JP7253982B2 - Tunnel displacement measuring device and tunnel displacement measuring method - Google Patents

Description

The present invention relates to a tunnel displacement measuring device, a tunnel displacement measuring program, and a tunnel displacement measuring method capable of measuring displacement occurring on the inner wall of a tunnel.

Techniques for measuring the displacement of a tunnel are conventionally known. For example, Patent Document 1 discloses a technique for measuring tunnel displacement from three-dimensional point cloud data of the inner wall of a tunnel obtained while driving an MMS (Mobile Mapping System) vehicle equipped with equipment for measuring tunnels. disclosed.

Japanese Unexamined Patent Application Publication No. 2011-203090

The technique described in Patent Literature 1 uses three-dimensional point cloud data obtained by measurement with an MMS vehicle. Therefore, in the event of a disaster, when it is difficult for the MMS vehicle to reach the tunnel, or when it takes time to arrange the MMS vehicle, it is difficult to quickly measure the tunnel. In addition, the technology described in Patent Document 1 measures the entire tunnel, and thus may take a long time to process.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a tunnel displacement measuring device capable of rapidly measuring the displacement of a tunnel.

In order to solve the above-described problems and achieve the object, the tunnel displacement measuring device of the present invention includes an acquisition section, a comparison processing section, and a displacement determination section. The acquisition unit acquires a plurality of shape data obtained by measuring a plurality of positions on the inner wall of the tunnel along the extending direction of the tunnel at intervals. The comparison processing unit compares the plurality of shape data acquired by the acquisition unit with the plurality of each corresponding to the plurality of positions and the reference data for each of the plurality of positions. The displacement determination unit determines the displacement of the tunnel based on the comparison result by the comparison processing unit. The comparison processing unit calculates a first tunnel central axis based on a plurality of shape data, superimposes the calculated first tunnel central axis on a second tunnel central axis obtained from a plurality of reference data, and calculates a plurality of The distance between the shape data and the reference data at each position is calculated, and the displacement determination unit extracts the first two-dimensional projection data having the closest distance at each position, and calculates the first two-dimensional projection data at each extracted position. If the rate of shape data whose distance is greater than the first threshold among the data is greater than a preset first rate, it is determined that there is displacement in the tunnel.

ADVANTAGE OF THE INVENTION According to this invention, there exists an effect that the displacement of a tunnel can be measured rapidly.

1 is a diagram showing a configuration example of a tunnel displacement measuring device according to a first embodiment of the present invention; FIG. FIG. 4 is a diagram for explaining processing by the tunnel displacement measuring device according to the first embodiment; FIG. 1 is a diagram showing an example of a specific configuration of the tunnel displacement measuring device according to the first embodiment; FIG. A diagram showing an example of a reference shape data table according to the first embodiment. FIG. 4 is a diagram showing an example of a three-dimensional point cloud of the entire tunnel indicated by the reference shape data according to the first embodiment; FIG. 2 is a diagram showing a configuration example of a tunnel according to the first embodiment; FIG. A diagram showing an example of a position where the shape measuring device according to the first embodiment is arranged. FIG. 4 is a diagram showing an example of a three-dimensional point cloud showing the circumferential shape of the inner wall of a tunnel measured by the shape measuring device according to the first embodiment; FIG. 4 is a diagram for explaining extraction processing of data of a plurality of three-dimensional points by the extraction unit according to the first embodiment; FIG. 4 is a diagram showing an example of a displacement information display screen displayed on the terminal device according to the first embodiment; FIG. 10 is a diagram showing another example of the displacement state display area displayed on the terminal device according to the first embodiment; FIG. 10 is a diagram showing another example of the displacement state display area displayed on the terminal device according to the first embodiment; FIG. 10 is a diagram showing still another example of the displacement state display area displayed on the terminal device according to the first embodiment; 4 is a flowchart showing an example of processing by a processing unit according to the first embodiment; 1 is a diagram showing an example of a hardware configuration of a tunnel displacement measuring device according to a first embodiment; FIG.

BEST MODE FOR CARRYING OUT THE INVENTION A tunnel displacement measuring device, a tunnel displacement measuring program, and a tunnel displacement measuring method according to embodiments of the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment.

Embodiment 1.
FIG. 1 is a diagram showing a configuration example of a tunnel displacement measuring device according to a first embodiment of the present invention, and FIG. 2 is a diagram for explaining processing by the tunnel displacement measuring device according to the first embodiment. .

As shown in FIG. 1, the tunnel displacement measuring device 1 according to the first embodiment includes a communication section 10, a storage section 20, and a processing section 30. As shown in FIG. The communication unit 10 is communicably connected to the shape measuring device 2 via the network 3 .

The shape measuring device 2 has a laser scanner device, and generates three-dimensional point cloud data of the tunnel 5 from measurement data obtained by the laser scanner device. The shape measuring device 2 is a portable shape measuring device carried by an inspector 4 who inspects the tunnel 5 . Such a shape measuring device 2, for example, mechanically or optically scans a laser beam and receives reflected light of the laser beam from the tunnel 5, thereby measuring the distance to the tunnel 5 at each scanning position.

As shown in FIG. 2 , the inspector 4 sequentially arranges the shape measuring devices 2 at each of a plurality of positions spaced apart along the tunnel axis direction, which is the extending direction of the tunnel 5 . Then, the inspector 4 causes the shape measuring device 2 placed at each position to measure the circumferential shape of the inner wall of the tunnel 5, and generates shape data representing the circumferential shape of the tunnel 5 as three-dimensional point cloud data. Let Thereby, a plurality of shape data measured at intervals along the tunnel axis direction are acquired. Hereinafter, the shape data generated by the shape measuring device 2 may be referred to as circular shape data.

The shape measuring device 2 transmits a plurality of circular shape data obtained by measuring as described above to the tunnel displacement measuring device 1 via the network 3 . The communication unit 10 of the tunnel displacement measuring device 1 receives a plurality of circular shape data transmitted from the shape measuring device 2 .

The storage unit 20 of the tunnel displacement measuring device 1 stores three-dimensional group data of the entire tunnel 5 as reference shape data. The reference shape data is data representing the shape of the entire tunnel 5 with a three-dimensional point group, and includes data of a plurality of three-dimensional points. The data for each 3D point includes data indicating the 3D position of the 3D point. The reference shape data is data of the reference shape of the tunnel 5 and is an example of reference data.

The processing unit 30 includes an acquisition unit 31 , a comparison processing unit 32 , a displacement determination unit 33 and an output processing unit 34 . The acquiring unit 31 acquires from the communication unit 10 a plurality of circular shape data transmitted from the shape measuring device 2 . The circumferential shape data is three-dimensional point cloud data representing the circumferential shape of the tunnel 5 with a plurality of three-dimensional points, and includes data of a plurality of three-dimensional points. The data for each 3D point includes data indicating the 3D position of the 3D point.

