Tunnel face safety monitoring system and tunnel face safety monitoring method

Abstract

To provide a tunnel face safety monitoring system and a tunnel face safety monitoring method that enable a radar to measure displacement and vibration of a tunnel face to be positioned in a predetermined position without requiring labor or time, and prevent damage to the radar due to tunnel construction work or the like.SOLUTION: A tunnel face safety monitoring system includes: a movement body 10 that moves in a tunnel T; an arm portion 12 provided on the movement body 10 and including a movable portion 11 capable of moving in a free direction; a radar portion 14 provided on a tip end 12a of the arm portion 12 and measuring displacement and vibration of a face 2; and a control unit 15 provided on the movement body 10, electrically connected to the radar portion 14 to drive the radar portion 14, detecting data of the displacement and the vibration of the face 2 from the radar portion 14, and capable of providing the data to an external information terminal 5. The radar portion 14 is provided at a position where the displacement and the vibration on an entire surface of the face 2 can be measured by movement of the movement body 10 and the arm portion 12 in the tunnel T.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a tunnel face safety monitoring system and a tunnel face safety monitoring method.

Background Art

[0002] As a method for excavating mountain tunnels, the NATM (New Austrian Tunneling Method) method of supporting the ground with shotcrete and rock bolts is known. According to the NATM method, by observing the face during excavation, it is possible to predict the geology of a certain distance ahead in combination with investigations such as advance boring. On the other hand, during the construction of mountain tunnels by the NATM method, from immediately after the excavation of the ground by blasting or mechanical excavation to the secondary spraying of concrete, the ground (face) in the excavated area is in a state where it is almost exposed.

[0003] During the construction of mountain tunnels, it is necessary to prevent rock falls and other skin falls from the above-exposed face. As a method of monitoring the state of the face and predicting the occurrence of skin falls, a radar is provided on the installation stand provided in the tunnel support work constructed at a position a predetermined distance behind the face from the face, and the minute displacement and vibration of the face are simultaneously measured in real time (see Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] On the other hand, in the method of measuring the minute displacement and vibration of the face described above, when the distance between the radar and the face exceeds the measurable range of the radar as the face advances due to tunnel excavation, it becomes necessary to move the radar toward the face. At this time, after removing the radar from the installation stand, the installation stand is replaced with a front support work, and since there is an operation of reinstalling the radar on the moved installation stand, there is a problem that it requires labor and time.

[0006] In addition, at the time of blasting after charging or at the time of spraying concrete in mountain tunnel construction, it is necessary to protect the radar so that rock fragments scattered by blasting or crushed stones rebounded by spraying do not directly hit the radar, or to evacuate the radar temporarily during that process. Also, since the radar is installed on the tunnel support work, it is arranged near the bottom of the tunnel side wall. Therefore, there is also a problem that there is a possibility that construction machines, transport machines, etc. used in tunnel construction may come into contact with the radar and damage the radar when moving.

[0007] The present invention has been made in view of the above circumstances, and an object thereof is to provide a tunnel face safety monitoring system and a tunnel face safety monitoring method capable of arranging a radar for measuring the displacement and vibration of a tunnel face at a predetermined position without requiring labor and time and preventing damage to the radar due to tunnel construction work or the like.

Means for Solving the Problems

[0008] To achieve the above object, a tunnel face safety monitoring system according to the present invention is a tunnel face safety monitoring system for monitoring a tunnel face, comprising a moving body that moves within the tunnel, an arm portion provided on the moving body and having a movable portion that can move freely in any direction, a radar portion provided at the tip of the arm portion for measuring displacement and vibration of the tunnel face, and a control portion provided on the moving body, electrically connected to the radar portion to drive the radar portion, detect data on displacement and vibration of the tunnel face from the radar portion, and be capable of providing the data to an external information terminal. The radar portion is provided at a position where it can measure displacement and vibration of the entire surface of the tunnel face by the movement of the moving body and the arm portion within the tunnel.

