Rod-shaped member construction support method, rod-shaped member construction support system, and program

Abstract

To efficiently and accurately specify the position and angle of an insertion hole for a rod-shaped member during tunnel construction.SOLUTION: A construction support method for a rod-shaped member 1 comprises steps of acquiring a photographed image of a wall surface 3 of the ground 2 into which the rod-shaped member 1 is to be inserted, detecting an insertion hole 5 already formed in the wall surface 3 as an elliptical area based on brightness information shown by the photographed image, and estimating the position and angle of the insertion hole 5 in the wall surface 3 based on the diameter and brightness information of the elliptical area shown by the photographed image corresponding to the elliptical area.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a method for supporting construction of rod-shaped members, a system for supporting construction of rod-shaped members, and a program, and more specifically, to a technology that enables the position and angle of insertion holes for rod-shaped members to be determined efficiently and accurately during tunnel construction. [Background technology]

[0002] The NATM (New Austrian Tunneling Method) construction method, which utilizes the natural support function of the ground, is expanding its scope of application beyond traditional mountain tunnels by adopting new auxiliary construction methods as appropriate. With this NATM construction method, concrete for the primary lining is sprayed onto the wall surface exposed by excavating and blasting the natural ground, and then rock bolts are installed and concrete for the secondary lining is poured. By carrying out this construction work, the natural ground and the sprayed concrete are integrated, and the holding power of the natural ground increases the strength of the tunnel.

[0003] Conventional technologies aimed at improving the efficiency of tunnel construction, including the installation of rock bolts, include a face information display method (see Patent Document 1), which ensures safety by spraying concrete onto the face, while allowing construction workers to visually check the ground conditions on the sprayed concrete surface as they carry out construction work.

[0004] This technology relates to a method including a face photographing process in which an area including the entire first face, which is the exposed surface of the natural ground at the tunnel face, is photographed with a digital camera; a face information image data generation process in which data of an image portion of the first face is extracted as face image data from the photographed image data of the area including the entire first face obtained by photographing with the digital camera, and face information image data including a face image which is an actual image of at least the entire first face, based on the face image data; a face spraying process in which concrete is sprayed onto the first face; and a face information image projection process in which at least the face image, which is an image indicated by the face information image data, is projected onto the second face, which is the surface of the concrete after spraying, at the actual size of the first face, in accordance with the shape and size of the second face. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-1732 Summary of the Invention [Problem to be solved by the invention]

[0006] The above-mentioned rock bolt installation involves inserting the rock bolt into a hole (which has already been filled with mortar) drilled into the wall surface through shotcrete. Inserting such a rock bolt is divided into three steps: finding the hole in the uneven wall surface, aligning the tip of the rock bolt with the hole position, and inserting the entire rock bolt into the hole. Currently, these tasks are carried out manually by workers who go to the area around the hole, but this requires inserting long, heavy rock bolts into long, narrow holes filled with highly viscous mortar, which makes the work less easy and efficient.

[0007] On the other hand, various methods are being researched to mechanize the entire process of rock bolting, which involves drilling holes in the wall, injecting mortar into the holes, and driving rock bolts, all using the same arm. With these methods, for example, multiple rock drills can be used to drill holes and drive rock bolts at the same time, which can improve the efficiency of construction.

[0008] However, it has not yet been possible to efficiently and automatically identify the correct hole position and insertion angle on the wall surface, and it remains difficult to automate the alignment of the rock bolt tip with the hole. As a result, there have been cases where driving a rock bolt while the hole position or insertion angle is not correct has led to deformation or damage of the rock bolt in the hole.

[0009] Therefore, an object of the present invention is to provide a technology that enables the position and angle of the insertion hole for the rod-shaped member to be determined efficiently and accurately during tunnel construction. [Means for solving the problem]

[0010] The method for supporting installation of a rod-shaped member of the present invention, which solves the above-mentioned problem, is characterized by including the steps of: acquiring a photographic image of a wall surface into which a rod-shaped member is to be inserted; detecting an insertion hole already formed in the wall surface as an elliptical area based on brightness information indicated by the photographic image; and estimating the position and angle of the insertion hole on the wall surface based on the diameter and brightness information of the elliptical area indicated by the photographic image corresponding to the elliptical area. Unlike conventional methods using visual servoing technology, which tend to have high implementation costs, this method uses a monocular camera that is easy to implement at tunnel construction sites in terms of both technology and cost, making it possible to efficiently and accurately identify the position and angle of holes for rock bolt installation, charging, etc. It is also expected to reduce the possibility of damage or deformation of rock bolts, etc., when they are inserted into holes.

