JP2023170494A - Tail clearance measurement system for shield machine - Google Patents

Abstract

To provide a tail clearance measurement system for a shield machine, capable of easily measuring a tail clearance at a skin plate rear end of the shield machine.SOLUTION: Segment surface direction measurement means measures a distance from a measurement reference position inside a shield machine to at least three measurement positions A, B, and C in a front end surface 20a of a segment 20, determines coordinate values of the measurement positions A, B, and C from the measured distance, and calculates a segment surface orientation as an orientation of the front end surface 20a of the segment 20 with respect to a skin plate on the basis of the coordinate values of each measurement position A, B, C. Skin plate rear end tail clearance measurement means determines a distance between an inner peripheral surface rear end of the skin plate and a segment outer peripheral surface from the segment surface orientation and a front surface side tail clearance.SELECTED DRAWING: Figure 7

Description

The present invention provides a shield machine that has a rotary cutter and excavates while assembling segments within a skin plate, in which the rear end of the skin plate is the distance between the rear end of the inner circumferential surface of the skin plate and the outer circumferential surface of the segment. This invention relates to a tail clearance measurement system for a shield machine that measures tail clearance.

An annular gap is formed between the skin plate provided on the shield machine and the segments assembled inside the skin plate. If the tail clearance, which is the distance between these gaps, is not maintained properly, problems such as the shield machine hitting a segment and damaging it when digging, or being unable to assemble the next segment will occur.
Therefore, when making a shield machine dig, it is very important to manage the tail clearance, but this usually requires a person to check the tail clearance at four locations on the shield machine, for example on the top, bottom, left and right. It was very time-consuming because it was measured using a scale.

Patent Document 1 discloses a device that eliminates this trouble and automatically measures tail clearance in real time.
The tail clearance measuring device for a shielding machine described in Patent Document 1 includes an irradiation unit that irradiates a laser beam parallel to the extending direction of the tail of the shielding machine and is movable in a direction perpendicular to the inner wall of the tail, A distance detection calculation unit that detects and calculates the distance to the inner wall of the irradiation unit and outputs a distance output signal, a camera that photographs the laser spot on the end face of the segment and outputs an image signal, and a side edge of the end face of the segment from the image signal. a side edge recognition unit that recognizes the segment and outputs a side edge recognition signal, and calculates and outputs the distance between the side edge of the segment and the inner wall of the tail based on the side edge recognition signal and the distance output signal. and a clearance calculation section.

Japanese Patent Application Publication No. 8-121087

The tail clearance measuring device for a shield machine as described in Patent Document 1 detects the tail clearance at the end of the segment on the face side.
However, as the segments come out of the shielding machine, they come into contact with the rear end of the skin plate, and this is where the segments tend to crack or chip, as well as damage due to excessive stress on the fasteners. It is more important to know the tail clearance at the rear end of the skin plate.

The problem to be solved by the present invention is to provide a tail clearance measurement system for a shield machine that can easily and accurately measure the tail clearance at the rear end of a skin plate of a shield machine and prevent damage to segments.

The invention according to claim 1 of the present application is a tail clearance measurement system for a shield machine that measures the distance between the inner peripheral surface of a skin plate and the outer peripheral surface of a segment, the system comprising: a laser irradiation means for irradiating a laser line light toward the front end surface of the segment; an imaging device configured to take an image so that the line light and the laser line light irradiated onto the inner circumferential surface of the skin plate are not in a straight line; and in the image taken by the imaging device, the front end surface of the segment and the skin plate line detection means for detecting laser line light irradiated onto the inner circumferential surface of the radial line as a radial line and an axial line, respectively; intersection detection means for determining the intersection of the radial line and the axial line; A front side tail that determines the distance between the inner peripheral surface of the skin plate and the outer peripheral surface of the segment on the front side of the segment based on the distance of the extension from a predetermined position of the line to the intersection determined by the intersection detection means. a clearance measuring means; a segment surface direction measuring means for measuring a segment surface direction, which is a direction of the front end surface of the segment with respect to the skin plate; This is a tail clearance measuring system for a shield machine, comprising a skin plate rear end tail clearance measuring means for determining the distance between the end and the outer circumferential surface of the segment.

