JP7845601B2 - Method and apparatus for managing the construction progress of tunnels - Google Patents

Description

This invention relates to a method and apparatus for managing the construction progress of tunnels in mountainous areas and other similar locations.

Traditionally, tunnel construction has been carried out by excavating bedrock in mountainous areas to create spaces through which vehicles and railways can pass.
In this case, it is disclosed that a 3D laser scanner is used to measure the 3D shape of the tunnel after excavation or after the primary lining, the cross-sectional shape of the tunnel is calculated from the measurement results, the completed tunnel is evaluated by comparing the measured cross-sectional shape with the designed cross-sectional shape, and the tunnel construction is managed by making adjustments to the excavation work based on the evaluation results (see Patent Document 1).
Furthermore, after the primary lining is completed, an arch-shaped concrete structure (secondary lining) is constructed within the excavated space. The three-dimensional shape of the tunnel is then measured using a 3D laser scanner, and the completed tunnel structure is evaluated based on the measurement results.

Patent No. 5631512

Incidentally, when measuring the three-dimensional shape of such tunnels, workers manually transport the 3D laser scanner along with its stand and place it inside the tunnel, or workers manually operate and move a vehicle (automobile) equipped with the 3D laser scanner. This requires equipment such as stands and vehicles, and handling this equipment is time-consuming, which is a disadvantage.
Furthermore, because workers have to manually position the 3D laser scanners, they need to spend long hours working on-site inside the tunnel. Therefore, there is room for improvement in terms of ensuring worker safety and improving the working environment.
This invention was devised in view of the above circumstances, and the object of this invention is to provide a tunnel construction management method and apparatus that is advantageous in reducing equipment costs, reducing manpower and improving work efficiency, and ensuring worker safety and improving the working environment.

To achieve the above-mentioned objectives, one embodiment of the present invention is characterized in that a trolley device is movably positioned on rails for a slide center laid along the longitudinal direction of the tunnel on the floor surface of the tunnel, a three-dimensional laser scanner is attached to the trolley device to measure the three-dimensional shape of the tunnel and generate three-dimensional shape data, the trolley device is moved on the rails after the secondary lining is completed, the three-dimensional shape is measured by the three-dimensional laser scanner, and management information for managing the completed state of the tunnel is generated based on the three-dimensional shape data measured by the three-dimensional laser scanner and the design data of the tunnel.
Furthermore, in one embodiment of the present invention, the management information is characterized in that it includes image information comparing a cross-sectional view of the tunnel based on the three-dimensional shape data with a cross-sectional view of the tunnel based on the design data.
Furthermore, in one embodiment of the present invention, a reference target is placed at a predetermined location in the tunnel, the three-dimensional laser scanner obtains a reference point of the tunnel by measuring the reference target, and prior to the generation of the management information, the three-dimensional shape data of the tunnel is transformed from a machine coordinate system with the machine center of the three-dimensional laser scanner as the origin to a local coordinate system of the tunnel with the reference point as the origin.
Furthermore, in one embodiment of the present invention, the rail is composed of a pair of rail bodies extending parallel to each other, the trolley device comprises a first trolley device movably arranged on one of the pair of rail bodies and a second trolley device movably arranged on the other of the pair of rail bodies, the three-dimensional laser scanner comprises a first trolley three-dimensional laser scanner attached to the first trolley device and a second trolley three-dimensional laser scanner attached to the second trolley device, and the three-dimensional shape data is generated by combining the three-dimensional shape data measured by the first trolley three-dimensional laser scanner and the second trolley three-dimensional laser scanner.
Furthermore, one embodiment of the present invention is characterized by comprising: a trolley device movably positioned on rails for a slide center laid along the longitudinal direction of the tunnel on the floor surface of an excavated tunnel; a three-dimensional laser scanner attached to the trolley device, which measures the three-dimensional shape of the tunnel and generates three-dimensional shape data after secondary lining has been completed; and an information processing device that generates management information for managing the completed state of the tunnel based on the three-dimensional shape data and the design data of the tunnel.
Furthermore, in one embodiment of the present invention, the trolley device has a length along the extending direction of the rail, and the three-dimensional laser scanner is provided at the longitudinal end of the trolley device located on the side opposite to the tunnel face.
Furthermore, one embodiment of the present invention is characterized in that a plurality of three-dimensional laser scanners are provided, and each three-dimensional laser scanner is attached to the trolley device so as to divide and measure the circumferential wall surface of the tunnel along its circumferential direction.
Furthermore, one embodiment of the present invention is characterized in that the trolley device is equipped with a drive device that automatically moves the trolley device along the rail.
Furthermore, one embodiment of the present invention is characterized in that the information processing device is located inside the formwork member of the slide center in the radial direction of the tunnel.
Furthermore, in one embodiment of the present invention, the rail is composed of a pair of rail bodies extending parallel to each other, the trolley device comprises a first trolley device movably arranged on one of the pair of rail bodies and a second trolley device movably arranged on the other of the pair of rail bodies, the three-dimensional laser scanner comprises a first trolley three-dimensional laser scanner attached to the first trolley device and a second trolley three-dimensional laser scanner attached to the second trolley device, and the information processing device generates the three-dimensional shape data by synthesizing the three-dimensional shape data measured by the first trolley three-dimensional laser scanner and the second trolley three-dimensional laser scanner.