The comparison processing unit 32 compares each of the plurality of circular shape data acquired by the acquisition unit 31 with the reference shape data stored in the storage unit 20, as shown in FIG. The displacement determination unit 33 determines displacement of the tunnel 5 based on the comparison result of the comparison processing unit 32 . The output processing unit 34 outputs information on the displacement of the tunnel 5 determined by the displacement determination unit 33 .

As described above, the tunnel displacement measuring apparatus 1 according to the first embodiment provides each of a plurality of shape data obtained by measuring the inner wall of the tunnel 5 at intervals along the extending direction of the tunnel 5 and the reference shape data. are compared, and the displacement of the tunnel 5 is measured based on the comparison result. Thereby, for example, when it is difficult for the MMS vehicle to reach the tunnel 5 after the occurrence of a disaster, or when it takes time to arrange the MMS vehicle, the displacement of the tunnel 5 can be measured quickly. Therefore, based on such measurements, for example, it is possible to decide in a short period of time whether road closures should be lifted or railway operations should be started.

The configuration of the tunnel displacement measuring device 1 will be described in more detail below. FIG. 3 is a diagram illustrating an example of a specific configuration of the tunnel displacement measuring device according to the first embodiment; As shown in FIG. 3 , the tunnel displacement measuring device 1 includes a communication section 10 , a storage section 20 and a processing section 30 . The storage unit 20 stores a reference shape data table 21. FIG.

4 is a diagram of an example of a reference shape data table according to the first embodiment; FIG. FIG. 5 is a diagram showing an example of a three-dimensional point cloud of the entire tunnel indicated by reference shape data according to the first embodiment.

As shown in FIG. 4, the reference shape data table 21 includes reference shape data including data of a plurality of three-dimensional points forming the three-dimensional point group 40 shown in FIG. A 3D point cloud 40 is a 3D point cloud of the entire tunnel 5 . Data of each three-dimensional point in the reference shape data includes a "three-dimensional point ID (Identifier)", an "X coordinate", a "Y coordinate", and a "Z coordinate". "X coordinate", "Y coordinate", and "Z coordinate" are coordinates of a three-dimensional point in the XYZ coordinate system. That is, the "X coordinate" is the X coordinate of the three-dimensional point in the XYZ coordinate system, the "Y coordinate" is the Y coordinate of the three-dimensional point in the XYZ coordinate system, and the "Z coordinate" is the three-dimensional point. is the Z coordinate.

The reference shape data table 21 shown in FIG. 4 includes a plurality of three-dimensional point data having three-dimensional point IDs such as "P10001", "P10002", and "P10003". For example, a 3D point having a 3D point ID of "P10001" has coordinates of 3D point of "x1, y1, z1". A three-dimensional point having a three-dimensional point ID of "P10002" has three-dimensional point coordinates of "x2, y2, z2". A three-dimensional point having a three-dimensional point ID of "P10003" has three-dimensional point coordinates of "x3, y3, z3".

Returning to FIG. 3, the description of the processing unit 30 is continued. As shown in FIG. 3 , the processing section 30 includes an acquisition section 31 , a comparison processing section 32 , a displacement determination section 33 and an output processing section 34 . The acquisition unit 31 acquires a plurality of circular shape data from the shape measuring device 2 via the network 3 . As described above, the plurality of circular shape data are shape data obtained by measuring the inside of the tunnel 5 at intervals along the extending direction of the tunnel 5 with the shape measuring device 2 .

As shown in FIG. 3 , the shape measuring device 2 includes a communication section 50 , a shape measuring section 51 , a control section 52 , an input section 53 and a display section 54 . The communication unit 50 can wirelessly communicate with the tunnel displacement measuring device 1 via the network 3 . The network 3 includes, for example, a mobile phone network, and the communication unit 50 can perform wireless communication with a base station of the mobile phone network. The shape measuring unit 51 has a function of mechanically or optically scanning a laser beam and receiving reflected light of the laser beam from the tunnel 5 to measure the distance to the tunnel 5 at each scanning position.

The control unit 52 controls the shape measuring device 2 as a whole. For example, when the inspector 4 performs a specific operation on the input unit 53 , the control unit 52 requests the shape measurement unit 51 to measure the shape of the tunnel 5 . Based on a request from the control unit 52, the shape measurement unit 51 generates a plurality of round shape data by performing scanning in the tunnel circumferential direction a plurality of times while shifting in the tunnel axial direction. Further, the control unit 52 associates position data with each of the plurality of circular shape data, for example, based on the operation of the input unit 53 by the inspector 4 .

The control unit 52 can transmit a plurality of pieces of measurement data each including circular shape data and position data from the communication unit 50 to the tunnel displacement measuring device 1 . Further, the control unit 52 acquires information transmitted from the tunnel displacement measuring device 1 to the shape measuring device 2 from the communication unit 50, displays the acquired information on the display unit 54, and performs shape measurement based on the acquired information. 51 can be controlled.

Here, an example of a method for measuring the circumferential shape of the inner wall of the tunnel 5 with the shape measuring device 2 carried by the inspector 4 will be described. FIG. 6 is a diagram illustrating a configuration example of a tunnel according to the first embodiment; FIG. 7 is a diagram showing an example of positions at which the shape measuring device according to the first embodiment is arranged. FIG. 8 is a diagram showing an example of a three-dimensional point cloud showing the circumferential shape of the inner wall of the tunnel measured by the shape measuring device according to the first embodiment.

The tunnel 5 shown in FIG. 6 has a plurality of segments _{6 1} , 6 ₂ , 6 ₃ , 6 ₄ , 6 ₅ , 6 ₆ each curved in an arc _{. 3} , 6 ₄ , 6 ₅ , 6 ₆ are made of concrete or the like and arranged along the tunnel axis direction. Hereinafter, when each of the segments 6 ₁ , 6 ₂ , 6 ₃ , 6 ₄ , 6 ₅ , and 6 ₆ is shown without distinction, it may be described as segment 6 .

Adjacent segments 6 ₁ , 6 ₂ , 6 ₃ , 6 ₄ , 6 ₅ , 6 ₆ are joined by joints 7 ₁ , 7 ₂ , 7 ₃ , 7 ₄ , 7 ₅ . Specifically, the joint 7 ₁ joins the segments 6 ₁ and 6 ₂ together, the joint 7 ₂ joins the segments 6 ₂ and 6 ₃ together, and the joint 7 ₃ connects the segments 6 ₃ and 6 3 together. Join ₄ together. Also, the joint portion 7 ₄ joins the segments 6 ₄ and 6 ₅ together, and the joint portion 7 ₅ joins the segments 6 ₅ and 6 ₆ together. Hereinafter, when each of the joints 7 ₁ , 7 ₂ , 7 ₃ , 7 ₄ , and 7 ₅ is shown without distinguishing them, they may be referred to as joints 7 .