[0011] In addition, in the process of detecting the elliptical region that is the insertion hole in the construction support method for rod-shaped members of the present invention, the process of detecting the contours of each region in the captured image, approximating the detected contours to an elliptical shape, and converting each region into an elliptical region, and the process of identifying, among the elliptical regions, those that are darker than other elliptical regions or a predetermined standard as the insertion hole based on the brightness information of each elliptical region may be performed.

[0012] This allows for accurate identification of insertion holes for rock bolts, etc., even if numerous elliptical regions are included in the captured image of the tunnel wall surface. This ultimately makes it possible to identify the positions and angles of insertion holes for rod-shaped members during tunnel construction more efficiently and accurately. While this image is basically assumed to be captured under conditions where only one insertion hole is the subject of the image capture, there is no limit to the number of insertion holes to be identified, since any elliptical region darker than a predetermined standard can be identified as an insertion hole. Specifically, the above conditions correspond to an environment in which the image capture conditions, such as the placement of the image capture device relative to the tunnel wall surface, the lens direction, focal length, and angle of view, have been adjusted in advance.

[0013] In addition, in the process of estimating the position and angle of the insertion hole in the construction support method for rod-shaped members of the present invention, the position of the insertion hole may be identified based on the diameter of the elliptical region and the known diameter of the rod-shaped member, and the insertion hole may be identified as extending at an angle where the brightness becomes dark based on the change in brightness in the short axis direction of the elliptical region.

[0014] This allows for accurate estimation of the hole position by appropriately considering the similarity relationship between the shape in the image (the elliptical region corresponding to the hole) as seen from the coordinate system of the camera and the shape on the actual tunnel wall surface (that of the actual hole) using the known hole diameter as a key. Furthermore, based on the relationship between the brightness gradation in the elliptical region and the extension direction of the hole, the angle of the hole (from the tunnel wall surface toward the natural ground) can be efficiently identified. In other words, the position and angle of the insertion hole for the rod-shaped member during tunnel construction can be identified more efficiently and accurately.

[0015] The method for supporting installation of a rod-shaped member according to the present invention may further include a step of setting information about the position and angle of the insertion hole in an installation device for the rod-shaped member.

[0016] In this way, by inputting information on the position and angle of the insertion hole into a construction device such as a computer jumbo, it becomes possible to insert rock bolts and other elements into the hole without relying on human power. This eliminates the need for manual work in high places or dangerous locations such as above the tunnel, reducing the burden and risks on workers. It is also expected to reduce the possibility of damage or deformation of rock bolts and other elements caused by insertion into the hole. As a result, it becomes possible to more efficiently and accurately determine the position and angle of the insertion hole for the rod-shaped member during tunnel construction.

[0017] In addition, the rod-shaped member installation support system of the present invention is characterized by including an imaging device that photographs the wall surface into which the rod-shaped member is to be inserted, a process that acquires the image obtained by the imaging device and detects the insertion hole already formed in the wall surface as an elliptical area based on the brightness information indicated by the image, and an information processing device that executes a process that estimates the position and angle of the insertion hole on the wall surface based on the diameter and brightness information of the elliptical area indicated in the image corresponding to the elliptical area.

[0018] This makes it possible to provide a system that can efficiently and accurately identify the position and angle of the insertion hole for the rod-shaped member during tunnel construction.

[0019] In addition, in the rod-shaped member construction support system of the present invention, the information processing device may perform the process of detecting the elliptical region which is the insertion hole by detecting the contours of each region in the captured image, approximating the detected contours to an elliptical shape, and converting each region into an elliptical region, and based on the brightness information of each elliptical region, identifying among the elliptical regions those which are darker than other elliptical regions or a predetermined standard as the insertion hole.

[0020] This makes it possible to provide a system that can accurately identify insertion holes for rock bolts, etc., even if numerous elliptical regions are included in the captured image of the tunnel wall surface. This system also makes it possible to more efficiently and accurately identify the positions and angles of insertion holes for rod-shaped members during tunnel construction. While this image is basically assumed to be captured under conditions where only one insertion hole is the subject of the image capture, there is no limit to the number of insertion holes to be identified, since any elliptical region darker than a predetermined standard can be identified as an insertion hole. Specifically, the above conditions correspond to an environment in which the image capture conditions, such as the placement of the image capture device relative to the tunnel wall surface, the lens direction, focal length, and angle of view, have been adjusted in advance.