According to one embodiment of the present invention, a trolley device is provided that moves on rails for slide centering, which is an existing mobile formwork used for secondary lining, and a 3D laser scanner is attached to this trolley device. This eliminates the need to set up large-scale equipment such as frames and vehicles as in the conventional method, and also eliminates the need for setting up the 3D laser scanner and equipment, as well as the work required to remove them. This is advantageous in terms of reducing equipment costs, saving manpower, and improving work efficiency.
Furthermore, because the 3D laser scanner is mounted on a trolley, workers do not need to spend long periods of time working on-site inside the tunnel for the placement and removal of the 3D laser scanner and other equipment. This is advantageous in terms of ensuring worker safety and improving the working environment.
Furthermore, according to one embodiment of the present invention, the management information includes image information comparing a cross-sectional view of the tunnel based on three-dimensional shape data with a cross-sectional view of the tunnel based on design data. Therefore, comparing these two cross-sectional views is advantageous for accurately managing the quality of tunnel construction.
Furthermore, according to one embodiment of the present invention, prior to the generation of management information, the three-dimensional shape data of the tunnel is transformed from a machine coordinate system with the machine center of the three-dimensional laser scanner as the origin to the on-site coordinate system of the tunnel with a reference point acquired based on a reference target as the origin. This is advantageous for accurately acquiring the three-dimensional shape data of the tunnel with a simple operation such as placing a reference target.
Furthermore, according to one embodiment of the present invention, since the three-dimensional shape data of the tunnel can be measured by the first and second bogie three-dimensional laser scanners, the circumferential wall surface of the tunnel can be divided and measured by each of the first and second bogie three-dimensional laser scanners. This is advantageous for precisely and accurately measuring the three-dimensional shape data over the entire circumference of the tunnel's circumferential wall surface. In addition, since the three-dimensional shape data of the tunnel can be measured by the first and second bogie three-dimensional laser scanners, the measurement time required to measure the three-dimensional shape data of the tunnel's circumferential wall surface can be shortened, which is advantageous for improving the efficiency of the measurement operation. Furthermore, since the first and second bogie devices run on separate rail bodies, it is advantageous for making the first and second bogie devices more compact and lighter.
Furthermore, according to one embodiment of the present invention, the three-dimensional laser scanner is provided at the longitudinal end of the trolley device located on the opposite side of the tunnel face, which is advantageous for accurately measuring the three-dimensional shape of the tunnel using the three-dimensional laser scanner.
Furthermore, according to one embodiment of the present invention, each three-dimensional laser scanner divides the tunnel's circumferential wall surface along its circumferential direction for measurement, which is advantageous for precisely and accurately measuring three-dimensional shape data over the entire circumference of the circumferential wall surface.
Furthermore, according to one embodiment of the present invention, the trolley device can be automatically moved along the rails by a drive device, which is advantageous in improving the efficiency of measurement work and reducing the burden on workers.
Furthermore, according to one embodiment of the present invention, even if a part of the tunnel wall falls, the worker handling the information processing device is protected by the formwork member, which is advantageous in ensuring worker safety and improving the working environment.

This is a front cross-sectional view of a tunnel to which the tunnel construction management method according to the first embodiment is applied, showing the state in which the concrete for the secondary lining has been poured using a slide centerer. This is a front cross-sectional view of a tunnel to which the tunnel construction management method according to the first embodiment is applied, showing the state in which the three-dimensional shape of the tunnel is measured by a three-dimensional laser scanner attached to a trolley device. This is a side cross-sectional view of Figure 2. This is a block diagram showing the configuration of a tunnel construction management device according to the first embodiment. This is an explanatory diagram showing an example of management information, where the standard cross-sectional view and the measured cross-sectional view of a tunnel are overlaid. This is a flowchart of the tunnel construction management method according to the first embodiment. This is a front view of a tunnel construction management device according to a second embodiment. This is a side view of Figure 7. This is a block diagram showing the configuration of a tunnel construction management device according to the second embodiment.

(First Embodiment)
The tunnel construction management device and construction management method according to an embodiment of the present invention will be described below with reference to the drawings.
First, let's discuss typical tunnel construction methods in mountainous areas.
In mountainous areas, tunnel excavation is carried out using various conventionally known methods, such as blasting and mechanical excavation.
For example, in the case of blasting, after the blasting work is completed, excavation work is carried out by on-site workers using backhoes and rock drills, and the excavated spoil generated by the blasting and excavation work is transported out of the tunnel by heavy machinery such as wheel loaders and dump trucks.
After the excavated spoil is removed, steel supports are erected, and then concrete is sprayed onto the surrounding walls and floor of the tunnel near the face using a concrete spraying machine, completing the primary concrete lining.
Next, after rock bolt insertion holes are drilled into the surrounding wall surface, rock bolts are driven into the rock bolt insertion holes to stabilize the ground.
Furthermore, each time the tunnel is excavated to a predetermined length, rails are laid on the tunnel floor, and a movable formwork called a slide center is moved along the rails. The slide center is then positioned opposite the surrounding wall, and concrete is poured between the surrounding wall and the slide center to perform the lining work, resulting in a secondary concrete lining.
The tunnel is constructed through a process of repeated excavation and lining work.
The following description will focus on tunnel excavation using blasting methods, but the present invention is also applicable to tunnel excavation using methods other than blasting, such as mechanical excavation methods.

Tunnel construction management is carried out by measuring the three-dimensional shape of the tunnel after excavation, after the primary lining, and after the secondary lining, and then evaluating the tunnel's construction based on the measured three-dimensional shape.
In this embodiment, after excavation and after the primary lining, the tunnel's completed shape is managed by manually transporting and setting up a 3D laser scanner, similar to the conventional method, to measure the tunnel's three-dimensional shape. On the other hand, the tunnel's completed shape is managed after the secondary lining, and the present invention is applied to measure the tunnel's three-dimensional shape using a 3D laser scanner mounted on a trolley device.

Before describing the tunnel construction management device 10 according to this embodiment (hereinafter simply referred to as the construction management device 10), the slide centerer 12 will be described with reference to Figure 1.
The slide center 12 is movably positioned on rails 4 for slide centers that are laid along the longitudinal direction of the tunnel 2 on the floor surface 2C of the tunnel 2 excavated in the ground 1. The slide center 12 has a length along the extending direction of the rails 4 and a width perpendicular to the extending direction of the rails 4.
The rail 4 is composed of a pair of rail bodies 4A and 4B laid parallel to each other on the floor surface 2C, spaced apart in the width direction perpendicular to the longitudinal direction of the tunnel 2.
The slide centerer 12 is composed of a trolley section 18, a formwork member 20, and a jack 22.
The bogie section 18 comprises a plurality of wheels 1802 that run on the rails 4, and a bogie body 1804 that has a gate-like shape when viewed from the front and supports the plurality of wheels 1802.
The bogie body 1804 comprises a pair of side sections 1804A located on both the left and right sides when viewed from the front, and an upper section 1804B that connects the upper ends of the pair of side sections.
The formwork member 20 includes a top end 2002 that faces the top of the tunnel 2, and a pair of side parts 2004 that are connected to both sides of the top end 2002 via hinges 2006 and face the sides of the tunnel 2.
The jack 22 comprises a plurality of top-side jacks 2202 provided between the upper surface 1804B of the trolley body 1804 and the top end 2002 of the formwork member 20, and a plurality of side-side jacks 2204 provided between a pair of side surfaces 1804A of the trolley body 1804 and a pair of side surfaces 2004 of the formwork member 20.
As each top-side jack 2202 and each side-side jack 2204 expands and contracts, the top end 2002 and the pair of side portions 2004 of the formwork member 20 expand and contract in the radial direction of the tunnel 2.
In other words, as each jack 22 extends, an arch-shaped pouring space is formed between the formwork member 20 and the top and both sides of the tunnel 2 for pouring the concrete 6 for the secondary lining.
Furthermore, after the concrete 6 poured into the pouring space hardens, the formwork members 20 are removed from the poured concrete 6 as each jack 22 contracts.
Once the formwork member 20 is removed from the mold, the slide centerer 12 becomes movable on the rail 4.
Furthermore, when the secondary lining of tunnel 2 is carried out, the slide center 12 is positioned at a location more than 300m away from the tunnel face 2A.