The inspector 4 sequentially arranges the shape measuring devices 2 at a plurality of positions P ₁ , P ₂ , P ₃ , P ₄ , and P ₅ shown in FIG. do. The inspector 4 operates the input unit 53 of the shape measuring device 2 at each position P ₁ , P ₂ , P ₃ , P ₄ , and P ₅ where the shape measuring device 2 is arranged to cause the shape measuring unit 51 to perform measurement. .

As a result, as shown in FIG. 8, three-dimensional point groups 8 ₁ , 8 ₂ , 8 ₃ , 8 ₄ , 8 ₅ obtained by measuring joints 7 ₁ , 7 ₂ , 7 ₃ , 7 ₄ , 7 ₅ The shape measurement unit 51 generates a plurality of circular shape data each including corresponding data among the data of . Specifically, the shape measurement unit 51 measures the circular shape data including the data of the three-dimensional point cloud _8-1 obtained by measuring the joint _7-1 , and the three-dimensional point cloud obtained by measuring the joint _7-2 . Generate circular shape data containing ₈₂ data.

In addition, the shape measurement unit 51 provides circular shape data including data of a three-dimensional point cloud ₈₃ obtained by measuring the joint ₇₃ , and data of a three-dimensional point cloud ₈₄ obtained by measuring the joint ₇₄ . and the data of the three-dimensional point cloud ₈₅ obtained by measuring the joint ₇₅ are generated. The shape measuring unit 51 measures the joints 7 ₁ , 7 ₂ , 7 ₃ , 7 ₄ , and 7 ₅ , for example, by performing scanning in the tunnel circumferential direction a plurality of times while shifting them in the tunnel axial direction. Hereinafter, when each of the three-dimensional point groups 8 ₁ , 8 ₂ , 8 ₃ , 8 ₄ , and 8 ₅ is indicated without distinction, it may be described as a three-dimensional point group 8 .

The three-dimensional point groups 8 ₁ , 8 ₂ , 8 ₃ , 8 ₄ , and 8 ₅ are three-dimensional point groups having a preset width W1 in the tunnel axial direction, but are scanned only once in the tunnel circumferential direction. It may also be a three-dimensional point group obtained by traveling. The width W1 is shorter than the distances D1, _D2 , D3 and D4 between adjacent three-dimensional point groups among the three-dimensional point groups ₈₁ , ₈₂ , ₈₃ , ₈₄ and 85. In the example shown in FIG. 8, the length of width W1 is 1/10 or less of the lengths of distances D1, D2, D3, and D4.

The inspector 4 operates the input unit 53 at each position P ₁ , P ₂ , P ₃ , P ₄ , P ₅ where the shape measuring device 2 is arranged, and obtains information on the distance from the entrance of the tunnel 5 or the entrance of the tunnel 5 , is input from the input unit 53 . As a result, the control unit 52 associates the distance or number data from the entrance of the tunnel 5 input to the input unit 53 as position data with the circular shape data. The distance or number from the entrance of the tunnel 5 is for example drawn on the inner wall of the tunnel 5 in relation to the joint 7 . The position data may be data indicating the order of measurement. In this case, the control unit 52 can associate the measurement order data as position data with the circular shape data by the shape measuring unit 51, for example. The measurement order data is, for example, data of a number that is incremented each time the shape measurement unit 51 performs measurement.

In the above example, the measurement by the shape measuring device 2 is performed at positions P ₁ , P ₂ , P ₃ facing the joints 7 ₁ , 7 ₂ , 7 ₃ , 7 ₄ , 7 ₅ in the direction perpendicular to the tunnel axis. , P ₄ and P ₅ , but the positions are not limited to such examples.

For example, the measurement by the shape measuring device 2 may be performed in place of or in addition to the positions P ₁ , P ₂ , P ₃ , P ₄ , and P ₅ facing the joint 7, and the positions of the markers previously drawn on the inner wall of the tunnel 5. may be performed at a position facing the In this case, the distance from the tunnel 5 or the number is drawn on the inner wall of the tunnel 5 in association with the position of the marker. The inspector 4 inputs the distance or number drawn on the inner wall of the tunnel 5 into the input unit 53, thereby generating measurement data including position data and circular shape data. Note that the position data may be measurement order data. Hereinafter, when a plurality of positions including positions P ₁ , P ₂ , P ₃ , P ₄ , and P ₅ , which are the positions where the shape measuring device 2 is arranged, are indicated without distinction, they may be described as position P. be.

In this way, the shape measuring device 2 performs fixed point measurement of the tunnel 5 at a preset position in the tunnel axial direction within the tunnel 5, but measures the tunnel 5 at an arbitrary position within the tunnel 5 in the tunnel axial direction. You can also

When the measurement by the shape measuring device 2 is performed at an arbitrary position, the inspector 4, for example, measures the distance from a marker drawn on the inner wall of the tunnel 5 by using a laser distance (not shown) to grasp the position inside the tunnel 5. Measure with a meter or the like. The marker includes, for example, letters indicating the distance from the entrance of the tunnel 5 . The inspector 4 operates the input unit 53 to input the distance from the entrance of the tunnel 5 obtained based on the distance from the marker measured with a laser rangefinder or the like, thereby obtaining the position data and the circular shape in the control unit 52. Measurement data can be generated that includes data.

Further, for example, when the position data of the shape measuring device 2 can be acquired from the wireless base station, the control unit 52 of the shape measuring device 2 can perform the measurement by the shape measuring device 2 at an arbitrary position. Location data obtained from the base station can also be associated with the circular shape data. The position data acquired from the wireless base stations is generated, for example, based on the transmission/reception intensity of wireless radio waves between the plurality of wireless base stations and the shape measuring device 2 .

Returning to FIG. 3, the processing unit 30 will be specifically described. The comparison processing section 32 of the processing section 30 includes an extraction section 36 and a comparison section 37 . Based on the position data included in the measurement data acquired by the acquisition unit 31, the extraction unit 36 extracts data on a plurality of three-dimensional points included in the reference shape data, and extracts circular shape data in the axial direction of the tunnel. Data of a plurality of 3D points within a preset range including positions are extracted.