[0021] In addition, in the rod-shaped member construction support system of the present invention, the information processing device, in the process of estimating the position and angle of the insertion hole, may identify the position of the insertion hole based on the diameter of the elliptical region and the known diameter of the rod-shaped member, and may identify the insertion hole as extending at an angle where the brightness becomes dark based on the change in brightness in the short axis direction of the elliptical region.

[0022] This provides a system that can accurately estimate the hole position by appropriately considering the similarity relationship between the shape in the image (the elliptical region corresponding to the hole) seen from the coordinate system of the camera and the shape on the actual tunnel wall surface (that of the actual hole) using the known hole diameter as a key.In addition, this system can efficiently identify the angle of the hole (from the tunnel wall surface toward the inside of the natural ground) based on the relationship between the brightness gradation in the elliptical region and the extension direction of the hole.

[0023] In addition, in the rod-shaped member construction support system of the present invention, the information processing device may further execute a process of setting information on the position and angle of the insertion hole in the rod-shaped member construction device.

[0024] In this way, by having the system input information on the position and angle of the insertion hole into a construction device such as a computer jumbo, it becomes possible to insert rock bolts and other elements into the hole without relying on human power. This eliminates the need for manual work in high places or dangerous locations such as above the tunnel, reducing the burden and risks on workers. It is also expected to reduce the possibility of damage or deformation of rock bolts and other elements that occurs when they are inserted into the hole. As a result, it becomes possible to more efficiently and accurately determine the position and angle of the insertion hole for the rod-shaped member during tunnel construction.

[0025] In addition, the program of the present invention causes an information processing device to perform the following processes: obtaining a photographed image of a wall surface into which a rod-shaped member is to be inserted from an imaging device; detecting an insertion hole already formed in the wall surface as an elliptical area based on brightness information indicated by the photographed image; and estimating the position and angle of the insertion hole on the wall surface based on the diameter and brightness information of the elliptical area indicated by the photographed image corresponding to the elliptical area.

[0026] This makes it possible to implement in the information processing system a function for efficiently and accurately identifying the position and angle of holes that are the target of rock bolt installation, charging, etc. Furthermore, by linking an information processing system equipped with such a function with construction equipment such as a computer jumbo, it becomes possible to efficiently automate the insertion of rock bolts into holes with appropriate precision. This can also lead to the effect of reducing the possibility of damage or deformation of rock bolts, etc. that occurs when they are inserted into holes. [Effects of the Invention]

[0027] According to the present invention, the position and angle of the insertion hole for the rod-shaped member during tunnel construction can be determined efficiently and accurately. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 1 is a diagram illustrating an example of an application environment of a construction support method according to an embodiment of the present invention. [Figure 2]1 is a diagram illustrating an example of the overall configuration of a construction support system according to an embodiment of the present invention. [Figure 3] FIG. 1 is a diagram illustrating an example of a hardware configuration of an information processing device according to an embodiment of the present invention. [Figure 4] 3A and 3B are diagrams illustrating an example of a coordinate system and definitions of vectors in the present embodiment. [Figure 5] FIG. 2 is a diagram showing an example of a flow of a construction support method according to the present embodiment. [Figure 6] 10A and 10B are diagrams showing gradation within an insertion hole in a captured image of the present embodiment. [Figure 7] FIG. 2 is a top view showing a shooting position in this embodiment. [Figure 8] 10A and 10B are diagrams showing examples of insertion holes in the present embodiment. [Figure 9] FIG. 10 is a diagram showing checkerboard photography in this embodiment. [Figure 10] 10A and 10B are diagrams showing insertion hole detection results in the present embodiment. [Figure 11] FIG. 10 is a diagram showing the luminance situation (condition 1) on the minor axis of an ellipse in this embodiment. [Figure 12] FIG. 10 is a diagram showing the luminance situation (condition 2) on the minor axis of the ellipse in this embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0029] <Summary> First, an environment in which the rod-shaped member construction support method of this embodiment is applied and an overview of the technology will be described. As illustrated in Fig. 1, a rock bolt 1, which is a rod-shaped member, is driven into an insertion hole 5 provided in a tunnel wall surface 3 in the natural ground 2 that is the target of tunnel construction. This insertion hole 5 is drilled in the natural ground 2 through shotcrete 6 applied to the tunnel wall surface 3. Furthermore, prior to driving the rock bolt, the interior of the insertion hole 5 is filled with mortar.