Next, the construction progress management device 10 according to this embodiment will be described.
As shown in Figures 2 and 3, the construction management device 10 is composed of a trolley device 40 that is movable on rails 4, a three-dimensional laser scanner 14 attached to the trolley device 40, and an information processing device 16 (computer). In Figure 3, in order to simplify the drawing, only the formwork member 20 of the slide center 12 is shown, and the trolley section 18 and jack 22 are not shown.
The trolley device 40 comprises a plurality of wheels 42 that run on the rails 4, and a trolley frame 44 that has a gate-like shape when viewed from the front and supports the plurality of wheels 42.
The trolley device 40 is initially positioned on the opposite side of the tunnel face 2A (the tunnel opening side), with the slide center 12 in between. At least during concrete pouring by the slide center 12 (secondary lining), it is moved to a retracted position away from the slide center 12 so as not to interfere with the pouring work.
In one embodiment of the present invention, the trolley frame 44 comprises a pair of side frames 46A located on both the left and right sides when viewed from the front, and an upper frame 46B connecting the upper ends of the pair of side frames.
Furthermore, the bogie device 40 only needs to be able to move along the rail 4 with the 3D laser scanner 14 (described later) attached, and the structure of the bogie device 40 is not limited.

Furthermore, in one embodiment of the present invention, as shown in Figure 3, the trolley device 40 is equipped with a drive device 41 that automatically moves the trolley device 40 along the rail 4.
Alternatively, the direction of movement, speed of movement, and amount of movement of the trolley device 40 may be controlled by an operator operating an operating unit provided on the drive device 41.
By providing the drive device 41 in this way, there is no need to move the trolley device 40 manually, thus reducing the burden on the worker.
Furthermore, if the trolley device 40 is automatically moved by the drive device 41 and its movement speed is controlled to be constant, it will be advantageous for efficiently performing the measurement of the three-dimensional shape of the tunnel 2 using the three-dimensional laser scanner 14, which will be described later.
The drive unit 41 may, for example, rotate the wheels 42 using rotational driving force supplied from a drive source such as a motor, or it may move the trolley unit 40 by pulling up a cable attached to the trolley unit 40 using a hoisting device installed on the floor surface 2C of the tunnel 2, and various conventionally known configurations can be adopted.

As shown in Figures 2 and 3, the 3D laser scanner 14 is mounted on a trolley device 40, and in this embodiment, the 3D laser scanner 14 is composed of first, second, and third 3D laser scanners 14A, 14B, and 14C.
Each of the three-dimensional laser scanners 14A, 14B, and 14C is mounted on a trolley device 40 to measure the circumferential wall surface 2B of the tunnel 2 by dividing it along its circumferential direction.
The first three-dimensional laser scanner 14A is detachably attached via a bracket 15 to the end face of the upper frame 46B, which is located on the opposite side of the tunnel face 2A, at the center of the upper frame 46B in the width direction, and is configured to measure the top portion of the peripheral wall surface 2B in the circumferential direction.
The second and third three-dimensional laser scanners 14B and 14C are detachably attached via brackets 15 to the end faces of a pair of side frames 46A located on the opposite side of the tunnel face 2A, at the center of the side frame 46A in the longitudinal direction (vertical direction), and are configured to measure both sides of the peripheral wall surface 2B in the circumferential direction, excluding the top surface.
The 3D laser scanner 14 scans a laser beam in the horizontal and vertical directions and receives reflected light from the laser irradiation point where the laser beam is projected. This data consists of the horizontal and vertical angles of the laser beam and the distance from the center point of the 3D laser scanner 14 to the laser irradiation point. From this data, it generates 3D shape data (also called point cloud data) of the tunnel 2 in a Cartesian coordinate system, expressed as coordinate values (x, y, z).
In this embodiment, the 3D laser scanner 14 measures the 3D shape data of the perimeter wall surface 2B and the floor surface 2C of the tunnel 2 (hereinafter, the perimeter wall surface 2B includes both the perimeter wall surface 2B and the floor surface 2C).
Furthermore, the 3D laser scanner 14 only needs to be able to measure 3D shape data over the entire circumference of the surrounding wall surface 2B of the tunnel 2, and one 3D laser scanner 14 is sufficient.
However, if the measurement range of the 3D laser scanner 14 is limited, dividing the peripheral wall surface 2B of the tunnel 2 along its circumferential direction and measuring it using multiple 3D laser scanners 14, as in this embodiment, is advantageous for precisely and accurately measuring 3D shape data over the entire circumference of the peripheral wall surface 2B of the tunnel 2.
Furthermore, the number of 3D laser scanners 14 used is not limited to three; it can be two, four or more, or any other number.
The 3D laser scanner 14 has its own center position as the origin of the machine coordinates, and the 3D shape data measured by the 3D laser scanner 14 is converted by the information processing device 16, which will be described later, into 3D shape data with a pre-set reference point of the tunnel 2 as the origin of the local coordinates.
In this embodiment, the reference target 24 is placed on the perimeter wall surface 2B or floor surface 2C of the tunnel 2, at a location in the tunnel 2 where its position does not change due to, for example, blasting or excavation work by heavy machinery, and at a location located behind the slide center 12.
The 3D laser scanner 14 then measures the reference target 24 to obtain the reference point of the tunnel 2, or in other words, the origin of the site coordinates of the tunnel 2.
The reference target 24 is configured to reflect the laser beam emitted from the 3D laser scanner 14 back towards the 3D laser scanner 14.