9 is a diagram for explaining extraction processing of data of a plurality of three-dimensional points by the extraction unit according to the first embodiment; FIG. In the example shown in FIG. 9, the tunnel axis of the tunnel 5 coincides with the Y-axis, and the tunnel 5 and the three-dimensional point group 40 are viewed from the X-axis direction. Also, the example shown in FIG. 9 shows an example in which a plurality of circular shape data are obtained based on the measurement results at positions P ₁ , P ₂ , P ₃ , P ₄ and P ₅ .

Based on the position data included in the measurement data, the extraction unit 36 determines at which position the circular shape data was acquired. For example, if the position data includes information on the distance from the entrance of the tunnel 5, the extraction unit 36 determines the distances from the entrance of the tunnel 5 to each of the positions P ₁ , P ₂ , P ₃ and P ₄ . , _P5 . Also, if the position data contains numbers, the extraction unit 36 determines each of the positions P ₁ , P ₂ , P ₃ , P ₄ and P ₅ based on the numbers contained in the position data.

As shown in FIG. 9 , the extracting unit 36 extracts a plurality of three-dimensional point data included in the three-dimensional point group 40 within a preset range including the Y coordinate of the position P in the Y-axis direction. Extract 3D point data. Specifically, the extraction unit 36 extracts from the three-dimensional point group 40 a three-dimensional point group ₉₁ having a preset width W2 including the Y coordinate of the position _P1 in the Y-axis direction. Similarly, the extraction unit 36 extracts from the three-dimensional point group 40 a three-dimensional point group ₉₂ having a preset width W2 including the Y coordinate of the position _P2 in the Y-axis direction. The extraction unit 36 extracts from the three-dimensional point group 40 a three-dimensional point group ₉₃ having a preset width W2 including the Y coordinate of the position _P3 in the Y-axis direction.

The extraction unit 36 extracts from the three-dimensional point group 40 a three-dimensional point group ₉₄ having a preset width W2 including the Y coordinate of the position _P4 in the Y-axis direction. The extraction unit 36 extracts from the three-dimensional point group 40 a three-dimensional point group ₉₅ having a preset width W2 including the Y coordinate of the position _P5 in the Y-axis direction. Hereinafter, when each of the three-dimensional point groups 9 ₁ , 9 ₂ , 9 ₃ , 9 ₄ , and 9 ₅ is indicated without distinction, it may be described as a three-dimensional point group 9 . In the example shown in FIG. 9, the three-dimensional point group 9 is extracted so that the Y coordinate of the position P is at the center of the width W2 in the Y-axis direction.

The comparison unit 37 compares the three-dimensional point group 8 specified by the circular shape data included in the measurement data acquired by the acquisition unit 31 and the three-dimensional point group 9 extracted by the extraction unit 36, and obtains three-dimensional points The difference between the cloud 8 and the three-dimensional point cloud 9 is calculated.

For example, the comparison unit 37 compares the three-dimensional point group _8-1 and the three-dimensional point group _9-1 , and calculates the difference between the three-dimensional point group _8-1 and the three-dimensional point group _9-1 . The comparison unit 37 compares the three-dimensional point group _8-2 and the three-dimensional point group _9-2 , and calculates the difference between the three-dimensional point group _8-2 and the three-dimensional point group _9-2 . The comparison unit 37 compares the three-dimensional point group _8-3 and the three-dimensional point group _9-3 , and calculates the difference between the three-dimensional point group _8-3 and the three-dimensional point group _9-3 . The comparison unit 37 compares the three-dimensional point group _8-4 and the three-dimensional point group _9-4 , and calculates the difference between the three-dimensional point group _8-4 and the three-dimensional point group _9-4 . The comparison unit 37 compares the three-dimensional point group _8-5 and the three-dimensional point group _9-5 and calculates the difference between the three-dimensional point group _8-5 and the three-dimensional point group _9-5 .

The comparison unit 37 can compare the three-dimensional point group 8 and the three-dimensional point group 9 using the tunnel axis. Specifically, the comparison unit 37 calculates the tunnel axis based on the three-dimensional point group 9 . For example, the comparison unit 37 can approximate the three-dimensional point group 9 with a columnar body and set the central axis of the approximated columnar body as the tunnel axis. As a technique for approximating the three-dimensional point cloud of the tunnel 5 to a pillar, for example, the technique disclosed in Japanese Patent Application Laid-Open No. 2011-203090 can be used. The columnar body that approximates the three-dimensional point group 9 is, for example, a cylinder, but may have a shape other than the cylinder.

The comparison unit 37 also approximates the three-dimensional point group 8 with a cylinder or a circle, and calculates the central axis of the approximated cylinder or the center point of the approximated circle. For example, if the three-dimensional point group 8 is a three-dimensional point group obtained by scanning the tunnel circumferential direction multiple times and has a width W1 in the extending direction of the tunnel 5, the three-dimensional point group 8 is approximated by a cylinder, and the central axis of the approximated cylinder is calculated. Further, when the three-dimensional point group 8 is a three-dimensional point group obtained by performing only one scan in the tunnel circumferential direction, the comparison unit 37 approximates the three-dimensional point group 8 with a circle, Calculate the center point.

When the central axis is calculated based on the three-dimensional point group 8, the comparison unit 37 superimposes the three-dimensional point group 8 on the three-dimensional point group 9 so that the calculated central axis coincides with the tunnel axis. Further, when the center point is calculated based on the three-dimensional point group 8, the comparison unit 37 superimposes the three-dimensional point group 8 on the three-dimensional point group 9 so that the calculated center point is on the tunnel axis.

The comparison unit 37 calculates the distance between each three-dimensional point included in the three-dimensional point group 8 and each of the plurality of three-dimensional points included in the three-dimensional point group 9, which is the distance between the three-dimensional points. The comparison unit 37 determines a 3D point having the shortest distance between the 3D points of the 3D point group 8 and the 3D point among the plurality of 3D points included in the 3D point group 9 as the corresponding 3D point. The comparison unit 37 determines the three-dimensional point having the shortest inter-three-dimensional point distance for all the three-dimensional points included in the three-dimensional point group 8 . Hereinafter, the difference between each three-dimensional point included in the three-dimensional point group 8 and the corresponding three-dimensional point will be referred to as the three-dimensional point difference or simply the difference.

Note that the processing by the comparison processing unit 32 is not limited to the example described above. For example, the comparison unit 37 calculates a plurality of two-dimensional points on an orthogonal plane obtained by projecting a plurality of three-dimensional points forming the three-dimensional point group 9 onto an orthogonal plane perpendicular to the tunnel axis. can be done. Further, when the central axis is calculated based on the three-dimensional point group 8, the comparison unit 37 calculates an orthogonal plane obtained by projecting a plurality of three-dimensional points forming the three-dimensional point group 8 onto a plane orthogonal to the central axis. Compute a plurality of two-dimensional points on the surface. Hereinafter, a two-dimensional point obtained by projecting a plurality of three-dimensional points forming the three-dimensional point group 9 is referred to as a reference two-dimensional point, and a plurality of three-dimensional points forming the three-dimensional point group 8 are projected. The obtained two-dimensional point is described as a measurement two-dimensional point.