[0009] With the above configuration, by driving the arm portion of the moving body, the radar portion can be quickly moved and arranged at a predetermined measurement position. Therefore, the time and labor required for the movement and arrangement of the radar portion can be reduced, and the construction period of the tunnel construction can be shortened. Further, since the moving body and the arm portion are movable, it is possible to easily move the radar portion and the control portion provided on the arm portion away from the working ranges of construction machines and transport machines used in tunnel construction. Therefore, damage to the radar portion and the control portion due to contact with construction machines and transport machines can be prevented. Further, by moving the moving body, it is possible to easily move the radar portion and the control portion away from the tunnel face even during blasting and spraying of shotcrete in tunnel construction. Therefore, damage to the radar portion and the control portion caused by direct hits of rock fragments scattered by blasting or crushed stones rebounded by the spraying of shotcrete can be prevented. Further, by acquiring data on displacement and vibration of the tunnel face measured by the radar portion with an external information terminal, it is possible to monitor the tunnel face at a safe position away from the tunnel face.

[0010] Also, in the tunnel face safety monitoring system according to the present invention, the arm portion is provided at a position substantially coinciding with the coordinates of the radar portion, and is irradiated with light waves emitted from an optical wave measuring device provided in the tunnel. The arm portion is provided with a reflector that reflects the light waves to the optical wave measuring device. The optical wave measuring device irradiates the reflector with the light waves, and includes a distance measuring unit that measures the distance between the optical wave measuring device and the reflector from the light waves reflected by the reflector, and an angle measuring unit that measures the vertical angle and the horizontal angle between the position where the optical wave measuring device is provided and the position where the reflector is provided. The radar portion may automatically update its position and orientation based on the measurement results by the optical wave measuring device.

[0011] With the above configuration, since the estimated position and orientation of the radar portion are automatically updated from the measurement results by the optical wave measuring device, it is possible to easily correct and re-estimate the deviation of the orientation and position of the radar portion with respect to the long-term installation of the radar portion or the movement of the moving body. Therefore, based on the re-estimation results, it is possible to easily correct the measured values and measurement positions of the displacement and vibration of the tunnel face, and to realize more accurate measurement of the displacement and vibration of the tunnel face.

[0012] Also, in the tunnel face safety monitoring system according to the present invention, the reflector is capable of reflecting the light waves emitted from the optical wave measuring device, and a plurality of reflectors may be provided at positions substantially coinciding with the coordinates of the radar portion.

[0013] With the above configuration, since the optical wave measuring device can obtain a plurality of pieces of information on the position and orientation of the radar portion by measuring the positions of a plurality of reflectors, the position and orientation of the radar portion can be estimated more accurately.

[0014] Also, in the tunnel face safety monitoring system according to the present invention, a work floor may be provided at the tip of the arm portion, and the radar portion and the control portion may be provided on the upper surface of the work floor.

[0015] With the above configuration, the radar unit and the control unit can be stably arranged, so that the displacement and vibration of the face can be measured more accurately by the radar unit.

[0016] Also, in the tunnel face safety monitoring system according to the present invention, the reflector may be provided on the lower surface of the working floor.

[0017] Other devices such as the radar unit and the control unit are provided on the upper surface of the working floor. Therefore, by providing the reflector on the lower surface of the working floor, it is possible to suppress the reflector from being hidden from the irradiation direction of the light wave by the light wave measuring device, and the light wave irradiated from the light wave measuring device can be easily irradiated onto and reflected by the reflector.

[0018] Also, in the tunnel face safety monitoring system according to the present invention, the moving body may include a plurality of the arm portions, and the radar unit and the control unit may be provided on each of the arm portions.

[0019] With the above configuration, since a plurality of radar units are provided on the arm portions that can move freely in a plurality of directions, it is possible to easily measure the face from a plurality of directions such as the left and right sides of construction machinery and the like. Therefore, the radar unit can easily measure the entire face.