As shown in Figure 4, the information processing device 16 is configured to include a CPU, ROM, RAM, hard disk drive, and input/output interface (not shown), as well as an input device 26, an output device 28, and an external storage device 30.
ROM stores predetermined control programs and other data, while RAM provides the working area.
The hard disk drive constitutes the storage unit 32A, which will be described later, and also stores control programs for realizing the coordinate transformation unit 32B, the cross-sectional view generation unit 32C, and the management information generation unit 32D.
The input/output interface connects to the 3D laser scanner 14, the input device 26, and the output device 28.
The input device 26 accepts operation input from an operator (worker) handling the information processing device 16, and is equipped with a keyboard and mouse.
The output device 28 outputs information and includes a display and a printer.
The external storage device 30 stores information and includes external hard disk drives, external SSDs (solid-state drives), semiconductor recording media such as memory cards and USB memory, and optical disc recording media such as DVDs.
The information processing device 16 is positioned inside the formwork member 20 in the radial direction of the tunnel 2, and the information processing device 16 and the 3D laser scanner 14 are connected via a wired cable or wireless line to enable information communication.

The memory unit 32A stores the design data for the tunnel 2 to be constructed.
The design data includes various design data that define the shape of the tunnel 2 to be constructed, such as a standard cross-sectional drawing of tunnel 2 (hereinafter referred to as the design cross-sectional drawing) showing the cross-sectional shape of tunnel 2 after excavation work (before primary lining), the thickness of the concrete for the primary lining, and the thickness of the concrete 6 for the secondary lining.

The CPU executes a control program for the hard disk drive, thereby realizing the coordinate transformation unit 32B, the cross-sectional view generation unit 32C, and the management information generation unit 32D.
The coordinate transformation unit 32B converts the 3D shape data in machine coordinates, with the machine center of the 3D laser scanner 14 as the origin, supplied from the 3D laser scanner 14, into 3D shape data with the reference point of the tunnel 2 as the origin of the local coordinates.

The cross-sectional diagram generation unit 32C generates a measured cross-sectional diagram of the tunnel 2, which shows the cross-sectional shape of the tunnel 2, based on three-dimensional shape data expressed in the on-site coordinates of the tunnel 2 supplied by the coordinate transformation unit 32B.
The measured cross-sectional view of tunnel 2 is generated, for example, corresponding to a position corresponding to the longitudinal position of tunnel 2 input from input device 26.

The management information generation unit 32D generates management information based on the measured cross-sectional drawing generated by the cross-sectional drawing generation unit 32C and the design data.
The design data includes a design cross-sectional drawing showing the design cross-section of the tunnel after excavation, the thickness of the primary lining concrete, and the thickness of the secondary lining concrete 6.
The management information generation unit 32D can generate a first reference cross-sectional view showing the cross-sectional shape of the tunnel 2 after the primary lining is constructed by taking into account the thickness of the concrete of the primary lining in addition to the design cross-sectional view.
Furthermore, the management information generation unit 32D can generate a second reference cross-sectional view showing the cross-sectional shape of the tunnel 2 after the secondary lining is installed by taking into account the thickness of the primary lining concrete and the thickness of the secondary lining concrete in addition to the design cross-sectional view.
In other words, the design cross-section, the first and second reference cross-sections are cross-sectional views of the tunnel generated based on the design data.

For example, as shown in Figure 5, the management information MI is generated as image information comparing the second reference cross-sectional view 34 (hereinafter, the design cross-sectional view and the first reference cross-sectional view will also be described as reference numeral 34) shown by a solid line and the measured cross-sectional view 36 shown by a dashed-dot line.
The management information MI is displayed as an image on the output device 28, which is a display, or printed out by a printer.
By visually inspecting the management information MI displayed as an image or printed out, it is possible to confirm the differences and discrepancies between the cross-sectional shape (outline) of the excavated tunnel 2 after secondary lining and the cross-sectional shape (outline) of the designed tunnel 2.
Furthermore, the management information generation unit 32D can calculate various evaluation data as management information MI, separate from the image information mentioned above, by comparing the cross-sectional shape of the tunnel 2 shown in the second reference cross-sectional view 34 with the cross-sectional shape of the tunnel 2 shown in the measured cross-sectional view 36.
In this embodiment, the management information MI only needs to be usable for managing the completed state of the tunnel 2 after excavation, primary lining, and secondary lining. It is not limited to the image information shown in this embodiment, and various conventionally known configurations and display formats can be adopted for the management information MI.

To explain in detail, once the secondary lining is completed, the cross-sectional shape of tunnel 2 can be measured, and the completed form of tunnel 2 can be evaluated and confirmed based on the following evaluation data (management information MI).
For example, by calculating and evaluating the amount of deviation between the central axis of the cross-sectional shape of tunnel 2 shown in the second reference cross-sectional diagram 34 and the central axis of the cross-sectional shape of tunnel 2 shown in the measured cross-sectional diagram after secondary lining, it is possible to evaluate whether the excavation of tunnel 2 is being carried out according to the design data.
Furthermore, by calculating and evaluating the difference between the cross-sectional shape of tunnel 2 shown in the second reference cross-sectional diagram 34 and the cross-sectional shape of tunnel 2 after secondary lining shown in the measured cross-sectional diagram 36 as evaluation data (management information MI) along the circumferential direction of tunnel 2, it is possible to evaluate whether the excavation of tunnel 2 is being carried out according to the design data.
Furthermore, by calculating the difference between the area of the tunnel 2 cross-section shown in the second reference cross-section diagram 34 and the area of the tunnel 2 cross-section after secondary lining shown in the measured cross-section diagram 36 as evaluation data (management information MI), it is possible to evaluate whether the excavation of tunnel 2 is being carried out according to the design data.