In the invention according to claim 2 of the present application, the segment surface direction measuring means measures distances from a measurement reference position inside the shield machine to at least three measurement positions on the front end surface of the segment, and 2. The tail clearance measurement system for a shield machine according to claim 1, wherein the coordinate value of each measurement position is determined from the distance determined, and the segment surface orientation is calculated based on the coordinate value of each measurement position.

The invention according to claim 3 of the present application is the shield machine according to claim 2, characterized in that the distance from the measurement reference position to the measurement position is measured by a laser distance meter installed at the measurement reference position. This is a tail clearance measurement system.

In the invention according to claim 4 of the present application, the segment surface direction measuring means calculates a normal vector of the front end surface of the segment based on the coordinate values of each measurement position, and measures the rear end tail clearance of the skin plate. The means includes the front side tail clearance, the distance from the front end surface of the segment to the rear end of the skin plate, and the distance from the normal vector to the rear end of the inner peripheral surface of the skin plate and the outer peripheral surface of the segment. 4. A tail clearance measurement system for a shield machine according to claim 2 or 3, which calculates the following.

The invention according to claim 5 of the present application is the shield machine according to claim 3, characterized in that a measuring device incorporating the laser irradiation means, the imaging means, and the laser distance meter is installed at the measurement reference position. tail clearance measurement system.

According to the present invention, the tail clearance at the rear end of the skin plate, which is difficult to measure, can be easily determined from the tail clearance at the front side of the segment, which is easy to measure, and the tail clearance at the rear end of the skin plate can be determined. This can prevent the segments from coming into contact with the skin plate and being damaged when they escape from the shield machine.
Furthermore, the tail clearance on the front side of the segment, which is the reference for determining the tail clearance at the rear end of the skin plate, can be automatically and always accurately measured using a compact device.

In addition, the segment surface direction measuring means measures the distance from the measurement reference position inside the shield machine to at least three measurement positions on the front end surface of the segment, and calculates the coordinate value of each measurement position from the measured distance. By calculating the orientation of the segment surface based on the coordinate values of each measurement position, it is possible to easily know the orientation of the front end surface of the segment with respect to the cross section of the shield machine, and this makes it possible to select a shield jack. The attitude of the shield machine can be maintained by such methods.

In addition, by installing a laser distance meter at a predetermined position, the distance from the predetermined position to the measurement position can be automatically and constantly measured.

In addition, the segment surface orientation measuring means calculates the normal vector of the front end surface of the segment based on the coordinate values of each measurement position, and the skin plate rear end tail clearance measuring means calculates the front side tail clearance and the segment's front end clearance. If the distance from the front end surface to the rear end of the skin plate and the distance between the rear end of the inner peripheral surface of the skin plate and the outer peripheral surface of the segment are determined from the normal vector, the axis of the segment relative to the axial direction of the skin plate can be calculated. It is possible to easily determine the inclination of the direction, and furthermore, the rear end tail clearance of the skin plate can be easily calculated from the front tail clearance.

In addition, if a measuring device incorporating a laser irradiation means, an imaging means, and a laser distance meter is installed at the measurement reference position, the installation space for the equipment can be reduced.

FIG. 1 is a sectional view of a shield machine according to a first embodiment of the present invention. FIG. 1 is a block diagram of a tail clearance measurement system for a shield machine showing a first embodiment of the present invention. FIG. 3 is a perspective view illustrating a front side tail clearance measurement process according to the first embodiment of the present invention. It is a flowchart of the front side tail clearance measurement procedure concerning the 1st embodiment of the present invention. FIG. 3 is a partial cross-sectional view of a segment and a skin plate for illustrating a tail clearance measuring method according to a first embodiment of the present invention. FIG. 1 is a schematic perspective view of a segment and a laser rangefinder according to a first embodiment of the present invention. FIG. 3 is a schematic diagram of a front end surface of a segment according to a first embodiment of the present invention. FIG. 2 is a schematic diagram of main parts of the skin plate and segment according to the first embodiment of the present invention, viewed from the front. FIG. 2 is a flowchart of a skin plate rear end tail clearance measurement procedure according to the first embodiment of the present invention. FIG. FIG. 7 is a partial cross-sectional view of a segment and a skin plate with tapered surfaces for illustrating a tail clearance measuring method according to a second embodiment of the present invention. FIG. 7 is a partial cross-sectional view of a segment and a skin plate provided with a seal groove for illustrating a tail clearance measuring method according to a third embodiment of the present invention.