The comparison unit 37 calculates two-dimensional point-to-point distances, which are the distances between each measurement two-dimensional point and a plurality of reference two-dimensional points. The comparison unit 37 determines the reference two-dimensional point having the closest distance between the measured two-dimensional point and the two-dimensional point among the plurality of reference two-dimensional points as the corresponding reference two-dimensional point. The comparison unit 37 determines the corresponding reference two-dimensional point having the shortest distance between the two-dimensional points for all the measured two-dimensional points. Hereinafter, the difference between the measured two-dimensional point and the corresponding reference two-dimensional point is referred to as the two-dimensional point difference or simply the difference.

Further, in the above description, an example in which the comparison unit 37 calculates the tunnel axis has been described, but information on the tunnel axis may be included in the reference shape data. In this case, the comparison unit 37 can acquire information on the tunnel axis of each three-dimensional point group 9 from the storage unit 20 .

In addition, in the example described above, the reference shape data is three-dimensional point cloud data, but is not limited to such an example. For example, the reference shape data may be design drawing data including the cross-sectional shape of the tunnel 5 . In this case, the comparison unit 37 can calculate the shortest distance between the line indicating the inner wall of the tunnel 5 included in the design drawing and the measurement two-dimensional point for each measurement two-dimensional point. Hereinafter, the shortest distance from the measured two-dimensional point to the line indicating the inner wall of the tunnel 5 included in the design drawing is also referred to as the difference of the two-dimensional points or simply the difference.

The displacement determination section 33 determines the displacement of the tunnel 5 based on the comparison result by the comparison processing section 32 . For example, the displacement determination unit 33 can determine the displacement of the tunnel 5 based on the distribution of the differences between the plurality of three-dimensional points calculated by the comparison unit 37 .

For example, the displacement determination unit 33 determines that the tunnel 5 is displaced when the ratio of three-dimensional points having a difference of three-dimensional points equal to or larger than a first threshold among a plurality of three-dimensional points is equal to or larger than a preset first ratio. It can be determined that there is For example, the first threshold is 2 cm and the first percentage is 10%.

Further, the displacement determination unit 33 determines that the displacement occurs in the tunnel 5 when the ratio of three-dimensional points having a difference of three-dimensional points equal to or larger than a second threshold among the plurality of three-dimensional points is equal to or larger than a preset second ratio. can be determined to be an unsafe condition. The second threshold is, for example, 15 cm and the second percentage is 20%.

Further, the displacement determination unit 33 divides the plurality of three-dimensional points forming the three-dimensional point group 8 into a plurality of regions, and determines the displacement of the tunnel 5 based on the distribution of the difference between the three-dimensional points for each divided region. can judge. In this case, the displacement determination unit 33 can determine the displacement based on different criteria for each divided area. For example, the displacement determination unit 33 may set the second threshold value and the second ratio for determining that the area located above the tunnel 5 among the plurality of divided areas to be in an unsafe state are smaller values. can.

Further, the displacement determination unit 33 can also calculate the average value of the differences between the three-dimensional points for each of the divided regions, and further convert the calculated average value into one of the stepwise displacement levels. can. The displacement determination unit 33 converts the calculated average value to a higher displacement level.

Further, the displacement determination unit 33 generates displacement information indicating the displacement of the tunnel 5 based on the determined displacement. For example, the displacement determination unit 33 generates displacement information including information indicating whether or not there is displacement in the tunnel 5, or generates displacement information including information indicating that the displacement occurring in the tunnel 5 is in an unsafe state. information can be generated.

Further, the displacement determination unit 33 can generate displacement information including information indicating displacement for each divided area. For example, the displacement determination unit 33 can generate displacement information including numerical information indicating the amount of displacement for each divided region. In addition, the displacement determination unit 33 can generate displacement information including information indicating the divided regions by color or line thickness according to the amount of displacement.

Further, the displacement determination unit 33 determines the displacement of the tunnel 5 based on the distribution state of the two-dimensional point differences instead of the distribution state of the three-dimensional point differences, and outputs the displacement information based on the determination result. can be generated. The determination direction of the displacement of the tunnel 5 and the method of generating the displacement information based on the distribution state of the two-dimensional point difference are the same as the determination direction of the displacement of the tunnel 5 and the method of generating the displacement information based on the distribution state of the three-dimensional point difference. is.

The output processing unit 34 includes a displacement information output unit 38 and a measurement support information output unit 39, as shown in FIG. The displacement information output unit 38 transmits display information including the displacement information generated by the displacement determination unit 33 from the communication unit 10 to the terminal device 100 via the network 3 . The terminal device 100 displays the displacement information display screen based on the display information acquired from the displacement information output section 38 . The terminal device 100 is a terminal device carried by the inspector 4, and is, for example, a smart phone, a tablet, or a personal computer.

10 is a diagram illustrating an example of a displacement information display screen displayed on the terminal device according to the first embodiment; FIG. A displacement information display screen 60 shown in FIG. 10 displays a measurement area selection area 61 for selecting the measurement area of the three-dimensional point cloud 8 in the tunnel 5 and the displacement of the selected measurement area with respect to the reference shape of the tunnel 5. and a displacement state display area 62 that

In the measurement region selection region 61 shown in FIG. 10, one measurement region is selected from five measurement regions in which the three-dimensional point cloud 8 is measured at five positions P, and the three-dimensional point cloud 8 of the selected measurement region is selected. is displayed in the displacement state display area 62 . In the example shown in FIG. 10, the characters "15 cm or more of displacement" are displayed as the numerical information indicating the amount of displacement, so that the inspector 4 can easily grasp the place where the displacement is large in the measurement area. can do.

The inspector 4 can select a measurement area by bringing the cursor 63 close to the measurement area that the inspector 4 wants to check. The cursor 63 is operated by operating an input unit (not shown) in the terminal device 100 . The display information transmitted from the tunnel displacement measuring device 1 includes displacement information of five measurement areas. A control unit (not shown) in the terminal device 100 can extract the displacement information of the selected measurement area from the display information and display the extracted displacement information in the displacement state display area 62 .

The displacement state display area 62 shown in FIG. 10 contains only information indicating the displacement amount of the area in the unsafe state, but the displacement information indicates the displacement amount of each of the divided plural areas. can do. 11 and 12 are diagrams showing other examples of displacement state display areas displayed on the terminal device according to the first embodiment.