In this embodiment, we will describe a method for managing the completed state of the tunnel 2 after excavation and after the initial lining, similar to the conventional method, in which a three-dimensional laser scanner (not shown) is manually transported into the tunnel 2 and installed at an appropriate location inside the tunnel 2, and the cross-sectional shape of the tunnel 2 is measured using the installed three-dimensional laser scanner 14. The measurement results are then input into the information processing device 16, respectively.
In other words, we will explain how to calculate evaluation data (management information MI) as follows and use it to modify the next excavation operation.
For example, after excavation work, the amount of deviation between the central axis of the cross-sectional shape of tunnel 2 shown in the design cross-sectional view 34 and the central axis of the cross-sectional shape of tunnel 2 shown in the measured cross-sectional view 36 can be calculated as evaluation data (management information MI), and the excavation work can be corrected based on that amount of deviation.
Furthermore, after the initial lining is completed, the amount of deviation between the central axis of the cross-sectional shape of tunnel 2 shown in the first reference cross-sectional diagram 34 and the central axis of the cross-sectional shape of tunnel 2 shown in the measured cross-sectional diagram 36 can be calculated as evaluation data (management information MI), and the excavation work can be corrected based on that amount of deviation.

Furthermore, by calculating the difference between the cross-sectional shape of tunnel 2 shown in the design cross-sectional drawing 34 or the first reference cross-sectional drawing 34 and the cross-sectional shape of tunnel 2 shown in the measured cross-sectional drawing 36, along the circumferential direction of tunnel 2, evaluation data (management information MI) can be used. This allows for the identification of areas where tunnel 2 is under-excavated or over-excavated, and enables adjustments to the excavation work.

Furthermore, by calculating the difference between the area of the tunnel 2 cross-section shown in the design cross-section drawing 34 or the first reference cross-section drawing 34 and the area of the tunnel 2 cross-section shown in the measured cross-section drawing 36 as evaluation data (management information MI), it is possible to determine whether the excavation of tunnel 2 is excessive or insufficient, and to correct the excavation work based on the determination result.
Modifications to the excavation work specifically include additional excavation using heavy machinery, modifications to the drilling pattern in the next blasting process, increases or decreases the number of explosive holes, and increases or decreases the amount of explosives loaded into the explosive holes.
Furthermore, if, after the primary lining has been constructed, the ground is partially excavated along with the concrete of the primary lining in order to correct the excavation work described above, the primary lining will have to be redone in that section.
Furthermore, the process of manually transporting and setting up the aforementioned 3D laser scanner 14 to measure the 3D shape of the tunnel 2 after excavation or primary lining, generating evaluation data (management information MI) from the measurement results to evaluate the completed state of the tunnel 2 after excavation or primary lining, and making corrections to the excavation work is the same as in the conventional technology.

Next, an example of the construction progress management method of this embodiment will be described with reference to the flowchart in Figure 6.
First, the tunnel face 2A is excavated using blasting and heavy machinery, and the excavated spoil is removed (step S10).
Next, a 3D laser scanner (not shown) is transported manually, as in the conventional method, and installed at an appropriate location inside the tunnel 2 to measure the 3D shape of the tunnel 2 after excavation (step S12). Based on the measured 3D shape of the tunnel 2, a measured cross-sectional view and a design cross-sectional view based on design data are generated as management information MI (step S14). Based on the management information MI, the completed state of the tunnel 2 after excavation is evaluated, and it is determined whether or not the excavation work needs to be modified (step S16). If necessary, the excavation work is modified (step S18).

Next, concrete is sprayed onto the excavated face 2A and surrounding wall 2B using a concrete spraying machine to perform primary lining (step S20). Steel supports are also erected and rock bolts are driven in.
Next, similar to step S14, a 3D laser scanner (not shown) is manually transported and installed at an appropriate location inside tunnel 2 to measure the 3D shape of tunnel 2 after the primary lining (step S22). Based on the measured 3D shape of tunnel 2, a measured cross-sectional view and a first reference cross-sectional view based on design data are generated as management information MI (step S24). Based on the management information MI, the completed state of tunnel 2 after the primary lining is evaluated, and it is determined whether or not the excavation work needs to be corrected (step S26). If necessary, the excavation work and primary lining are corrected (step S28). Therefore, this correction work includes partial redoing of the primary lining.
If it is determined in step S26 that no modification to the excavation work is necessary, step S28 is skipped and the process proceeds to step S30.
Furthermore, if it is determined in step S26 that no modification to the excavation work is necessary, the thickness of the secondary lining concrete can be determined before the secondary lining work carried out in step S32 by comparing (calculating) the measured cross-sectional view after the primary lining obtained in step S22 with the second standard cross-sectional view 34 based on the design data (i.e., the cross-sectional shape of tunnel 2 after the secondary lining).

Next, rails 4 are laid on the floor surface 2C so that the slide center 12 can move to the vicinity of the area where the primary lining has been completed, and the slide center 12 is moved and positioned so that secondary lining using the slide center 12 can be carried out (step S30). After positioning the slide center 12, a trolley device 40 is installed on the rail 4 on the opposite side of the face surface 2A from the slide center 12, and the trolley device 40 is positioned in the aforementioned retraction position by the drive device 41.
Next, concrete 6 is poured into the pouring space formed between the formwork member 20 of the slide center 12 and the peripheral wall surface 2B of the tunnel 2 to perform secondary lining (step S32).
After the poured concrete 6 has hardened, the slide centerer 12 is removed, and the slide centerer 12 and the trolley device 40 are moved so that the perimeter wall surface 2B after the secondary lining can be measured by the 3D laser scanner 14 (step S34). That is, the trolley device 40, which was previously in a retracted position, is automatically moved by the drive device 41 so that the perimeter wall surface 2B after the secondary lining can be measured by the 3D laser scanner 14, and the slide centerer 12 is moved so as not to interfere with the measurement by the 3D laser scanner 14 attached to the trolley device 40.
Then, the 3D laser scanner 14 is moved by the trolley device 40, and at the same time, the 3D shape of the tunnel 2 after the secondary lining is measured (step S36). A reference target 24 is placed in the tunnel 2 in advance, and the position of the reference target 24 is included in the measured 3D shape data as the origin of the local coordinates.
Similarly to the above, the three-dimensional shape of the tunnel 2 measured by the three-dimensional laser scanner 14 is transformed by the coordinate transformation unit 32B, and the cross-sectional diagram generation unit 32C generates a measured cross-sectional diagram 36 based on the measured three-dimensional shape of the tunnel 2 and a second reference cross-sectional diagram 34 based on the design data read from the storage unit 32A as management information MI (step S38).
The worker evaluates the completed state of the tunnel 2 after the secondary lining based on the management information MI output from the information processing device 16 (step S40).
The process then returns to step S10 and repeats as described above: excavation work for the next span, evaluation of the completed excavation work, corrective work based on the evaluation, primary lining, evaluation of the completed primary lining, corrective work based on the evaluation, secondary lining, and evaluation of the completed secondary lining, thereby sequentially constructing tunnel 2.