[First embodiment]
Embodiments of the present invention will be described below with reference to the drawings. Note that it goes without saying that the present invention is not limited to the embodiments.
FIG. 1 is a cross-sectional view of the shield machine, FIG. 2 is a block diagram of the tail clearance measurement system of the shield machine, FIG. 3 is a perspective view illustrating the front side tail clearance measurement process, and FIG. 4 is a front side tail clearance measurement system. Flowchart of the clearance measurement procedure, FIG. 5 is a partial cross-sectional view of the segment and skin plate, FIG. 6 is a schematic perspective view of the segment and laser distance meter, FIG. 7 is a schematic diagram of the front end surface of the segment, and FIG. 8 is a partial cross-sectional view of the segment and skin plate. FIG. 9, which is a schematic view of the main parts of the plate and the segment as seen from the front, is a flowchart of the procedure for measuring the tail clearance at the rear end of the skin plate.

As shown in FIG. 1, the shield machine 1 assembles segments 20 and places the lining body 2 underground while digging into the ground, and includes, for example, a rotary cutter 11 and a skin plate at the front end. 12. This embodiment is described as a shield machine that constructs a tunnel with a circular cross section.

The lining body 2 is constructed by assembling boat-shaped segments 20 into a ring shape and connecting them in the front-rear direction. The front part of the lining body 2 will exist within the skin plate 12, and a new segment 20 will be assembled and connected to the front end of the lining body 2 in a ring shape inside the skin plate 12, and the shield jack will be extended. The front end surface 20a of the segment 20 is pushed, and the shield machine 1 is moved forward by the reaction force.
An annular gap is formed between the inner peripheral surface 12a of the skin plate 12 and the outer peripheral surface 20b of the segment 20.

The shield machine tail clearance measurement system is a system that measures the skin plate rear end tail clearance dc', which is the distance between the rear end of the inner peripheral surface 12a of the skin plate 12 and the outer peripheral surface 20b of the segment 20.

As shown in FIG. 2, the tail clearance measurement system for a shield machine includes a laser irradiation means 3, an imaging means 4, a line detection means 5, an intersection detection means 6, a distance measurement means 7, and a segment surface orientation measurement means. 13, a skin plate rear end tail clearance measuring means 14, a main control section 8, a measurement management section 9, and a display 15.

The laser irradiation means 3 irradiates the front end surface 20a of the segment 20 and the inner peripheral surface 12a of the skin plate 12 with laser line light.
The laser irradiation means 3 includes a laser oscillation tube 30 and a laser control section 31 that controls the operation of the laser oscillation tube 30.

The laser oscillation tube 30 irradiates laser line light, and is located inside the skin plate 12 of the shield machine 1 at three measurement reference positions spaced apart in the circumferential direction. It is installed toward the surface 12a and the front end surface 20a of the segment 20 to be installed. Specifically, each laser oscillation tube 30 is arranged so that the irradiated laser line light is on a plane along the tunnel direction axis of the skin plate 12 and the diametrical line of the skin plate 12.

The laser oscillation tube 30 irradiates a plane laser line light along the tunnel direction axis of the skin plate 12 and the diametrical line of the skin plate 12 based on an oscillation signal from the laser control section 31 . The laser line light from each laser oscillation tube 30 is irradiated toward the front end surface 20a of the segment 20 and the inner peripheral surface 12a of the skin plate 12 (FIG. 3).
As a result, when a tail clearance exists on the front side of the segment 20, the laser line light irradiated onto the front end surface 20a of the installed segment 20 is directed toward the tail clearance side (the portion indicated by L3 in FIG. 3). is not displayed.