In the displacement state display area 62 shown in FIG. 11, numerical information indicating the amount of displacement of each of the plurality of divided areas is displayed in association with the corresponding area. Thereby, the inspector 4 can grasp the displacement amount of each of the plurality of divided regions.

In addition, in the displacement state display area 62 shown in FIG. 12, the larger the amount of displacement in each of the plurality of divided areas, the thicker the line. As a result, the area with the larger displacement amount is emphasized, so that the inspector 4 can easily grasp the displacement amount of each of the divided plural areas. In the displacement state display area 62 shown in FIG. 12, a thicker line is used as the amount of displacement increases, but the amount of displacement can be displayed so that the color becomes darker as the amount of displacement increases.

In the above, an example was described in which the amount of displacement with respect to the reference shape of the tunnel 5 is indicated by a numerical value, line thickness, or color density, but the displacement information is not limited to the above examples. For example, the displacement determination unit 33 can generate displacement information including information on three-dimensional points forming the three-dimensional point group 8 in addition to information numerically indicating the amount of displacement of the tunnel 5 with respect to the reference shape.

13 is a diagram illustrating still another example of the displacement state display area displayed on the terminal device according to the first embodiment; FIG. A displacement state display area 62 shown in FIG. 13 displays the three-dimensional point cloud 8 of the measurement area selected in the measurement area selection area 61 shown in FIG. A rotation button 64 is provided in the displacement state display area 62, and by operating the rotation button 64, the three-dimensional point group 8 can be rotated in an arbitrary direction.

Further, the displacement determination unit 33 can generate displacement information including information in which a plurality of three-dimensional points in each divided region of the three-dimensional point group 8 are colored according to the displacement level. In this case, the displacement determination unit 33 can darken the color of the three-dimensional points forming the three-dimensional point group 8 as the difference between the three-dimensional points increases. Further, the displacement determination unit 33 can make the color reddish as the difference between the three-dimensional points is larger, and the color bluer as the difference between the three-dimensional points is smaller according to the displacement level. As a result, in the displacement state display area 62, a plurality of three-dimensional points for each divided area are displayed in a color corresponding to the amount of displacement of the corresponding area. Each displacement amount can be easily grasped.

The displacement determination unit 33 can also set the color of each of the plurality of three-dimensional points forming the three-dimensional point group 8 to a color corresponding to the difference between the three-dimensional points. Thereby, the inspector 4 can easily grasp the displacement of the tunnel 5 . Note that, as described above, the displacement determination unit 33 can also generate displacement information including information obtained by adding color to the above-described two-dimensional point instead of the three-dimensional point.

When the communication environment by the communication unit 50 is good in the tunnel 5, the control unit 52 of the shape measuring device 2 transmits the generated circular shape data from the communication unit 50 to the network each time the circular shape data is generated at each position P. 3 to the tunnel displacement measuring device 1 .

In this case, the acquisition unit 31 of the tunnel displacement measuring device 1 acquires the shape data transmitted each time it is generated from the shape measuring device 2 . The comparison processing unit 32 compares the obtained circumferential shape data with the reference shape data each time the obtaining unit 31 obtains the circumferential shape data. The displacement determination unit 33 determines the displacement of the tunnel 5 each time the comparison processing unit 32 compares the circular shape data and the reference shape data, and generates displacement information based on the determination result. The displacement information output unit 38 can transmit the generated displacement information from the communication unit 10 to the terminal device 100 via the network 3 each time the displacement information is generated by the displacement determination unit 33 .

As a result, the inspector 4 can grasp the displacement of the measurement area corresponding to the position P each time the position P is measured. Therefore, the inspector 4 determines that the safety of the tunnel 5 is not ensured when, for example, the amount of displacement of a part of the tunnel 5 is in an unsafe state, and measures the tunnel 5. can be terminated. Therefore, for example, when the amount of displacement of the tunnel 5 is in an unsafe state near the entrance of the tunnel 5, the inspection of the tunnel 5 can be completed quickly.

When the communication environment by the communication unit 50 in the tunnel 5 is not good, the control unit 52 of the shape measuring device 2 generates the circular shape data of all the positions P, and then collects the plurality of circular shape data to the tunnel displacement measuring device. 1 can be output. In this case, the displacement determination unit 33 determines the displacement of the plurality of measurement regions in the tunnel 5 based on the comparison result between each of the plurality of shape data and the reference shape data, and the displacement information indicating the displacement of the plurality of measurement regions. can be generated. Further, the displacement determination unit 33 generates, as displacement information, information indicating whether or not an unsafe area exists in the tunnel 5 based on the result of comparison between each of the plurality of shape data and the reference shape data. can also

In addition, the measurement support information output unit 39 can output information on the measurement interval of the tunnel 5 by the shape measuring device 2 or information to instruct remeasurement of the circular shape data based on the comparison result by the comparison processing unit 32. .

For example, the measurement support information output unit 39 outputs the measurement support information including information on the interval to be measured in the tunnel 5 from the communication unit 10 when the comparison result by the comparison processing unit 32 satisfies a preset first measurement condition. It transmits to the terminal device 100 via the network 3 . In addition to the positions P ₁ , P ₂ , P ₃ , P ₄ , and P ₅ , the information on the intervals is, for example, a position between the positions P ₁ and P ₂ , a position between the positions P ₂ and P ₃ , a position P ₃ , P ₄ and between positions P ₄ and P ₅ as the position where the shape measuring device 2 is arranged. Thereby, the displacement of the tunnel 5 can be accurately grasped.

The first measurement condition is, for example, a condition that the ratio of three-dimensional points having a difference of three-dimensional points equal to or larger than a first threshold among a plurality of three-dimensional points is equal to or larger than a preset first ratio. Further, the first measurement condition is that, among the plurality of 3D points included in the divided area, the ratio of the 3D points whose difference is equal to or higher than the first threshold is equal to or higher than a preset first ratio. It may be a condition that Thereby, when it is assumed that the tunnel 5 is displaced, the displacement of the tunnel 5 can be accurately measured.

Further, the measurement support information output unit 39 outputs the measurement support information including information for instructing re-measurement of the circular shape data when the comparison result by the comparison processing unit 32 satisfies the preset second measurement condition. , to the terminal device 100 via the network 3 . The terminal device 100 displays the measurement assistance information acquired from the measurement assistance information output unit 39 . The measurement support information includes, for example, information to the effect that remeasurement of the circular shape data is necessary. This allows the inspector 4 to know that re-measurement is necessary.