[0030] The driving of such a rock bolt 1 involves inserting the rock bolt 1 into the insertion hole 5 (filled with mortar) that has been drilled as described above. This work has traditionally been performed manually, but in an environment where the construction support method of this embodiment is applied, it can be automated with sufficient precision using a construction device such as a computer jumbo 60.

[0031] In other words, by appropriately coordinating with the construction equipment, it is possible to automate the steps that make up the process of inserting the rock bolt 1: finding the insertion hole 5 from the uneven tunnel wall surface 3, aligning the tip of the rock bolt 1 with the opening position of the insertion hole 5, and inserting the entire rock bolt into the insertion hole 5. <System configuration> DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to the drawings. Figure 2 is a diagram showing an example of the configuration of a construction support system 100 (the same applies hereinafter) for a rod-shaped member 1 in this embodiment.

[0032] The construction support system 100 for a rod-shaped member 1 in this embodiment is a system that can efficiently and accurately identify the position and angle of the insertion hole 5 of a rod-shaped member such as a rock bolt 1 during tunnel construction.

[0033] As shown in FIG. 2, the construction support system 100 is composed of at least the digital camera 20 and the information processing device 50 among the digital camera 20, the information processing device 50, and the computer jumbo 60.

[0034] Of these, the digital camera 20 is a commercially available monocular camera, and there is no need to use a special camera unit such as a depth camera. However, due to the influence of spring water and mortar near the tunnel wall surface 3, appropriate care must be taken when installing a general digital camera 20 (which does not have strict dustproof or waterproof functions).

[0035] Therefore, it is necessary to take photographs from a distance of 5 to 10 m from the tunnel wall surface 3. Therefore, it is preferable to use a variable-focus lens with a variable focal length (for example, 70 to 200 mm) as the lens 21 attached to the digital camera 20 so that it can accommodate various photographing conditions.

[0036] This digital camera 20 has a storage medium 22 that stores and holds photographic data, and is capable of distributing photographic data 23 held in this storage medium 22 to an external device via a short-range wireless communication means 24 such as Bluetooth (registered trademark). In this embodiment, the external device to which this photographic data is distributed is an information processing device 50.

[0037] Of course, the method for distributing photographic data captured by the digital camera 20 to the information processing device 50 is not limited to such wireless / wired communication means.

[0038] If it is difficult to adopt either wireless or wired communication means due to the environment inside the tunnel or the various resources that can be introduced, a method may be adopted in which, for example, a worker removes the storage medium 22 from the digital camera 20 and sets it in the reader 25 to have the information processing device 50 read the photographed data. The reader 25 is connected to the information processing device 50 via an appropriate interface and is a device that can read and write data to and from the storage medium 22.

[0039] The information processing device 50 is a general computer device, and includes a storage device 51, a memory 53, a calculation device 54, an input device 55, an output device 56, and a communication device 57, as shown in FIG.

[0040] Of these, the storage device 51 is configured from a non-volatile storage element such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive), and stores a program 52 and data required for processing, or processing results.

[0041] The program 52 stored in the storage device 51 is a program for implementing the functions required for the information processing device 50 constituting the construction support system 100 of this embodiment. Therefore, the program 52 implements algorithms for performing various analyses using the formulas (Formulas 1 to 10, etc.) described below, setting processes for the computer jumbo 60, etc.

[0042] The memory 53 is composed of a volatile storage element such as a RAM (Random Access Memory).

[0043] The arithmetic device 54 is a CPU (Central Processing Unit) that reads out the program 52 stored in the storage device 51 into the memory 53 and executes it to perform overall control of the device itself and to perform various judgments, calculations, and control processes.

[0044] The input device 55 is a device such as a keyboard, microphone, or mouse that accepts key input or voice input from the user.

[0045] The output device 56 is a device such as a display or speaker that displays data processed by the arithmetic unit 54 .

