JP7579574B2 - Cavity Survey System - Google Patents

Description

The present invention relates to a cavity investigation system for investigating cavities.

A conventional cavity investigation system is described in Patent Document 1. According to this system, the system is equipped with an electric winch, a controller unit, a monitor television, and a filming and measurement sonde that is raised and lowered in the borehole via a cable by the electric winch. The filming and measurement sonde is equipped with a still camera that takes photographs of the inside of the underground cavity, a compass, and a range finder that measures the distance to the side wall inside the cavity.

JP 2003-130641 A

However, the above cavity investigation system had the problem that it was not possible to efficiently and quickly investigate underground cavities because it confirmed the presence or absence of underground cavities at each location through investigations such as boring and arranging the boring locations in a grid pattern to estimate the planar distribution of underground cavities.

In view of the above circumstances, the present invention provides a cavity investigation system that can efficiently and quickly investigate underground cavities.

According to the invention of claim 1, there is provided a cavity investigation system including a ground-based device disposed on the ground and an underground measuring device connected to the ground-based device for measuring an inside of an underground cavity, the system measuring the inside of the underground cavity through a passage communicating with the underground cavity,
The ground equipment includes:
a moving means for moving the underground measuring device within the underground cavity and within a passage communicating with the underground cavity;
a position detection means for acquiring planar position information of a survey point of the underground measuring device;
A control means for controlling the above-ground equipment and the underground measuring equipment;
having
The underground measuring device includes:
a wall surface detection means for acquiring wall surface information including the presence or absence of a wall surface of the underground cavity and a distance to the wall surface at a predetermined depth;
An orientation detection means for acquiring orientation information detected in association with the wall surface information detected by the wall surface detection means;
having
The control means
Based on the planar position information, the wall surface information, and the orientation information, the next investigation point of the passage leading to the underground cavity is notified.

This makes it possible to confirm the extent of the underground cavity at the investigation point based on planar position information, wall surface information, and orientation information, and to locate the next investigation point for the passageway leading to the underground cavity above the underground cavity. This makes it possible to investigate underground cavities efficiently and quickly.

The control means further comprises:
The next investigation point of the passage connecting to the underground cavity is notified by deriving a value that is the center of the direction in which the distance to the wall of the underground cavity was not detected, which constitutes the wall information and the direction information, and the center of the two points at the farthest positions where the distance to the wall was detected, on either side of the direction in which the distance to the wall was not detected, which constitutes the wall information and the direction information.

According to this, by deriving a value that is the center of the direction in which the distance to the wall of the underground cavity was not detected, and the center of the two points on either side of the direction in which the distance to the wall was not detected, where the distance to the wall was detected, it is possible to confirm the extent of the underground cavity at the investigation point and to locate the next investigation point for the passageway leading to the underground cavity above the underground cavity. This makes it possible to efficiently and quickly conduct underground cavity investigations.

Also, a flow direction and flow velocity measuring means capable of measuring the flow direction and flow velocity of the liquid stored in the underground cavity is provided,
The control means refers to the measured flow direction and flow speed of the liquid and notifies the next investigation point of the passage communicating with the underground cavity.

This makes it possible to improve the accuracy of the next survey point for the passageway leading to the underground cavity by referring to the measured liquid flow direction and flow speed.

Also, an imaging means capable of imaging the inside of the underground cavity;
A light source capable of irradiating the underground cavity;
Equipped with
The light source emits monochromatic light of white, green, blue, red, yellow, or a mixture thereof.

This allows the imaging means to visualize the inside of an underground cavity and obtain clear images even when halation occurs due to white light.

1 is a schematic configuration diagram of a cavity investigation system according to one embodiment of the present invention; 4 is a flowchart of the operation of the embodiment. FIG. 13 is an explanatory diagram of a state in which measurement information and image information are superimposed.

One embodiment of the cavity investigation system of the present invention is described below with reference to the drawings.

As shown in FIG. 1, the cavity investigation system 10 comprises a ground-based device 20 placed on the ground and an underground measuring device 100 connected to the ground-based device 20 and measuring the inside of an underground cavity 210, and measures the inside of the underground cavity 210 via a borehole 200 that serves as a passageway connecting to the underground cavity 210.

The ground equipment 20 is composed of a control device 30, a monitor/PC 40, a recording device 50, an elevator device 60, and a GPS receiver 70.

The control device 30, which serves as a control means, is composed of a CPU, RAM, ROM, etc. The control device 30 is connected to the other devices constituting the aboveground equipment 20 and the devices constituting the underground measuring equipment 100, and transmits and receives signals. The control device 30 sends operation command signals to the other devices constituting the aboveground equipment 20 and the devices constituting the underground measuring equipment 100, and receives detection values, measurement values, etc. from the other devices constituting the aboveground equipment 20 and the devices constituting the underground measuring equipment 100. The control device 30 then analyzes the received signals to determine whether there is a wall of the underground cavity 210 and the next investigation point of the passage connecting to the underground cavity 210.