As described above, according to this embodiment, a trolley device 40 is movably positioned on rails 4 for slide centering laid along the longitudinal direction of the tunnel 2 on the floor surface 2C of the tunnel 2, a 3D laser scanner 14 is attached to the trolley device 40 to measure the 3D shape of the tunnel 2 and generate 3D shape data, and after the secondary lining is completed, the trolley device 40 is moved on the rails 4 to measure the 3D shape with the 3D laser scanner 14, and management information for managing the completed shape of the tunnel is generated based on the 3D shape data measured by the 3D laser scanner 14 and the design data of the tunnel 2.
Therefore, the 3D laser scanner 14 can be moved by a trolley device 40 installed on the existing rails 4 for the slide center 12, and the trolley device 40 only needs to have a simple configuration that is sufficient to mount the 3D laser scanner 14.
Therefore, compared to conventional methods such as placing the 3D laser scanner 14 on the floor 2C of the tunnel 2 via a frame, or having workers manually operate a vehicle equipped with the 3D laser scanner 14 to move it within the tunnel 2, this method eliminates the need for large-scale equipment such as frames and vehicles. Furthermore, it eliminates the need for the placement and removal of the 3D laser scanner 14 and other equipment, which is advantageous in reducing equipment costs, saving manpower, and improving work efficiency.
Furthermore, since the 3D laser scanner 14 is mounted on a trolley device 40 that moves along existing rails 4 for the slide center 12, workers do not need to spend long periods of time working on-site inside tunnel 2 for the placement of the 3D laser scanner 14 and other equipment, or for their removal. This is advantageous in ensuring worker safety and improving the working environment.
Furthermore, since the three-dimensional shape of the tunnel 2 can be measured by the three-dimensional laser scanner 14 simultaneously with the movement of the trolley device 40 on the rails 4, the three-dimensional shape of the tunnel 2 can be continuously measured along the tunnel axis direction (longitudinal direction of the tunnel 2). This is advantageous for measuring the three-dimensional shape of the tunnel 2 after secondary lining in detail and efficiently, and is also advantageous for efficiently evaluating the completed state of the tunnel 2 after secondary lining.
Furthermore, the trolley device 40 can be moved independently of the slide centering 12, and is smaller and lighter than the slide centering 12, which is advantageous for efficiently measuring the three-dimensional shape of the tunnel 2 in a short amount of time while moving the trolley device 40 along the rails 4.
Furthermore, if the trolley device 40 is automatically moved along the rail 4 by the drive device 41 of the trolley device 40 while measuring the three-dimensional shape of the tunnel 2, it will be more advantageous in terms of improving the efficiency of the measurement work and reducing the burden on the workers.

Furthermore, in this embodiment, the management information MI includes image information comparing the measured cross-sectional view 36 of the tunnel 2 based on three-dimensional shape data with the cross-sectional view of the tunnel 2 based on design data (second reference cross-sectional view 34). Therefore, comparing these two cross-sectional views is advantageous for accurately managing the construction quality of the tunnel 2.

Furthermore, in this embodiment, a reference target 24 is placed at a predetermined location in the tunnel 2, and the 3D laser scanner 14 obtains a reference point of the tunnel 2 by measuring the reference target 24. Prior to the generation of management information MI, a transformation process is performed to convert the 3D shape data of the tunnel 2 from a machine coordinate system with the machine center of the 3D laser scanner 14 as the origin to the local coordinate system of the tunnel 2 with the reference point as the origin.
Therefore, it is advantageous to accurately acquire 3D shape data of tunnel 2 through simple tasks such as positioning a reference target 24.

Furthermore, in this embodiment, the trolley device 40 has a length along the extension direction of the rail 4, and the three-dimensional laser scanner 14 is provided at the longitudinal end of the trolley device 40 located on the side opposite to the tunnel face 2A. This is advantageous for accurately measuring the three-dimensional shape of the tunnel 2 using the three-dimensional laser scanner 14.

Furthermore, in this embodiment, since the information processing device 16 is positioned inside the formwork member 20 in the radial direction of the tunnel 2, even if, for example, a portion of the perimeter wall surface 2B of the tunnel 2 falls after the secondary lining, the worker handling the information processing device 16 is protected by the formwork member 20. This is advantageous in ensuring worker safety and improving the working environment.

(Second embodiment)
Next, a construction progress management method and construction progress management device according to a second embodiment will be described.
In the following embodiments, parts and components similar to those in the first embodiment will be denoted by the same reference numerals, and their descriptions will be omitted. The descriptions will focus on the differences.
The second embodiment differs from the first embodiment in that an independent trolley device is movably arranged on each of the pair of rail bodies 4A and 4B, and a three-dimensional laser scanner is attached to each trolley device.
Figure 7 is a front view of the tunnel construction management device according to the second embodiment, and Figure 8 is a side view of Figure 7.

As mentioned above, rail 4 is composed of a pair of rails 4A and 4B.
As shown in Figure 7, the rail bodies 4A and 4B each consist of a bottom portion 4002 installed on the floor surface 2C, a plate-shaped body portion 4004 that rises upward from the center of the width direction of the bottom portion 4002, and a head portion 4006 provided at the upper end of the body portion 4004.

As shown in Figures 7 and 8, the trolley device 40 comprises a first trolley device 40A movably positioned on one rail body 4A and a second trolley device 40B movably positioned on the other rail body 4B, and each trolley device 40A and 40B is designed to run independently on the rail bodies 4A and 4B.
Each trolley device 40A, 40B is composed of a trolley frame 48 and a plurality of wheels that run on rail bodies 4A, 4B.
The bogie frame 48 has a length along the longitudinal direction of the rail bodies 4A and 4B, a width perpendicular to the longitudinal direction of the rail bodies 4A and 4B, and a height in the vertical direction. It comprises a rectangular upper frame 4802 when viewed from the front, and a pair of leg frames 4804 extending downward from both sides of the lower part of the upper frame 4802.