[0046] The communication device 57 is assumed to be the short-distance wireless communication means 24 of the digital camera 20, an interface card that is connected to a computer jumbo 60 via an appropriate network and handles communication processing, or the like.

[0047] In addition, the computer jumbo 60 is a construction device that mechanizes the drilling of insertion holes 5 in the tunnel's surrounding wall surface 3, the injection of mortar into the insertion holes 5, and the driving of rock bolts 1 into the insertion holes 5 using the same arm.

[0048] In addition to multiple arms and mechanisms such as rock drills and rock bolt gripping units attached to the tips of the arms, this computer jumbo 60 is equipped with a control unit 61 that controls the mechanisms and a communication unit 62 that handles communication with external devices.

[0049] The computer jumbo 60 receives information settings from the information processing device 50 regarding the position and angle of the insertion hole 5, and the control unit 61 automatically performs operations such as moving and fixing the arm, starting / stopping the rock drill, grasping and inserting the rock bolt according to the contents of this information setting. <Hole detection in photographed images> Based on the above, in this embodiment, assuming that the rock bolt installation work is mechanized using a computer jumbo 60, which is a machine dedicated to installing rock bolts 1, a technology is described in which the position and angle of an already drilled insertion hole 5 in the tunnel wall surface 3 is estimated by photographing with a digital camera 20 from a distance of at least a predetermined distance from the tunnel wall surface 3.

[0050] In this embodiment, driving a rock bolt can be achieved by aligning the tip of the rock bolt with the image coordinates (uc, vc) of the detected insertion hole center (hereinafter referred to as the hole center) in the camera coordinate system of the digital camera 20, and by aligning the central axis of the rock bolt 1 with the central axis of the insertion hole 5. Therefore, it is necessary to measure the image coordinates (uc, vc) of the hole center in the above-mentioned camera coordinate system and the central axis of the insertion hole 5.

[0051] Based on these assumptions, the following describes a method for detecting insertion holes 5 from images of the tunnel wall surface 3 taken by a digital camera 20, and estimating the position and angle of the insertion holes 5 using the detected hole diameter and a known hole diameter (a specified hole diameter for the insertion holes 5).

[0052] The diameter of the drilled insertion hole 5 is assumed to be known, since it depends on the diameter of the rod used for drilling, and the drilled insertion hole 5 is assumed to be perpendicular to the tunnel peripheral wall surface 3 and to appear as a perfect circle on the tunnel peripheral wall surface 3. In this embodiment, it is also assumed that the shooting range of the digital camera 20 is set in advance so that only one insertion hole 5 is included in the captured image of the tunnel peripheral wall surface 3. However, there is no limit to the number of insertion holes that can be included in the captured image. Any elliptical area that is darker than a predetermined standard can be identified as an insertion hole, so there is no need to set any conditions for the number of insertion holes to be identified.

[0053] The procedure for identifying the insertion hole 5 in the captured image will be described below based on the flow in Fig. 5. It is assumed that the information processing device 50 acquires data of the captured image of the tunnel peripheral wall surface 3 from the digital camera 20 and stores this data in the storage device 51 or memory 53 as a processing target.

[0054] Therefore, the information processing device 50 applies an existing threshold selection method (e.g., N. Otsu, "A threshold selection method from gray-level histograms," IEEE Transactions on Systems, Man, and Cybernetics, vol. 9, no. 1, pp. 62-66, 1979) to the above-mentioned captured image to create a binary image (s1). Next, the information processing device 50 performs a contour detection process (e.g., S. Suzuki and K. Abe, "Topological structural analysis of digitized binary images by border following," Computer Vision, Graphics, and Image Processing, vol. 30, no. 1, pp. 32-46, 1985) on the binarized image obtained in s1 (s2).

[0055] Furthermore, the information processing device 50 performs ellipse fitting on all of the contours detected in s2, and determines one of the ellipses obtained thereby as the insertion hole 5 (s3).

[0056] The above-mentioned ellipse fitting is performed by the following procedure. When the coefficients of the ellipse equation are a1, a2, a3, a4, and a5, by the least squares method, we can obtain a-[a1, a2, a3, a4, a5] as shown in equation (1). T Minimize with respect to [Formula 1] JPEG0007803487000001.jpg29170where N j is the total number of points that make up the j-th contour.