[0020] Moreover, the tunnel face safety monitoring method according to the present invention is a tunnel face safety monitoring method for monitoring the state of a tunnel face, and includes a moving body that moves inside the tunnel, and an arm part provided with a movable part that can move freely in any direction on the moving body. By moving the moving body and the arm part, a radar part provided at the tip of the arm part for measuring the displacement and vibration of the tunnel face is moved to a position where the displacement and vibration of the entire surface of the tunnel face can be measured inside the tunnel. A step of measuring the displacement and vibration of the entire surface of the tunnel face by the radar part, and a control part provided on the moving body, electrically connected to the radar part to drive the radar part, detect data on the displacement and vibration of the tunnel face from the radar part, and can provide the data to an external information terminal. A step of acquiring the data from the radar part and providing the data to the external information terminal.

[0021] With the above configuration, by driving the arm part of the moving body, it is possible to quickly move and arrange the radar part to a predetermined measurement position, and thus it is possible to provide a tunnel face safety monitoring method. In addition, it is possible to provide a tunnel face safety monitoring method that prevents damage to the radar part and the control part due to contact with construction machinery, transportation machinery, etc. used in tunnel construction, and direct impact of rock fragments scattered by blasting or crushed stones rebounded by sprayed concrete. In addition, by acquiring data on the displacement and vibration of the tunnel face measured by the radar part with an external information terminal, it is possible to provide a tunnel face safety monitoring method that can monitor the tunnel face at a safe position away from the tunnel face.

Advantages of the Invention

[0022] According to the present invention, it is possible to provide a tunnel face safety monitoring system and a tunnel face safety monitoring method that can arrange a radar for measuring the displacement and vibration of a tunnel face at a predetermined position without requiring labor and time, and can prevent damage to the radar due to tunnel construction work or the like.

Brief Description of the Drawings

[0023]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiments for Carrying Out the Invention

[0024] Hereinafter, a tunnel face safety monitoring system and a tunnel face safety monitoring method according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4. In the present embodiment, the case of tunnel excavation by the NATM method will be described. Note that the construction method of the tunnel to which the present invention is applied is not limited to the NATM method as long as the state of the tunnel face can be monitored by the present invention.

[0025] As shown in FIGS. 1 and 2, the tunnel face safety monitoring system 1 according to the present embodiment is provided for monitoring the state of the face 2 in the tunnel T, and includes an arm portion 12 having a movable portion 11 on a moving body 10 that moves in the tunnel T, and a work floor 13 provided at the tip 12a of the arm portion 12. Further, a radar unit 14 and a control unit 15 are provided on the upper surface of the work floor 13 in proximity to each other, and three reflectors 16 are provided on the lower surface of the work floor 13. Further, an optical wave surveying instrument 17 that measures the position of the reflector 16 and estimates the installation position and posture of the radar unit 14 from the measurement results is provided in the tunnel T.

[0026] Generally, the construction of tunnel T by the NATM method involves "blasting hole drilling" in which holes for explosives are drilled using a construction machine 3a such as a drill jumbo, "charging" the drilled holes with explosives, "mucking out" the generated muck to the outside of the tunnel, "rock removal" in which loose rocks on the excavation face that are likely to collapse are knocked down with an iron bar, etc., "face observation" for observing the state of the face, "primary shotcrete" in which shotcrete is applied by a shotcrete spraying machine 3b to suppress the loosening of the ground, etc., "installation of steel support works" in which steel support works are constructed on the inner surface of tunnel T, "installation of a wire mesh on the back of the steel support works, and "secondary shotcrete" in which the second shotcrete is applied by the shotcrete spraying machine 3b, and a series of processes such as "installation of rock bolts" in which rock bolts are radially driven from the inner surface of tunnel T are repeated. In the present embodiment, in the excavation cycle in which the above-described processes are repeated, the entire surface of the face 2 is continuously monitored for each process in the excavation cycle.

[0027] The moving body 10 is a construction vehicle such as a known aerial work platform in the present embodiment. The movable part 11 is a plurality of joints that can move freely in directions such as lifting, extending, and turning, which are provided on an aerial work platform or the like. The arm part 12 is a boom mechanism to which the above-described joints are connected. A work floor 13 is provided at the tip 12a of the arm part 12.