The monitor/PC 40 is an existing personal computer that is connected to the control device 30 and functions as an input unit consisting of a mouse, keyboard, etc., and a display unit consisting of an LCD display, etc.

The recording device 50 is composed of a semiconductor memory, a hard disk device, a compact disk device, etc., and is connected to the control device 30.

The elevator device 60 used as a means of transportation is an existing elevator device for measuring the underground cavity 210, and is connected to the control device 30. The counter of the elevator device 60 acquires depth information (GL-XX m) of the underground measuring device 100.

The GPS receiver 70 is an existing GPS receiver and is connected to the control device 30. The GPS receiver 70 acquires planar position information (latitude, longitude, and altitude of the borehole mouth).

The underground measuring device 100 includes a housing 110, a cable 120, a direction detection device 130, a light source 140, a camera 150, a sonar laser 160, and a current direction and velocity meter 170, and is used to measure the inside of an underground cavity 210.

The housing 110 is waterproof, and although not shown in the present embodiment, has a fixed part and a rotating part that can rotate with respect to the fixed part. The rotating part can be rotated around a vertical axis by a driving device such as a motor that is disposed on the fixed part. The rotating part also has an orientation detection device 130, a light source 140, a camera 150, a sonar laser 160, and a current direction and velocity meter 170 disposed thereon.

An existing cable is used for the cable 120, which is arranged so as to pass through the borehole 200 and is also arranged via a tower 80 erected on the ground, with one end attached to the housing 110 and the other end attached to the lifting device 60, allowing the housing 110 to move up and down by sending out and rewinding the cable 120.

The orientation detection device 130, which serves as the orientation detection means, is an existing orientation detection device and is connected to the control device 30. The orientation detection device 130 uses a magnetic sensor to obtain orientation information (angle when north is 0 degrees, and angle and orientation associated with wall surface information described below).

The light source 140 is an existing LED light, and is connected to the control device 30. The light source 140 is disposed below the orientation detection device 130 so as to sandwich the camera 150 in the vertical direction. In addition to white light, the light source 140 can switch between monochromatic light such as blue light, green light, red light, and yellow light, and can emit a mixed light of these colors and adjust the light intensity.

An existing camera is used as the imaging means 150, and is connected to the control device 30. The camera 150 captures still images, videos, etc., within the underground cavity 210 and acquires the image information.

Sonar laser 160, which serves as wall detection means, is an existing sonar laser and is connected to control device 30. Sonar laser 160 measures the distance to the wall of underground cavity 210 and acquires wall information, more specifically, position information (XYZ coordinate data) of each measurement point. The acquired position information (XYZ coordinate data) of each measurement point can be displayed on monitor PC 40 as a radar chart or 3D display.

The flow direction and velocity meter 170 is an existing flow direction and velocity meter, and is connected to the control device 30. The flow direction and velocity meter 170 measures the flow direction and flow velocity of the groundwater in the underground cavity 210, and acquires the information (angle with north being 0 degrees, meters per second).

The information stored in the recording device 50 includes planar position information (latitude, longitude, and altitude of the borehole mouth) obtained by the GPS receiver 70, orientation information measured by the orientation detection device 130 (angle when north is 0 degrees, angle and orientation associated with the wall information), image information captured by the camera 150, wall information obtained by the sonar laser 160, specifically the position information of each measurement point (XYZ coordinate data), and groundwater flow direction and flow velocity information obtained by the flow direction and flow velocity meter 170 (angle when north is 0 degrees, meters per second).

The above information is combined and associated and stored in the recording device 50.

Next, the function and operation of the cavity investigation system 10 will be explained based on the flowchart in Figure 2.

First, the planar position information of the survey location is acquired (S11). More specifically, at the mouth of the borehole 200, the planar position information, in other words, the latitude, longitude, and altitude of the mouth of the borehole 200, is acquired by the GPS receiver 70.

Next, the underground measuring device 100 is lowered and placed in the borehole 200 cavity by using the lifting device 60 to send out and rewind the cable 120 via the tower 80 (S12).

Then, the depth information of the underground measuring device 100 is acquired (S13). In detail, the depth information of the underground measuring device 100 is acquired by the counter of the lifting device 60.

After acquiring the depth information of the underground measuring device 100, the azimuth information of the underground measuring device 100 is acquired (S14). In detail, the azimuth angle is set horizontally clockwise using the azimuth detection device 130, with north being 0 degrees.

Once the azimuth angle has been set, multi-point distances are measured using the sonar laser 160 (S15). In more detail, distances are measured from 0 to 360 degrees in horizontal angle increments of 1 to 2 degrees using the sonar laser 160, and position information for each measurement point is obtained as XYZ coordinate data. At that time, the azimuth information obtained by the azimuth detection device 130 is associated with the position information.