[0057] Therefore, the center point (uc, vc) of the ellipse to be found is expressed by equations (2) and (3), and the angle θ of the major axis from the u axis is expressed by equation (4). [Formula 2] JPEG0007803487000002.jpg17170[Formula 3] JPEG0007803487000003.jpg19170[Formula 4] JPEG0007803487000004.jpg21170 Furthermore, the insertion hole 5 is determined from among the multiple ellipses by taking advantage of the fact that the inside of the insertion hole 5, i.e., the elliptical region, appears dark in the image. Therefore, the information processing device 50 calculates the average brightness value within each of all detected ellipses. Next, the information processing device 50 adopts the elliptical region with the lowest calculated average brightness value as the insertion hole 5. <Position estimation using known hole diameter> The coordinate system assumed in this embodiment and the definitions of each vector are shown in Fig. 4. The assumed coordinate systems are the image coordinate system (u, v) and the camera coordinate system (x, y, z) as shown in Fig. 4. Furthermore, the endpoints of the major axis of the ellipse determined in s3 above are defined as x1 and x2 on the Z=S plane, and r1 and r2 on the Z=1 plane, and the center points of the ellipse are defined as Xc (on the Z=S plane) and rc (on the Z=1 plane), respectively.

[0058] Among these, the center point Xc of the ellipse is set as the hole position vector, and vector a, which is coaxial with the center axis of the insertion hole 5 and extends in the depth direction of the insertion hole 5, is set as the direction vector of the insertion hole 5.

[0059] Here, since the diameter of the insertion hole 5 is known, the information processing device 50 calculates (s4) the hole position vector Xc of the insertion hole 5 from the relationship between the diameter of the insertion hole 5 in the image and the actual diameter of the insertion hole 5. Here, since the corresponding ellipses on the two planes are similar to each other as shown in FIG. 4, the relationships of formulas (5), (6), and (7) hold. [Formula 5] JPEG0007803487000005.jpg6170[Formula 6] JPEG0007803487000006.jpg6170[Formula 7] JPEG0007803487000007.jpg7170Furthermore, from the similarity relationship described above, Zr=S can be calculated using equation (8). [Formula 8] JPEG0007803487000008.jpg16170 Therefore, the information processing device 50 can calculate the hole position vector Xc by substituting the formula (8) into the formula (7). <Hole angle estimation> As already mentioned, when the insertion hole 5 drilled in the tunnel peripheral wall surface 3 is perpendicular to the tunnel peripheral wall surface 3, it forms a perfect circle on the tunnel peripheral wall surface 3. In this case, the shape of the insertion hole 5 becomes an ellipse that varies depending on the shooting angle of the digital camera 20. Therefore, the information processing device 50 estimates the angle at which the insertion hole 5 extends in the natural ground 2 based on these conditions (s5). Note that the angle at which the insertion hole 5 extends in the natural ground 2 mentioned above refers to the angle between the position of the opening of the insertion hole 5 and the axis of the hole in the camera coordinate system.

[0060] If the angle θ (0deg≦θ≦180deg) from the u-axis, which is the major axis of the ellipse (identified in s3 from the captured image as the insertion hole 5), and the angle φ (-90deg≦φ≦90deg) is the angle at which the ellipse becomes a circle (= appears to be a circle) due to the shape change caused by the above-mentioned shooting angle when rotated around the major axis, the information processing device 50 calculates the direction vector a of the insertion hole 5 based on equation (9). [Formula 9] JPEG0007803487000009.jpg24170Here, R is the rotation matrix calculated from the normal and angle using Rodrigues' formula. The angle φ can be calculated using the length a of the major axis and the length b of the minor axis of the ellipse mentioned above, as shown in equation (10). [Formula 10] JPEG0007803487000010.jpg17170Here, the angle φ can be either positive or negative depending on the direction of rotation, so it must be uniquely determined for angle estimation.Figure 6 shows an insertion hole 5 opened in the peripheral wall surface 3 of the tunnel as viewed from an angle.

[0061] When the insertion hole 5 is viewed obliquely as shown in Figure 6, the insertion hole 5 is an ellipse whose major axis is the diameter of the hole. In this case, one side of the minor axis appears bright because the wall inside the hole is continuous with the wall outside the hole, whereas the other side appears dark because no light reaches the inside of the hole, creating a gradation.

[0062] Therefore, by considering that the direction vector a of the insertion hole 5 is directed toward the dark side of the gradation on the minor axis of the ellipse, the angle φ can be uniquely determined as follows.