[0028] The work floor 13 is a basket provided on a known aerial work platform or the like, and has a smooth surface shape and floor area on which the radar unit 14 and the control unit 15 can be stably installed. Further, the work floor 13 is provided with three reflectors 16 that are the measurement targets of the light wave surveying instrument 17 at positions that substantially coincide with the coordinates of the radar unit 14 on the lower surface. In addition, the work floor 13 has a floor area on which workers who perform installation work and maintenance management work of the radar unit 14 and the control unit 15 can ride.

[0029] As shown in FIG. 1, when the tunnel T is being excavated, the moving body 10 approaches and fixes the work floor 13 equipped with the radar unit 14 to the side (along the wall) behind the construction machine 3a with a separation L1 of about 15 m from the face 2, and arranges the radar unit 14. Also, as shown in FIG. 2, during the spraying operation of the sprayed concrete, the moving body 10 moves further toward the portal side of the tunnel T at a separation L2 that is larger than the separation L1 from the work floor 13 provided with the radar unit 14, approaches and fixes to the side (along the wall) behind the concrete spraying machine 3b, and arranges the radar unit 14. Note that in any of the above operations, the radar unit 14 shall be able to exhibit a desired measurement function with respect to the face 2.

[0030] The radar unit 14 is a small and lightweight box-shaped measuring instrument about 30 cm in width × 20 cm in height × 25 cm in depth in the present embodiment. The radar unit 14 radiates radio waves of a predetermined frequency as a measurement beam (laser) to the entire face 2, and irradiates the reflected beam reflected from the face 2. The control unit 15 measures the vibration characteristics of minute displacements and vibrations on the entire face 2 by acquiring various data such as the reflection time of the obtained beam.

[0031] As shown in FIG. 3, the control unit 15 includes a power supply unit 15a that drives the radar unit 14 by being electrically connected to the radar unit 14, a detection unit 15b that irradiates the radar unit 14 with the data obtained by irradiating the reflected beam reflected from the face 2, acquires the data from the radar unit 14, and detects the data of the displacement and vibration of the face 2, and a data communication unit 15c that receives and transmits the detected data from the detection unit 15b to the external information terminal 5 owned by the worker 4a at the construction site of the tunnel T or the worker 4b outside the tunnel T by wireless communication. The external information terminal 5 is, for example, a known tablet terminal or the like.

[0032] During the construction of the tunnel T, the displacement and vibration changes of the face 2 are monitored in real time by the tunnel face safety monitoring system 1 having the above configuration. Further, the tunnel face safety monitoring system 1 is provided with a warning notification device 6 capable of wireless communication with the data communication unit 15c at a field office inside or outside the tunnel T. When a movement of the face 2 equal to or greater than a predetermined value (equal to or greater than the displacement threshold or the vibration threshold) is measured and measurement data is transmitted to the external information terminal 5, the measurement data is shared with the warning notification device 6 through wireless communication with the data communication unit 15c, and the warning notification device 6 is activated to notify a warning to the field office inside or outside the tunnel T.

[0033] The warning notification device 6 includes, for example, a warning lamp that blinks a red light together with a voice prompting an instruction such as evacuation to notify the workers 4a inside the tunnel T to stop work and move away from the face 2, and to notify the workers 4b outside the tunnel T that an unexpected situation has occurred inside the tunnel T. Further, for example, a configuration in which an application that activates a voice or an alarm prompting the worker to stop work or evacuate is installed in the external information terminal 5 owned by the worker, notifies the worker 4a to move away from the face 2, and notifies the worker 4b that a movement equal to or greater than a predetermined value has been measured at the face 2 can be cited.