Multiple wheels are rotatably supported by a pair of leg frames 4804 near both ends of the bogie frame 48 in the longitudinal direction.
Each of the multiple wheels comprises a running wheel 50 and a pair of guide wheels 52.
The running wheels 50 are rotatably supported on the upper part of a pair of leg frames 4804 and roll on the upper surface of the heads 4006 of the rail bodies 4A and 4B.
A pair of guide wheels 52 are rotatably supported at the lower ends of a pair of leg frames 4804, and roll while gripping both sides of the underside 4004 of the rail bodies 4A and 4B.
These multiple wheels ensure that the bogie frame 48 can run stably on the rail bodies 4A and 4B.

Although not shown in the figures, similar to the first embodiment, the first and second trolley devices 40A and 40B are each provided with a drive device that automatically moves each trolley device 40A and 40B along the rail 4.
The drive device can be any device that rotates each of the running wheels 50 by rotational driving force supplied from a drive source such as a motor, and the specific configuration of the drive device can be any of the conventionally known configurations, similar to those in the first embodiment.

The 3D laser scanner 14 consists of a 3D laser scanner 54A for the first bogie, which is attached to the first bogie device 40A, and a 3D laser scanner 54B for the second bogie, which is attached to the second bogie device 40B.
Each laser scanner 14A is detachably attached via a bracket 15 to the end face of the upper frame 4802, which is located on the opposite side of the cutting face 2A (see Figure 3), at the center of the upper frame 4802 in the width direction.
In this embodiment, the first bogie 3D laser scanner 54A is provided to measure along the circumferential direction from the center of the top end of the circumferential wall surface 2B of the tunnel 2 to one half of the circumferential wall surface 2B (see Figure 2), and the second bogie 3D laser scanner 54B is provided to measure along the circumferential direction from the center of the top end of the circumferential wall surface 2B of the tunnel 2 to the other half of the circumferential wall surface 2B.
In this embodiment, we will describe a case where the entire circumference of the perimeter wall surface 2B of the tunnel 2 is divided into two measurement ranges: the measurement range of the first bogie 3D laser scanner 54A and the measurement range of the second bogie 3D laser scanner 54B. However, for example, the measurement ranges of the first bogie 3D laser scanner 54A and the second bogie 3D laser scanner 54B may partially overlap at the top of the tunnel 2. In short, it is sufficient that the measurement ranges of the first bogie 3D laser scanner 54A and the second bogie 3D laser scanner 54B completely cover the entire circumference of the perimeter wall surface 2B of the tunnel 2.

As shown in Figure 9, the information processing device of the construction management device in the second embodiment includes a storage unit 32A, a coordinate transformation unit 32B, a cross-sectional view generation unit 32C, and a management information generation unit 32D, similar to those in the first embodiment, as well as a three-dimensional shape data synthesis unit 32E.
The 3D shape data synthesis unit 32E generates 3D shape data of the tunnel by synthesizing the 3D shape data measured by the 3D laser scanner 54A for the first bogie and the 3D laser scanner 54B for the second bogie.
The 3D shape data of the tunnel generated by the 3D shape data synthesis unit 32E is supplied to the coordinate transformation unit 32B, as in the first embodiment. Furthermore, the operation of the cross-sectional view generation unit 32C and the management information generation unit 32D is the same as in the first embodiment, so a detailed explanation is omitted.

Furthermore, the measurement of the three-dimensional shape of the tunnel 2 after the secondary lining is performed while moving the first trolley device 40A and the second trolley device 40B is the same as in the first embodiment.
Using Figure 6, the explanation of the same process as in the first embodiment will be omitted, and the different processes will be described.
After the poured concrete 6 has hardened, the slide centerer 12 is demolded, and the slide centerer 12 and the first and second trolley devices 40A and 40B are moved so that the perimeter wall surface 2B after the secondary lining can be measured by the first and second trolley 3D laser scanners 54A and 54B (step S34). That is, the first and second trolley devices 40A and 40B, which were previously in a retracted position, are automatically moved by a drive device so that the perimeter wall surface 2B after the secondary lining can be measured by the first and second trolley 3D laser scanners 54A and 54B, and the slide centerer 12 is moved so as not to interfere with the measurement by the first and second trolley 3D laser scanners 54A and 54B attached to the first and second trolley devices 40A and 40B.
Then, the first and second bogie devices 40A and 40B move the three-dimensional laser scanners 54A and 54B for the first and second bogies, while simultaneously measuring the three-dimensional shape of the tunnel 2 after the secondary lining (step S36).

Although not shown in Figure 6, the 3D shape data measured by the 3D laser scanner 54A for the first bogie and the 3D laser scanner 54B for the second bogie are combined by the 3D shape data synthesis unit 32E to generate the 3D shape data of the tunnel.
The synthesized 3D shape data is then supplied to the coordinate transformation unit 32B, where the 3D shape of the tunnel 2 is transformed. The cross-sectional diagram generation unit 32C then generates a measured cross-sectional diagram 36 based on the measured 3D shape of the tunnel 2 and a second reference cross-sectional diagram 34 based on the design data read from the storage unit 32A as management information MI (step S38).
The following steps are performed in the same manner as in the first embodiment.
In other words, the worker evaluates the completed state of the tunnel 2 after the secondary lining based on the management information MI output from the information processing device 16 (step S40).
The process then returns to step S10 and repeats as described above: excavation work for the next span, evaluation of the completed excavation work, corrective work based on the evaluation, primary lining, evaluation of the completed primary lining, corrective work based on the evaluation, secondary lining, and evaluation of the completed secondary lining, thereby sequentially constructing tunnel 2.