[0063] First, the information processing device 50 acquires the luminance information (attached to the captured image data) of the pixels on the minor axis of the ellipse identified in s3, and obtains a linear approximation equation by the least squares method. If the slope of the line indicated by the approximated approximation equation is positive, φ is positive, and if the slope of the line is negative, φ is negative.

[0064] The information processing device 50 transmits the thus obtained information on the position and angle of the insertion hole 5 in the tunnel peripheral wall surface 3 to the computer jumbo 60 via the communication device 57, and sets the information in the computer jumbo 60 (s6). The computer jumbo 60 receives this information via the communication unit 62 and passes it on to the control unit 61. The control unit 61 sets this information as control information for mechanisms such as an arm and a rock drill, and guides the tip of the rock bolt 1 to the opening of the insertion hole 5 in the tunnel peripheral wall surface 3, and then inserts it into the hole at an appropriate angle. <Experimental conditions> To verify the effectiveness of the construction support method of this embodiment, an experiment was conducted in a tunnel under construction. Fig. 7 shows the positional relationship between the digital camera 20 and the insertion hole 5 under each condition, and Fig. 8 shows the measured insertion hole 5. As shown in Fig. 7, images were taken with the digital camera 20 from positions of 45° and 90° of the insertion hole 5, which had a diameter of 47 mm, in the tunnel peripheral wall surface 3.

[0065] Furthermore, based on the above-mentioned premise, the experiment was carried out under the condition that only one insertion hole 5 of the lock bolt 1 was always within the angle of view of the digital camera 20.

[0066] In order to obtain true values ​​for the experimental results, multiple images were taken under each condition, with the origin of the checkerboard 70 aligned with the center of the insertion hole 5, as shown in Figure 9. The position and direction of the checkerboard 70 were estimated from the photographic results, and the hole position vector and the direction vector of the insertion hole 5 calculated from each photographed image were averaged to obtain the true value. <Experimental Results> Fig. 10 shows how the insertion hole 5 was detected using the method of this embodiment. After contour detection and ellipse fitting were performed on the captured image, the ellipse with the darkest average brightness was detected as the insertion hole 5. As a result, it was confirmed that the correct insertion hole 5 could be detected under all conditions.

[0067] The luminance on the minor axis of the ellipse detected under condition 1 and its linear approximation are shown in FIG. 11, and the luminance on the minor axis of the ellipse detected under condition 2 and its linear approximation are shown in FIG.

[0068] 11 and 12, it can be seen that a gradation of brightness occurs on the minor axis of the ellipse detected as the insertion hole 5. Furthermore, from the slope of the straight line linearly approximated by the least squares method for the brightness, it was estimated that the angle φ of condition 1 shown in FIG. 11 is positive, and the angle φ of condition 2 shown in FIG. 12 is negative.

[0069] Table 1 shows the error between the distance estimated using the detection results of the insertion hole 5 and the distance calculated from the checkerboard image. [Table 1] JPEG0007803487000011.jpg27170From this, we can see that of the hole position vectors estimated using the detection results of insertion hole 5, the error in the x component, which is considered important for driving rock bolt 1, is within ±20 mm. On the other hand, we can see that the error in the y component is larger than the target. This is thought to be because when insertion hole 5 was detected, the processed shape of the hole opening was not ideal, causing the outline to be detected as being larger.

[0070] In addition, the error in the z-component, which is not used when installing rock bolt 1, is thought to have become large because it is highly dependent on the contour detection results.

[0071] Table 2 also shows the error between the value of the direction vector of the insertion hole 5 estimated using the detection result of the insertion hole 5 and the direction vector of the insertion hole 5 calculated from the checkerboard image. [Table 2] JPEG0007803487000012.jpg27170As such, an error occurred between the estimated value and the true value of the direction vector of the insertion hole 5. The reason for this is that the measured insertion hole 5 was not perpendicular to the tunnel wall surface 3, and the shape of the insertion hole 5 on the tunnel face 5 was not a perfect circle.

[0072] As shown in the above results, although errors occurred in each component of the hole position vector and the direction vector of the insertion hole 5, the direction of the insertion hole 5 was successfully identified.