[0034] Note that the arm portion 12 has a movable range that can arrange the radar portion 14 at a position where the displacement and vibration of the entire face 2 can be measured by the movement of the movable portion 11. In this embodiment, the operations such as the movement mechanism of the movable portion 11 and the irradiation of the measurement beam (laser) of the radar portion 14 are controlled for operation and measurement by wireless remote control. Further, although the control unit 15 is provided close to the radar portion 14 on the work floor 13, if the control unit 15 has a desired performance, it may be provided inside the box-shaped radar portion 14.

[0035] The reflector 16 is formed of a prism material (hereinafter referred to as "prism material 16"). Three prism materials 16 are provided on the lower surface of the work floor 13, and all three prism materials 16 are provided at positions substantially coinciding with the coordinates of the radar unit 14 provided above the work floor 13. For example, in the present embodiment, since the radar unit 14 has a box shape, the three prism materials 16 are located within the radar unit 14 having a substantially rectangular shape in plan view.

[0036] The light wave measuring device 17 is provided behind the face 2 and the moving body 10 and is a known total station. The light wave measuring device 17 irradiates the prism material 16 with light waves, and measures the distance between the light wave measuring device 17 and the prism material 16 when the light waves reflected by the prism material 16 are irradiated, and measures the vertical angle and the horizontal angle between the position where the light wave measuring device 17 is provided and the position where the prism material 16 is provided. And an angle measuring unit 17b. The positions of the three prism materials 16 are measured from the results obtained from the distance measuring unit 17a and the angle measuring unit 17b, and the position and orientation of the radar unit 14 are estimated.

[0037] In the tunnel face safety monitoring system 1, when a high-altitude work vehicle or the like is used as the moving body 10, the arm portion 12 shows a phenomenon of gradually descending with the passage of time when it is fixed at the same position for a certain period of time due to a pressure drop peculiar to the hydraulic cylinder. That is, the radar unit 14 provided on the work floor 13 also gradually descends with the passage of time. Therefore, the light wave measuring device 17 automatically measures the positions of the three prism materials 16 at regular time intervals, and re-estimates the position and orientation of the radar unit 14 (automatic update of the position and orientation of the radar unit 14). Further, based on the result of the re-estimation, the displacement and vibration measurement values of the face 2 and the correction of the measurement position are performed.

[0038] Next, the operations and effects of the tunnel face safety monitoring system and the tunnel face safety monitoring method according to the present embodiment will be described with reference to FIGS. 1 to 3. As shown in FIGS. 1 to 3, the tunnel face safety monitoring system 1 first includes an arm portion 12 having a movable portion 11, a radar portion 14 that measures the displacement and vibration of the tunnel face 2, and a control portion 15 including a power supply portion 15a, a detection portion 15b, and a data communication portion 15c. A work floor 13 provided at the tip 12a of the arm portion 12 and having the radar portion 14 and the control portion 15 on the upper part is provided, and a moving body 10 including these is moved within the tunnel T. During the excavation of the tunnel T, the moving body 10 is driven by the arm portion 12 to approach and fix the radar portion 14 to the side (along the wall) behind the construction machine 3a with a separation L1 from the tunnel face 2, and the radar portion 14 is arranged.

[0039] Also, during the spraying operation of shotcrete, the moving body 10 moves further toward the shaft side of the tunnel T with a separation L2 larger than the separation L1 from the work floor 13 having the radar portion 14, approaches and fixes to the side (along the wall) behind the concrete spraying machine 3b, and arranges the radar portion 14.

[0040] Data on the displacement and vibration of the tunnel face 2 detected by the detection portion 15b is transmitted by wireless communication to an external information terminal 5 owned by a worker 4a at the construction site of the tunnel T or a worker 4b outside the tunnel T.

[0041] With the above mechanism, it is possible to measure the displacement and vibration of the tunnel face 2 in a state where the radar portion 14 and the control portion 15 are stably arranged at a predetermined position within the tunnel T and monitor the state of the tunnel face 2. Also, by acquiring data on the displacement and vibration of the tunnel face 2 detected by the detection portion 15b with the external information terminal 5, it is possible to monitor the state of the tunnel face 2 from a safe position away from the tunnel face 2.