The imaging means 4 combines the laser line light irradiated onto the front end surface 20a of the installed segment 20 and the inner peripheral surface 12a of the skin plate 12 with the laser line light irradiated onto the front end surface 20a of the segment 20 and the skin plate 12. The image is taken so that the laser line light irradiated onto the inner circumferential surface 12a is not in a straight line.

The imaging means 4 includes a CCD camera 40 and a camera control section 41 that controls the operation of the CCD camera 40. Each will be installed.
The CCD camera 40 is positioned at a position where the laser line light irradiated onto the front end surface 20a of the segment 20 and the laser line light irradiated onto the inner circumferential surface 12a of the skin plate 12 are imaged so that they are not in a straight line, for example, the laser line. It is arranged at a position to take an image from an oblique direction with respect to the plane 3a formed by the light.
Note that although a CCD camera is used in this embodiment, a digital camera such as a CMOS sensor camera may also be used.

When the camera control unit 41 sends an activation signal, the CCD camera 40 images a portion of the front end surface 20a of the segment 20 and the inner peripheral surface 12a of the skin plate 12 onto which the laser line light from the laser irradiation means 3 is projected. . In the captured image, the laser line light irradiated onto the front end surface 20a of the segment 20 and the laser line light irradiated onto the inner peripheral surface 12a of the skin plate 12 are not in a straight line.

A scale marker 20c is provided in advance on the front end surface 20a of the segment 20 at a position where the front side tail clearance dc of the segment 20 is to be measured (FIG. 3). Specifically, the scale marker 20c is placed at a position where the CCD camera 40 can image it together with the laser line light irradiated onto the front end surface 20a of the segment 20 and the laser line light irradiated onto the inner peripheral surface 12a of the skin plate 12. Placed.
The radial dimension of the segment 20 of the scale marker 20c (for example, the dimension between both ends of the segment 20 of the scale marker 20c in the radial direction) is known, and this dimension serves as the reference dimension. The scale marker 20c may be attached to the front end surface 20a of the segment 20 or may be directly marked.

The CCD camera 40 photographs the scale marker 20c provided on the front end surface 20a of the segment 20 along with the laser line light irradiated onto the front end surface 20a of the segment 20 and the laser line light irradiated onto the inner peripheral surface 12a of the skin plate 12. do.

The line detection means 5 detects the laser line light irradiated on the front end surface 20a of the segment 20 and the inner circumferential surface 12a of the skin plate 12 as a radial line L1 and an axial line L2, respectively, in the image captured by the imaging means 4. do.

The line detection means 5 receives and processes the image from the imaging means 4, and as shown in FIG. It is detected as a radial direction line L1 and an axial direction line L2. Specifically, in the captured image, laser line light is detected using HSV (hue, saturation, brightness), the detected laser line light is binarized, and the binarized data is thinned to create a straight line. recognized as
Further, the line detection means 5 detects the scale marker 20c from the image using HSV (hue, saturation, brightness) and recognizes a straight line related to the reference dimension.

The intersection detection means 6 determines and recognizes the intersection K1 between the radial line L1 and the axial line in the captured image.
The intersection K1 may be detected by expressing it as a function of the radial line L1 and the axial line L2. Moreover, in the captured image, the radial direction line L1 may be extended by image processing, and the intersection point K1 with the axial direction line L2 may be detected.

The distance measuring means 7 predetermines the number of pixels corresponding to the reference dimension of the scale marker 20c and the intersection of the radial line L1 and the outer peripheral edge portion of the front end surface 20a of the segment 20 (the end of the radial line L1). As the position P1, the number of pixels corresponding to the distance L3 of the extension from the predetermined position P1 to the intersection K1 is acquired. The distance L3 of the extended portion of the radial line L1 from the predetermined position P1 to the intersection K1 corresponds to the distance between the inner circumferential surface 12a of the skin plate 12 and the outer circumferential surface 20b of the segment 20.
Then, the distance measuring means 7 measures the inner peripheral surface 12a of the skin plate 12 on the front side of the segment 20 based on the ratio of the number of pixels corresponding to the reference dimension of the scale marker 20c and the number of pixels corresponding to the distance L3 of the extended portion. and the outer circumferential surface 20b of the segment 20, that is, the front side tail clearance dc is calculated.