[0073] As described above, according to this embodiment, it is possible to efficiently and accurately identify the position and angle of holes into which rod-shaped members such as rock bolts and explosive charges are inserted during tunnel construction. Furthermore, by inputting information on the hole position and angle into a construction device such as a computer jumbo, it becomes possible to insert rock bolts and other elements into holes without relying on human labor. This eliminates the need for manual work in high places or dangerous locations, such as above a tunnel, thereby reducing the burden and risks on workers. It is also expected to have the effect of reducing the possibility of damage or deformation of rock bolts and other elements when they are inserted into holes.

[0074] Although the present invention has been specifically described based on the embodiment, it is not limited to this and various modifications are possible without departing from the spirit of the invention. [Explanation of symbols]

[0075] 1 Rock bolt (rod-shaped member) 2. Ground 3. Tunnel wall surface (wall) 5 (Rock bolt) insertion hole 20 Digital camera (photography device) 21 Lens 22 Storage medium 23 Shooting data 24 Short-range wireless communication means 25 Leader 50 Information processing equipment 51 Storage device 52 Programs 53 Memory 54 Arithmetic unit 55 Input Device 56 Output Device 57 Communication equipment 60 Computer Jumbo (rod-shaped component construction device) 61 Control Unit 62 Communication Unit 100 Construction Support System

Claims

1. acquiring a photographed image of a wall surface into which a rod-shaped member is to be inserted; detecting an insertion hole already formed in the wall surface as an elliptical region based on brightness information indicated by the captured image; estimating a position and an angle of the insertion hole on the wall surface based on a diameter and brightness information of the elliptical region shown in the photographed image corresponding to the elliptical region; A method for supporting construction of a rod-shaped member, comprising:

2. In the step of detecting the elliptical region that is the insertion hole, a step of detecting an outline of each region in the photographed image, approximating the detected outline to an elliptical shape, and converting each region into an elliptical region; and a step of identifying, among the elliptical regions, an elliptical region that is darker than another elliptical region or a predetermined reference, as the insertion hole, based on brightness information of each of the elliptical regions. The method for supporting installation of a rod-shaped member according to claim 1 .

3. In the step of estimating the position and angle of the insertion hole, a position of the insertion hole is identified based on a diameter of the elliptical region and a known diameter of the rod-shaped member, and based on a transition in brightness in the minor axis direction of the elliptical region, the insertion hole is identified as extending at an angle at which the brightness becomes darker; The method for supporting installation of a rod-shaped member according to claim 1 .

4. Further includes a step of setting information about the position and angle of the insertion hole in the installation device for the rod-shaped member. The method for supporting installation of a rod-shaped member according to claim 1 .

5. an imaging device that images a wall surface into which the rod-shaped member is to be inserted; An information processing device that acquires a photographed image obtained by photographing with the photographing device, and detects an insertion hole formed in the wall surface as an elliptical region based on brightness information indicated by the photographed image, and executes a process of estimating a position and an angle of the insertion hole on the wall surface based on a diameter and brightness information of the elliptical region indicated by the photographed image corresponding to the elliptical region; A construction support system for rod-shaped members, comprising:

6. The information processing device includes: In the process of detecting the elliptical region that is the insertion hole, The method detects the contour of each area in the captured image, approximates the detected contour to an elliptical shape, and converts each area into an elliptical area; and, based on brightness information of each of the elliptical areas, identifies an elliptical area that is darker than another elliptical area or a predetermined standard as the insertion hole.

6. The rod-shaped member construction support system according to claim 5.

7. The information processing device includes: In the process of estimating the position and angle of the insertion hole, The position of the insertion hole is identified based on the diameter of the elliptical region and the known diameter of the rod-shaped member, and the insertion hole is identified as extending at an angle at which the brightness becomes dark based on the transition of brightness in the minor axis direction of the elliptical region.

6. The rod-shaped member construction support system according to claim 5.

8. The information processing device includes: The processing further includes setting information about the position and angle of the insertion hole in the installation device for the rod-shaped member.

6. The rod-shaped member construction support system according to claim 5.

9. In the information processing device, A process of acquiring, from an imaging device, an image of a wall surface into which a rod-shaped member is to be inserted; A process of detecting an insertion hole already formed in the wall surface as an elliptical region based on brightness information indicated by the captured image; A process of estimating a position and an angle of the insertion hole on the wall surface based on a diameter and brightness information of the elliptical area shown in the photographed image corresponding to the elliptical area; A program that executes the following.

Images