspection, such as areas requiring caution after the soundness assessment, and it will be possible to efficiently carry out the re-inspection work.

[0084] Furthermore, the invention of the inspection support system 1 is equipped with a projection device 6 that can project the soundness assessment result by the assessment device 3 onto an appropriate location on the inner circumferential surface T1 of the tunnel T. This makes it possible to efficiently carry out re-inspection work that must be done in a short time, such as after train operations have ended, with a small number of inspectors. According to estimates, whereas it previously took four inspectors one night to re-inspect 400 m, three inspectors can now re-inspect 1 km in the same time.

[0085] Furthermore, if the projection device 6 is equipped with a shape measuring unit 65 that measures the shape of the inner surface T1 of the tunnel T, the healthiness assessment result can be projected at an appropriate position on the inner surface T1 even in cases where the inner surface T1 of the tunnel T has a shape that deviates from a standard cross-section or where the positional relationship between the projection device 6 and the inner surface T1 of the tunnel T changes depending on the position in the extension direction of the tunnel.

[0086] Although an embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes that do not deviate from the gist of the present invention are included in the present invention.

[0087] For example, in the above embodiment, a case has been described in which the soundness judgment result converted into mesh data by the mesh conversion unit 39 is projected onto the inner circumferential surface T1 of the tunnel T, but the present invention is not limited to this, and it is also possible to project the judgment result before conversion into mesh data. In addition, the soundness to be projected is not limited to "A", which is a cautionary area, and other judgment results can also be projected onto the inner circumferential surface T1. [Explanation of symbols]

[0088] 1: Inspection support system 3: Judgment device (tunnel soundness judgment device) 31: Image acquisition unit 32: Preprocessing section 33: Crack detection section 34: Crack pattern determination section 35: Leak detection unit 36: Rebar exposure detection section 37: Primary judgment processing unit 38: Secondary judgment processing unit 39: Mesh conversion section 6: Projection device 61: Projection section 62: Running part 63: Attitude control unit 64: Output adjustment section 65: Shape measurement section T,BT: Tunnel T1, BT1: Inner surface

Claims

1. A tunnel soundness determination device that determines the soundness of a tunnel by inspecting the inner circumferential surface of the tunnel, an image acquisition unit for acquiring an image of an inner circumferential surface of the tunnel; A crack detection unit that detects cracks based on the image; A crack pattern determination unit that determines a crack pattern detected by the crack detection unit; a water leakage detection unit that detects a water leakage state based on the image; A reinforcing bar exposure detection unit that detects a reinforcing bar exposure state based on the image; A primary judgment processing unit that performs a primary judgment based on the detection result of the crack detection unit; A tunnel soundness determination device characterized by comprising a secondary judgment processing unit which determines the soundness by adjusting the results of the primary judgment processing unit based on the results of the crack pattern judgment unit, water leakage detection unit, and rebar exposure detection unit.

2. The tunnel soundness determination device according to claim 1, further comprising a pre-processing unit that performs digital processing on the image acquired by the image acquisition unit.

3. The tunnel integrity determination device described in claim 1 or 2, characterized in that the adjustment by the secondary judgment processing unit is performed by applying weighting processing to the results of the primary judgment processing unit obtained from the results of the crack pattern determination unit, the water leakage detection unit, and the rebar exposure detection unit.

4. A tunnel soundness determination device as described in any one of claims 1 to 3, characterized in that it is further provided with a mesh conversion unit that applies the soundness determination results obtained by the secondary determination processing unit to divided areas of the inner surface of the tunnel.

5. A tunnel soundness determination device according to any one of claims 1 to 4, a projection device that projects the result of the soundness assessment by the secondary assessment processing unit onto an inner circumferential surface of the tunnel, The projection device is an inspection support system characterized by comprising a projection unit, a running unit for mounting the projection unit and moving it in the extension direction of the tunnel, an attitude control unit for controlling the attitude of the projection unit, and an output adjustment unit for adjusting the output of the projection unit to match the shape of the inner surface of the tunnel.

6. The inspection support system according to claim 5, further comprising a shape measuring unit for measuring the shape of an inner peripheral surface of a tunnel.

Images