After measuring the multi-point distance using the sonar laser 160, images are acquired using the camera 150 and light source 140 (S16). More specifically, image information from a horizontal angle of 0 to 360 degrees is acquired using the camera 150. At this time, the color and light quantity of the light source 140 are adjusted to acquire clear image information.

Once the image information has been acquired, the measurement information and image information are superimposed (S17). In more detail, the position information of the measurement point acquired by the sonar laser 160 and the image information acquired by the camera 150 are displayed side by side on the monitor/PC 40 of the ground equipment 20 as shown in FIG. 3, and the measurement results are displayed superimposed on the image information. The measurement values are displayed as distances and angles calculated from the acquired XYZ coordinates.

Then, it is determined whether horizontal 0-360 degree data of the underground measuring device 100 has been acquired (S18). If YES in S18, proceed to S19, and if NO, return to S15. Measurement ends in S19.

When the measurement is completed, it is determined whether the horizontal extension and spread of the underground cavity 210 has been identified (S20). If the answer is YES in S20, proceed to S21, and if the answer is NO, end the process.

In more detail, the XYZ coordinates of each measurement point obtained by distance measurement using the sonar laser 160 are displayed on the monitor/PC 40 as a radar chart or 3D point cloud as a point cloud covering 360 degrees horizontally around the underground measuring device 100. The shape of the wall surrounding the underground measuring device is identified from the distribution shape of this point cloud.

Differences in materials such as rocks and wood, and structures such as remaining pillars or supports, which cannot be detected by measurements using the sonar laser 160, are superimposed on clear image information taken with the light source 140 and camera 150, and judged from the displayed measurement results.

Furthermore, by acquiring information on the flow direction and flow velocity of the groundwater in the underground cavity 210 using the flow direction and velocity meter 170, it is possible to acquire the flow direction of the groundwater in the underground cavity 210, i.e., information on the extension of the underground cavity 210. For example, if the flow velocity is slow, it can be determined that the underground cavity 210 is blocked, and if the flow velocity is fast, it can be determined that the underground cavity 210 is expanding. It can also be determined that the underground cavity 210 is expanding in the direction of the flow direction.

By overlaying image information and flow direction and flow velocity information on the 360-degree horizontal point cloud information around the underground measuring device 100 measured by the sonar laser 160, the accuracy of identifying the horizontal extension and spread of the underground cavity 210 is improved.

If the horizontal extension or spread of the underground cavity 210 can be identified in S20, the horizontal distance and angle of the next survey point are determined and reported (S21).

In more detail, after identifying the horizontal extension and spread of the underground cavity 210, the position of the next survey point is set at the center of the extension of the underground cavity 210 based on the sonar laser 160 measurement point cloud information.

In this embodiment, the horizontal distance and angle of the next survey point are set by deriving a value that is the center of the direction in which the distance to the wall was not detected, and the center of the two points on either side of the direction in which the distance to the wall was not detected, where the distance to the wall was detected to be the furthest.

The "center" of the center of the direction in which the distance to the wall was not detected, and the center of the two points on either side of the direction in which the distance to the wall was not detected, where the distance to the wall was detected, is not limited to a specific numerical value, but includes a range of numerical values with a certain width.

The next survey location is displayed on the monitor/PC 160 as a radar chart or 3D point cloud, and the distance and angle from the underground measuring device 100 calculated from the XYZ coordinates are also displayed and reported on the monitor/PC.

After determining and reporting the horizontal distance and angle of the next survey point, return to S11. At this time, move the cavity survey system 10 to the next survey point.

As described above, the cavity investigation system 10 of this embodiment includes the above-ground equipment 20 disposed on the ground, and the underground measurement equipment 100 connected to the above-ground equipment 20 and measuring the inside of the underground cavity 210, and is a cavity investigation system that measures the inside of the underground cavity 210 via the borehole 200 as a passage communicating with the underground cavity 210,
The ground equipment 20 includes:
A lifting device 60 as a moving means for moving the underground measuring device 100 in the underground cavity 210 and the borehole 200;
A GPS receiver 70 as a position detection means for acquiring planar position information of a survey point of the underground measuring device 100;
A control device 30 as a control means for controlling the aboveground equipment 20 and the underground measuring equipment 100;
having
The underground measuring device 100 is
A sonar laser 160 as a wall detection means for acquiring wall information including the presence or absence of a wall of the underground cavity 210 and the distance to the wall at a predetermined depth;
An orientation detection device 130 as an orientation detection means for acquiring orientation information detected by a sonar laser 160 in association with wall surface information;
having
The control device 30 is
The next survey point of the borehole 200 is notified based on the planar position information, wall surface information, and azimuth information.