[0042] By driving the arm portion 12 of the moving body 10, the radar portion 14 can be quickly moved and arranged at a predetermined measurement position. Therefore, the time and labor required for moving and arranging the radar portion 14 and other measurement mechanisms to the measurement position can be reduced.

[0043] Since the moving body 10 and the arm part 12 are movable, the radar part 14 and the control part 15 can be easily moved away from the working range of large construction machines such as construction machines and transport machines used for the construction of the tunnel T. Therefore, damage to the radar part 14 and the control part 15 due to contact with the working machine can be prevented.

[0044] The radar part 14 is arranged on the side rear of the construction machine 3a at a distance L1 from the face 2 when moving in the tunnel T during the excavation of the tunnel T. When spraying shotcrete, the moving body 10 moves further to the portal side of the tunnel T at a distance L2 larger than the distance L1 from the work floor 13 provided with the radar part 14. Therefore, during the above operations, the radar part 14 and the control part 15 can be easily moved away from the face 2, so that damage to the radar part 14 and the control part 15 caused by the direct hit of rock fragments scattered by blasting or crushed stones rebounded by the spraying of shotcrete can be prevented.

[0045] The work floor 13 is provided with three prism materials 16 provided at positions substantially coinciding with the coordinates of the radar part 14 on the lower surface. The radar part 14 estimates the position and orientation of the radar part 14 by measuring the positions of the respective prism materials 16 with an optical wave measuring instrument 17 including a distance measuring part 17a and an angle measuring part 17b.

[0046] The optical wave measuring instrument 17 automatically measures the positions of the three prism materials 16 at regular time intervals and re-estimates (automatically updates) the position and orientation of the radar part 14. Further, based on the result of the re-estimation, the measurement position of the displacement and vibration of the face 2 is corrected.

[0047] With the above mechanism, the light wave measuring device 17 automatically measures the positions of the three prism materials 16 at regular time intervals, and the position and orientation of the radar unit 14 are automatically updated. Therefore, it is possible to easily correct and re-estimate the position and orientation of the radar unit 14 with respect to the displacement and misalignment of the position and orientation of the radar unit 14 due to the long-term installation of the moving body 10 or the like. Therefore, based on the re-estimation result, it is possible to easily correct the measured values and measurement positions of the displacement and vibration of the face 2, and realize more accurate measurement of the displacement and vibration of the face 2.

[0048] Since the light wave measuring device 17 can acquire a plurality of pieces of information on the position and orientation of the radar unit 14 by the three prism materials 16, the position and orientation of the radar unit 14 can be estimated more accurately.

[0049] While other devices such as the radar unit 14 and the control unit 15 are provided on the upper surface of the work floor 13, the prism material 16 is provided on the lower surface of the work floor 13. Thus, it is possible to suppress the prism material 16 from being hidden from the irradiation direction of the light wave by the light wave measuring device 17. Therefore, the light wave irradiated from the light wave measuring device 17 can be easily irradiated onto the prism material 16 and reflected.

[0050] As described above, the tunnel face safety monitoring system and the tunnel face safety monitoring method according to the present invention have been described. However, the present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist thereof. For example, in the above-described embodiment, the displacement and vibration are measured by one radar unit 14 with respect to the face 2. However, as shown in FIG. 4, a configuration may be adopted in which two radar units 14 are provided on both the left and right sides in the traveling direction of the tunnel T behind the construction machine. With the above configuration, it is possible to minimize the portion where the reflected wave from the face 2 with respect to the measurement beam by the radar unit 14 is not observed at the face 2.

[0051] If the above effects can be obtained, the configuration of the tunnel face safety monitoring system 1 is not limited. For example, a single moving body 10 may be provided with a plurality of arm portions 12, or a plurality of moving bodies 10 may be provided on both the left and right sides in the advancing direction of the tunnel T behind the construction machine. Also, the driving of a plurality of radar portions 14 may be controlled by a single control portion 15, or the driving of a single radar portion 14 may be controlled by a single control portion 15.