As explained above, the second embodiment not only achieves the same effects as the first embodiment, but also provides the following effects.
In other words, in the second embodiment, a first bogie device 40A is provided that is movably arranged on one of the pair of rails 4A and 4B, and a second bogie device 40B is provided that is movably arranged on the other of the pair of rails 4A and 4B. The three-dimensional laser scanner 14 includes a first bogie three-dimensional laser scanner 54A attached to the first bogie device 40A and a second bogie three-dimensional laser scanner 54B attached to the second bogie device 40B. The three-dimensional shape data is generated by combining the three-dimensional shape data measured by the first bogie three-dimensional laser scanner 54A and the second bogie three-dimensional laser scanner 54B.
Therefore, since the three-dimensional shape data of the tunnel can be measured by the first and second bogie three-dimensional laser scanners 54A and 54B, the peripheral wall surface 2B of the tunnel 2 can be divided and measured by the first and second bogie three-dimensional laser scanners 54A and 54B, respectively.
Therefore, this is advantageous for precisely and accurately measuring three-dimensional shape data over the entire circumference of the surrounding wall surface 2B of tunnel 2.
Furthermore, since the three-dimensional shape data of the tunnel can be measured using the three-dimensional laser scanners 54A and 54B for the first and second bogies, the measurement time required to measure the three-dimensional shape data of the perimeter wall surface 2B of the tunnel 2 can be shortened, which is advantageous in improving the efficiency of the measurement operation.
Furthermore, since the first and second bogie devices 40A and 40B are run on separate rail bodies 4A and 4B, this is advantageous in terms of making the first and second bogie devices 40A and 40B more compact and lighter compared to the first embodiment.
Therefore, not only can equipment costs be reduced, but the effort required to move the trolley device 40 is also reduced, which is advantageous in improving work efficiency. Furthermore, the space occupied by the trolley device 40 can be reduced, which is advantageous in securing working space within the tunnel 2.
In the second embodiment, the case in which one 3D laser scanner 54A and one 54B for the first and second bogies are provided was described. However, two or more 3D laser scanners 54A and 54B for the first and second bogies may be provided. In this case as well, the 3D shape data synthesis unit 32E should be used to synthesize the 3D shape data measured by each laser scanner.

1. Natural ground 2. Tunnel 2A. Face 2B. Surrounding wall 2C. Floor 4. Rails 4A, 4B. Rail body 4002. Bottom 4004. Web 4006. Head 6. Concrete (secondary lining)
10 Tunnel construction management device 12 Slide center 14 3D laser scanner 14A First 3D laser scanner 14B Second 3D laser scanner 14C Third 3D laser scanner 15 Bracket 16 Information processing device 18 Bogie section 1802 Wheels 1804 Bogie body 1804A Side section 1804B Top section 20 Formwork member 2002 Top section 2004 Side section 2006 Hinge 22 Jack 2202 Top side jack 2204 Side side jack 24 Reference target 26 Input device 28 Output device 30 External storage device 32A Storage unit 32B Coordinate transformation unit 32C Cross section generation unit 32D Management information generation unit 32E 3D shape data synthesis unit 34 Reference cross section 36 Measured cross section 40 Bogie device 40A First bogie device 40B Second bogie device 41, drive unit 42, wheels 44, bogie frame 46A, side frame 46B, upper frame 48, bogie frame 4802, upper frame 4804, leg frame 50, running wheels 52, guide wheels 54A, 3D laser scanner for first bogie 54B, 3D laser scanner MI for second bogie, management information

Claims (10)

A trolley device is movably positioned on rails for a slide center laid along the longitudinal direction of the tunnel on the tunnel floor,
A three-dimensional laser scanner is attached to the trolley device to measure the three-dimensional shape of the tunnel and generate three-dimensional shape data.
After the secondary lining is completed, the trolley device is moved along the rails, and the three-dimensional shape is measured using the three-dimensional laser scanner.
Based on the three-dimensional shape data measured by the three-dimensional laser scanner and the tunnel design data, management information for managing the completed shape of the tunnel is generated.
A method for managing the construction progress of a tunnel, characterized by the following features. The management information includes image information comparing a cross-sectional view of the tunnel based on the three-dimensional shape data with a cross-sectional view of the tunnel based on the design data.
The tunnel construction management method according to feature 1. A reference target is placed at a predetermined location in the tunnel,
The three-dimensional laser scanner acquires the reference point of the tunnel by measuring the reference target,
Prior to the generation of the management information, the three-dimensional shape data of the tunnel is transformed from a machine coordinate system with the machine center of the three-dimensional laser scanner as the origin to the on-site coordinate system of the tunnel with the reference point as the origin.
A tunnel construction management method according to claim 1 or 2, characterized by the features described above. The rail is composed of a pair of rail bodies that extend parallel to each other.
The trolley device comprises a first trolley device movably arranged on one of the pair of rail bodies, and a second trolley device movably arranged on the other of the pair of rail bodies.
The three-dimensional laser scanner comprises a three-dimensional laser scanner for the first bogie attached to the first bogie device and a three-dimensional laser scanner for the second bogie attached to the second bogie device.
The aforementioned three-dimensional shape data is generated by combining the three-dimensional shape data measured by the three-dimensional laser scanner for the first bogie and the three-dimensional laser scanner for the second bogie.
The tunnel construction management method according to feature 1. A trolley device is movably positioned on rails for a slide center laid along the longitudinal direction of the tunnel on the floor surface of the excavated tunnel,
A 3D laser scanner is attached to the trolley device and, after the secondary lining is completed, measures the three-dimensional shape of the tunnel and generates three-dimensional shape data.
An information processing device that generates management information for managing the completed state of the tunnel based on the three-dimensional shape data and the tunnel design data,
A tunnel construction management device characterized by comprising the following features. The trolley device has a length along the direction of extension of the rail,
The three-dimensional laser scanner is located at the longitudinal end of the trolley device, which is on the opposite side of the tunnel face.
The tunnel construction management device according to claim 5. Multiple 3D laser scanners are provided.
Each of the three-dimensional laser scanners is mounted on the trolley device to measure the circumferential wall surface of the tunnel by dividing it along its circumferential direction.
The tunnel construction management device according to claim 5 or 6, characterized in that it is a tunnel construction management device. The trolley device is equipped with a drive device that automatically moves the trolley device along the rail.
The tunnel construction management device according to claim 5 or 6, characterized in that it is a tunnel construction management device. The information processing device is located inside the formwork member of the slide center in the radial direction of the tunnel.
The tunnel construction management device according to claim 5 or 6, characterized in that it is a tunnel construction management device. The rail is composed of a pair of rail bodies that extend parallel to each other.
The trolley device comprises a first trolley device movably arranged on one of the pair of rail bodies, and a second trolley device movably arranged on the other of the pair of rail bodies.
The three-dimensional laser scanner comprises a three-dimensional laser scanner for the first bogie attached to the first bogie device and a three-dimensional laser scanner for the second bogie attached to the second bogie device.
The information processing device generates the three-dimensional shape data by combining the three-dimensional shape data measured by the three-dimensional laser scanner for the first bogie and the three-dimensional laser scanner for the second bogie.
The tunnel construction management device according to claim 5 or 6, characterized in that it is a tunnel construction management device.