This makes it possible to confirm the extent of the underground cavity 210 at the investigation point based on the planar position information, wall surface information, and orientation information, and to locate the next investigation point of the borehole 200 above the underground cavity 210. This makes it possible to efficiently and quickly conduct underground cavity investigations.

In addition, the control device 30
The next investigation point of the borehole 200 is notified by deriving a value that is the center of the direction in which the distance to the wall of the underground cavity 210, which constitutes the wall information and orientation information, was not detected, and also the center of the two points at the farthest positions where the distance to the wall was detected, which are located on either side of the direction in which the distance to the wall was not detected, which constitutes the wall information and orientation information.

According to this, by deriving a value that is the center of the direction in which the distance to the wall of the underground cavity 210 was not detected, and the center of the two points on either side of the direction in which the distance to the wall was not detected, where the distance to the wall is the furthest, it is possible to confirm the extent of the underground cavity 210 at the investigation point and to position the next investigation point of the borehole 200 above the underground cavity 210. This makes it possible to efficiently and quickly conduct underground cavity investigations.

The underground cavity 210 is provided with a flow direction and flow velocity meter 170 as a flow direction and flow velocity measuring means capable of measuring the flow direction and flow velocity of the groundwater stored therein.
The control device 30 refers to the measured groundwater flow direction and flow velocity and notifies the next investigation point of the passage connecting to the underground cavity 210.

By referring to the measured groundwater flow direction and flow velocity, the accuracy of the next investigation point of the passage leading to the underground cavity 210 can be improved.

In addition, a camera 150 as an imaging means capable of imaging the inside of the underground cavity 210;
A light source 140 capable of irradiating the inside of the underground cavity 210;
Equipped with
The light source 140 emits white, green, blue, red, yellow monochromatic light or a mixture thereof.

This allows the camera 150 to visualize the inside of the underground cavity 210 and obtain a clear image even when halation occurs due to white light.

The cavity investigation system of the present invention is not limited to the above configuration. In other words, various design changes are possible without departing from the gist of the present invention.

For example, while the borehole 200 has been described as a passageway connecting to the underground cavity 210, it can also be implemented in other types of tunnels, such as inclined tunnels and horizontal tunnels.

In addition, while the housing 110 is configured to have a fixed portion and a rotating portion that can rotate relative to the fixed portion, the housing 110 itself can also be configured to rotate instead.

In addition, while the configuration is equipped with both sonar and laser 160, it is also possible to configure with just one of them.

In addition to displaying the next survey location on a monitor or PC, the next survey location can also be notified by sound, light dot display, or other means.

In addition, liquid includes liquids other than groundwater.

10 Cavity investigation system 20 Ground equipment 30 Control device 60 Lifting device 70 GPS receiver 100 Underground measurement equipment 130 Direction detection device 140 Light source 150 Camera 160 Sonar laser 170 Current direction and velocity meter 200 Borehole 210 Underground cavity

Claims (4)

A cavity investigation system comprising: a ground-based device disposed on the ground; and an underground measuring device connected to the ground-based device and measuring an inside of an underground cavity, the system measuring the inside of the underground cavity through a passage communicating with the underground cavity,
The ground equipment includes:
a moving means for moving the underground measuring device within the underground cavity and within a passage communicating with the underground cavity;
a position detection means for acquiring planar position information of a survey point of the underground measuring device;
A control means for controlling the above-ground equipment and the underground measuring equipment;
having
The underground measuring device includes:
a wall surface detection means for acquiring wall surface information including the presence or absence of a wall surface of the underground cavity and a distance to the wall surface at a predetermined depth;
An orientation detection means for acquiring orientation information detected in association with the wall surface information detected by the wall surface detection means;
having
The control means
A cavity investigation system characterized by notifying the next investigation point of a passage leading to the underground cavity based on the planar position information, the wall surface information, and the orientation information. The control means
The cavity investigation system described in claim 1, characterized in that the next investigation point of the passage connecting to the underground cavity is notified by deriving a value that is the center of the direction in which the distance to the wall of the underground cavity was not detected, which constitutes the wall information and the direction information, and the center of the two points at the farthest positions where the distance to the wall was detected, on either side of the direction in which the distance to the wall was not detected, which constitutes the wall information and the direction information. a flow direction and flow velocity measuring means capable of measuring a flow direction and a flow velocity of the liquid stored in the underground cavity;
A cavity investigation system as described in claim 1 or 2, characterized in that the control means notifies the next investigation point of the passage communicating with the underground cavity by referring to the measured flow direction and flow velocity of the liquid. An imaging means capable of imaging the inside of the underground cavity;
A light source capable of irradiating the underground cavity;
Equipped with
4. A cavity investigation system according to claim 1, 2 or 3, characterized in that the light source emits monochromatic light of white, green, blue, red or yellow, or a mixture thereof.

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