The second measurement condition includes a condition that the number of unique three-dimensional points among the plurality of three-dimensional points forming the three-dimensional point group 8 is equal to or greater than a preset ratio. A peculiar three-dimensional point is caused by, for example, an abnormality in measurement processing in the tunnel displacement measuring device 1, an operation error of the tunnel displacement measuring device 1 by the inspector 4, or a measurement mistake using the tunnel displacement measuring device 1 by the inspector 4. occur. In addition, a peculiar three-dimensional point may occur when the tunnel displacement measuring device 1 and the tunnel 5 are vibrating due to an earthquake or the like.

The second measurement condition also includes a condition that the distribution of the plurality of three-dimensional points forming the three-dimensional point group 8 is not within a preset range. The preset range is the distribution range of a plurality of three-dimensional points forming the three-dimensional point group 8 when the orientation of the tunnel displacement measuring device 1 at the position P is within the allowable range. When the orientation of the tunnel displacement measuring device 1 at the position P deviates beyond the allowable range, the distribution of the plurality of three-dimensional points forming the three-dimensional point cloud 8 is outside the preset range.

In the example described above, the displacement information and the measurement support information are transmitted from the tunnel displacement measuring device 1 to the terminal device 100 , but the displacement information and the measurement support information may be transmitted to the shape measuring device 2 . In this case, the shape measuring device 2 can display the displacement information and the measurement support information similarly to the terminal device 100 .

14 is a flowchart illustrating an example of processing by a processing unit according to the first embodiment; FIG. As shown in FIG. 14, the acquiring unit 31 of the processing unit 30 acquires measurement data from the shape measuring device 2 via the communication unit 10 (step S11). The comparison processing unit 32 of the processing unit 30 extracts a plurality of three-dimensional point data within a preset range from the three-dimensional point data included in the reference shape data based on the position data included in the measurement data. (Step S12).

The comparison processing unit 32 selects data of one three-dimensional point included in the circular shape data of the measurement data (step S13). The comparison processing unit 32 determines the three-dimensional point having the shortest distance from the three-dimensional point selected in step S13 among the plurality of three-dimensional points extracted in step S12 (step S14).

The comparison processing unit 32 calculates the difference between the three-dimensional point determined to have the shortest distance in step S14 and the one three-dimensional point selected in step S13 (step S15). The comparison processing unit 32 determines whether or not all three-dimensional points included in the circular shape data have been selected (step S16). When the comparison processing unit 32 determines that all three-dimensional points have not been selected (step S16: No), the process proceeds to step S13.

When it is determined that all three-dimensional points have been selected (step S16: Yes), the displacement determination unit 33 of the processing unit 30 determines the displacement of the tunnel 5 based on the difference calculated by the comparison processing unit 32, Displacement information is generated based on the determined result (step S17). The output processing unit 34 of the processing unit 30 outputs the displacement information generated in step S17 (step S18). Further, the output processing unit 34 determines whether or not the difference calculated in step S15 satisfies the measurement conditions (step S19). The measurement conditions are, for example, the above-described first measurement conditions or second measurement conditions.

When the output processing unit 34 determines that the difference calculated in step S15 satisfies the measurement condition (step S19: Yes), it outputs measurement support information (step S20). When the process of step S20 is finished, or when it is determined that the difference calculated in step S15 does not satisfy the measurement condition (step S19: No), the process shown in FIG. 14 is finished.

15 is a diagram illustrating an example of a hardware configuration of the tunnel displacement measuring device according to the first embodiment; FIG. As shown in FIG. 15 , tunnel displacement measuring device 1 includes a computer having processor 101 , memory 102 , communication device 103 , and input/output circuit 104 .

Processor 101 , memory 102 , communication device 103 , and input/output circuit 104 can transmit and receive data to and from each other via bus 105 . The communication unit 10 is implemented by the communication device 103 . Storage unit 20 is implemented by memory 102 . The processor 101 reads and executes programs stored in the memory 102 to perform the functions of the acquisition unit 31 , the comparison processing unit 32 , the displacement determination unit 33 and the output processing unit 34 . The processor 101 is an example of a processing circuit and includes one or more of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), and a system LSI (Large Scale Integration).

The memory 102 includes one or more of RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Registered Trademark) (Electrically Erasable Programmable Read Only Memory). include. The memory 102 also includes a recording medium in which a computer-readable program is recorded. Such recording media include one or more of nonvolatile or volatile semiconductor memories, magnetic disks, flexible memories, optical disks, compact disks, and DVDs (Digital Versatile Disks). The tunnel displacement measuring device 1 may include integrated circuits such as ASIC (Application Specific Integrated Circuit) and FPGA (Field Programmable Gate Array).

As described above, the tunnel displacement measuring device 1 according to the first embodiment includes the acquisition unit 31, the comparison processing unit 32, and the displacement determination unit 33. The acquisition unit 31 acquires a plurality of circular shape data obtained by measuring the inner wall of the tunnel 5 at intervals along the extending direction of the tunnel 5 . The comparison processing unit 32 compares each of the plurality of circular shape data acquired by the acquisition unit 31 with the reference shape data. The displacement determination section 33 determines the displacement of the tunnel 5 based on the comparison result by the comparison processing section 32 . Thereby, for example, when it is difficult for the MMS vehicle to reach the tunnel 5 after the occurrence of a disaster, or when it takes time to arrange the MMS vehicle, the displacement of the tunnel 5 can be measured quickly. Therefore, based on such measurements, for example, it is possible to decide in a short period of time whether road closures should be lifted or railroad operations should be started.

Further, the tunnel 5 has a plurality of segments 6 curved in an arc and arranged along the extension direction of the tunnel 5 . Each of the plurality of circular shape data is shape data obtained by measuring joints 7 formed between segments 6 . The joint 7 is a portion that is likely to be displaced, and by using circular shape data obtained by measuring the joint 7, the displacement of the tunnel 5 can be accurately determined.

Further, the acquisition unit 31 sequentially acquires a plurality of circular shape data. The comparison processing unit 32 compares the obtained circumferential shape data with the reference shape data each time the obtaining unit 31 obtains the circumferential shape data. The displacement determination unit 33 determines the displacement of the tunnel 5 each time the comparison processing unit 32 compares the circular shape data and the reference shape data. Thereby, every time measurement is performed at the position P, the displacement of the measurement area corresponding to the position P can be grasped.

The tunnel displacement measuring device 1 also includes a measurement support information output unit 39 that outputs information on the interval of the position P or information instructing remeasurement of the circular shape data based on the comparison result by the comparison processing unit 32 . Thereby, for example, the displacement of the tunnel 5 can be detected with high accuracy.

Also, the circular shape data and the reference shape data are three-dimensional point cloud data. As a result, for example, it is possible to use three-dimensional point cloud data of the entire tunnel 5 measured by the MMS vehicle in the past.