Explanation of Reference Numerals

[0052] 1 Tunnel face safety monitoring system 2 Face 5 External information terminal 10 Moving body 11 Movable part 12 Arm portion 13 Working floor 14 Radar portion 15 Control portion 16 Reflector 17 Light wave measuring instrument 17a Distance measuring portion 17b Angle measuring portion T Tunnel

Claims

1. A tunnel face safety monitoring system for monitoring a tunnel face, comprising: a moving body that moves inside the tunnel; an arm portion provided on the moving body and having a movable portion that can move freely in any direction; a radar portion provided at the tip of the arm portion for measuring displacement and vibration of the face; a control portion provided on the moving body, electrically connected to the radar portion to drive the radar portion, detect data on displacement and vibration of the face from the radar portion, and be capable of providing the data to an external information terminal; and comprising; the radar portion is provided at a position where displacement and vibration of the entire face can be measured by the movement of the moving body and the arm portion inside the tunnel; the arm portion is provided at a position substantially coinciding with the coordinates of the radar portion, is irradiated with light waves emitted from an optical wave measuring device provided inside the tunnel, and has a reflecting material that reflects the light waves to the optical wave measuring device; the optical wave measuring device includes a distance measuring portion that irradiates the reflecting material with the light waves and measures the distance between the optical wave measuring device and the reflecting material from the light waves reflected by the reflecting material, and an angle measuring portion that measures the vertical angle and the horizontal angle between the position where the optical wave measuring device is provided and the position where the reflecting material is provided; the radar portion automatically updates its position and orientation from the measurement results by the optical wave measuring device, a tunnel face safety monitoring system.

2. the reflecting material is capable of reflecting the light waves emitted from the optical wave measuring device, and a plurality of the reflecting materials are provided at positions substantially coinciding with the coordinates of the radar portion; the tunnel face safety monitoring system according to Claim 1.

3. a work floor is provided at the tip of the arm portion; the radar portion and the control portion are provided on the upper surface of the work floor; the tunnel face safety monitoring system according to Claim 1 or 2.

4. the reflecting material is provided on the lower surface of the work floor; the tunnel face safety monitoring system according to Claim 3.

5. The reflecting material is formed of a prism material, and three prism materials are provided on the lower surface of the work floor at positions substantially coinciding with the coordinates of the radar portion provided above the work floor; the tunnel face safety monitoring system according to Claim 4.

6. the moving body includes a plurality of the arm portions, and each of the arm portions is provided with the radar portion and the control portion; The tunnel face safety monitoring system according to any one of claims 1 to 5.

7. A tunnel face safety monitoring method for monitoring the state of a tunnel face, a step of moving a moving body moving in the tunnel and an arm portion provided with a movable portion that can move freely in the moving body, so that a radar portion provided at the tip of the arm portion and measuring the displacement and vibration of the face is moved to a position in the tunnel where the displacement and vibration of the entire face can be measured; a step of measuring the displacement and vibration of the entire face by the radar portion; a step of obtaining the data from the radar portion and providing the data to an external information terminal by a control portion provided in the moving body, electrically connected to the radar portion, driving the radar portion, detecting data on the displacement and vibration of the face from the radar portion, and being capable of providing the data to the external information terminal; comprising: the arm portion is provided at a position substantially coinciding with the coordinates of the radar portion, is irradiated with light waves emitted from an optical wave measuring device provided in the tunnel, and includes a reflecting material that reflects the light waves to the optical wave measuring device; the optical wave measuring device includes a distance measuring portion that irradiates the reflecting material with the light waves and measures the distance between the optical wave measuring device and the reflecting material from the light waves reflected by the reflecting material, and an angle measuring portion that measures the vertical angle and the horizontal angle between the position where the optical wave measuring device is provided and the position where the reflecting material is provided; A tunnel face safety monitoring method comprising a step of automatically updating the position and orientation of the radar portion from the measurement results by the optical wave measuring device.

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