Further, the tunnel displacement measuring device 1 outputs displacement information including information indicating the displacement of the circular shape data from the reference shape data numerically or highlighted based on the determination result of the displacement determination unit 33 . Thereby, the displacement of the tunnel 5 can be easily grasped.

The configuration shown in the above embodiment shows an example of the content of the present invention, and it is possible to combine it with another known technology, and one configuration can be used without departing from the scope of the present invention. It is also possible to omit or change the part.

1 tunnel displacement measuring device, 2 shape measuring device, 3 network, 4 inspector, 5 tunnel, 6, 6 ₁ , 6 ₂ , 6 ₃ , 6 ₄ , 6 ₅ , 6 ₆ segment, 7, 7 ₁ , 7 ₂ , 7 ₃ , 7 ₄ , 7 ₅ joints, 8, _{8 1} , 8 ₂ , _{8 3 , 8 4} , 8 ₅ , 9, 9 ₁ , 9 ₂ , 9 ₃ , 9 ₄ , 9 ₅ , 40 3D point cloud , 10, 50 communication unit, 20 storage unit, 21 reference shape data table, 30 processing unit, 31 acquisition unit, 32 comparison processing unit, 33 displacement determination unit, 34 output processing unit, 36 extraction unit, 37 comparison unit, 38 displacement Information output unit 39 Measurement support information output unit 51 Shape measurement unit 52 Control unit 53 Input unit 54 Display unit 60 Displacement information display screen 61 Measurement region selection region 62 Displacement state display region 63 Cursor 64 Rotation button, 100 Terminal, P, P ₁ , P ₂ , P ₃ , P ₄ , P ₅ positions.

Claims (8)

an acquisition unit that acquires a plurality of shape data obtained by measuring a plurality of positions on the inner wall of the tunnel at intervals along the extension direction of the tunnel;
a comparison processing unit that compares the plurality of shape data acquired by the acquisition unit and the plurality of reference data corresponding to the plurality of positions for each of the plurality of positions;
a displacement determination unit that determines displacement of the tunnel based on the comparison result of the comparison processing unit;
The comparison processing unit calculates a first tunnel center axis based on the plurality of shape data, and superimposes the calculated first tunnel center axis on a second tunnel center axis obtained from the plurality of reference data. calculating distances between the shape data and the reference data at the plurality of positions;
The displacement determination unit extracts the shape data having the closest distance at each position, and a first ratio of shape data having the distance greater than a first threshold among the extracted shape data at each position is set in advance. A tunnel displacement measuring device that determines that there is a displacement in the tunnel when the displacement is greater than the above . The displacement determination unit determines that the displacement occurring in the tunnel is in an unsafe state when a ratio of the shape data in which the distance is larger than a second threshold larger than the first threshold is larger than a second ratio. The tunnel displacement measuring device according to claim 1 , characterized by determining. The displacement determination unit is
setting the second threshold value and the second percentage regarding the shape data of the region located above the tunnel to values smaller than the second threshold value and the second percentage regarding the shape data of the region located below the tunnel; The tunnel displacement measuring device according to claim 2 , characterized by: an acquisition unit that acquires a plurality of shape data obtained by measuring a plurality of positions on the inner wall of the tunnel at intervals along the extension direction of the tunnel;
a comparison processing unit that compares the plurality of shape data acquired by the acquisition unit and the plurality of reference data corresponding to the plurality of positions for each of the plurality of positions;
a displacement determination unit that determines displacement of the tunnel based on the comparison result of the comparison processing unit;
The comparison processing unit calculates a first tunnel center axis based on the plurality of shape data, and projects the plurality of shape data onto a first plane orthogonal to the calculated first tunnel center axis. and a plurality of second two-dimensional projection data obtained by projecting the plurality of reference data onto a second plane orthogonal to the second tunnel central axis obtained from the plurality of reference data Calculate the distance from each of the plurality of positions,
The displacement determination unit extracts the first two-dimensional projection data with the closest distance at each position, and extracts the first two-dimensional projection data at each position for which the distance is greater than a first threshold. A tunnel displacement measuring device that determines that there is displacement in the tunnel when a data ratio is greater than a preset first ratio . The displacement determination unit determines that the displacement occurring in the tunnel is not safe when a ratio of the first two-dimensional projection data in which the distance is larger than a second threshold larger than the first threshold is larger than a second ratio. The tunnel displacement measuring device according to claim 4 , wherein it is determined that there is no state. The displacement determination unit is
The second threshold value and the second percentage for the first two-dimensional projection data of the area located above the tunnel are set to the second threshold for the first two-dimensional projection data for the area located below the tunnel. The tunnel displacement measuring device according to claim 5 , wherein the value is smaller than the threshold value and the second ratio. an acquisition unit acquiring a plurality of shape data obtained by measuring a plurality of positions on the inner wall of the tunnel at intervals along the extending direction of the tunnel;
a step in which a comparison processing unit compares the obtained plurality of shape data with a plurality of reference data corresponding to the plurality of positions for each of the plurality of positions;
a displacement determination unit determining the displacement of the tunnel based on the comparison result;
A state in which the comparison processing unit calculates a first tunnel central axis based on the plurality of shape data, and superimposes the calculated first tunnel central axis on the second tunnel central axis obtained from the plurality of reference data. calculating distances between the shape data and the reference data at the plurality of positions;
The displacement determination unit extracts the shape data having the closest distance at each position, and a first ratio of shape data having the distance greater than a first threshold among the extracted shape data at each position is set in advance. if it is greater than, determining that there is a displacement in the tunnel ;
A tunnel displacement measurement method comprising: an acquisition unit acquiring a plurality of shape data obtained by measuring a plurality of positions on the inner wall of the tunnel at intervals along the extending direction of the tunnel;
a step in which a comparison processing unit compares the obtained plurality of shape data with a plurality of reference data corresponding to the plurality of positions for each of the plurality of positions;
a displacement determination unit determining the displacement of the tunnel based on the comparison result;
The comparison processing unit calculates a first tunnel center axis based on the plurality of shape data, and projects the plurality of shape data onto a first plane orthogonal to the calculated first tunnel center axis. and a plurality of second two-dimensional projection data obtained by projecting the plurality of reference data onto a second plane orthogonal to the second tunnel central axis obtained from the plurality of reference data a step of calculating, for each of the plurality of positions, a distance from
The displacement determination unit extracts the first two-dimensional projection data having the closest distance at each position, and a shape in which the distance is greater than a first threshold among the extracted first two-dimensional projection data at each position. determining that there is a displacement in the tunnel if the data percentage is greater than a first preset percentage ;
A tunnel displacement measurement method comprising:

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