When installing on the shield machine 1, as a calibration, a correction parameter is obtained by the difference between the actual tail clearance measured manually and the tail clearance measured by the tail clearance measurement system of the shield machine, and the distance measuring means 7, the front side tail clearance dc calculated based on the ratio of the number of pixels may be adjusted based on this correction parameter. This reduces errors caused by actual equipment due to lens distortion, etc., and improves accuracy.

The shield machine tail clearance measurement system of this embodiment measures the front side tail clearance dc in the procedure shown in FIG.

When the shield machine 1 starts operating and the tail clearance measurement system of the shield machine starts, a system check is performed (step S1).
Next, a mode check is performed to determine whether the mode is automatic mode or manual mode (step S2).

If it is the manual mode, the operator manually operates the measurement switch and a measurement signal is sent to the laser control section 31 of the laser irradiation means 3 (step S3).
Then, a transmission signal is sent from the laser control section 31 to the laser oscillation tube 30, and a laser line light is irradiated (step S4).

In the automatic mode, when the measurement timing is reached, the measurement management section 9 automatically sends a measurement signal to the laser control section 31 of the laser irradiation means 3 (step S5), and proceeds to step S4.

Next, the camera control unit 41 of the imaging means 4 sends an activation signal, and the CCD camera 40 photographs the front end surface 20a of the segment 20, the scale marker 20c, and the inner peripheral surface 12a of the skin plate 12 (step S6), and then, The irradiation of the laser line light by the laser irradiation means 3 is ended (step S7).

Next, the image taken by the CCD camera 40 is transferred to the line detection means 5 (step S8).

The line detection means 5 that has received the image signal detects the scale marker 20c (step S9), and further detects and recognizes the radial line L1 and the axial line L2 (step S10).

Next, the intersection detection means 6 finds the intersection K1 from the radial line L1 and the axial line L2 (step S11).

Next, the distance measuring means 7 sets the intersection between the radial line L1 and the outer peripheral edge portion of the front end surface 20a of the segment 20 (the end of the radial line L1) as a predetermined position P1, and measures the distance from the predetermined position P1 to the intersection K1. The distance L3 of the extended portion is calculated from the ratio to the reference length based on the scale marker 20c (step S12).
Furthermore, the distance measuring means 7 adjusts the distance L3 of the extended portion calculated in step S12 based on the correction parameter obtained in advance, and calculates the front side tail clearance (step S13).

Next, the calculated front side tail clearance is stored as data and output processing such as displaying it on a display is performed (step S14).

Thereafter, it is determined whether or not to continue measuring the front side tail clearance (step S15). If YES, the process returns to step S2; if NO, the process ends.

As shown in FIG. 6, the segment surface orientation measuring means 13 includes three laser distance meters 130 and a calculation section 131, each of which is installed at a predetermined position inside the skin plate 12. The laser distance meter 130 is incorporated into a single box together with the laser oscillation tube 30 and the CCD camera 40 to form a measuring device 16 (two devices are shown in FIG. 1).
The measuring device 16 is installed at three known measurement reference positions, and the laser distance meter 130 measures distances from the three measurement reference positions to the three measurement positions A, B, and C.

A laser distance meter 130 of the segment surface direction measuring means 13 is connected to a calculation section 131.
The distances to the measurement positions A, B, and C measured by the laser distance meter 130 are sent to the calculation unit 131, and the calculation unit 131 calculates the coordinate values of the measurement positions A, B, and C.
As shown in FIG. 7, if the horizontal diameter direction of the front end surface 20a of the segment 20 is the Y direction, the vertical diameter direction is the Z direction, and the direction perpendicular to the Y direction and the Z direction is the X direction, the coordinates of the measurement position A are The values can be expressed as Ax, Ay, and Az, the coordinate values of measurement position B can be expressed as Bx, By, and Bz, and the coordinate values of measurement position C can be expressed as Cx, Cy, and Cz.

The calculation unit 131 calculates the orientation of the front end surface 20a with respect to the cross section of the skin plate 12 and the normal vector of the front end surface 20a from the coordinate values of three measurement positions A, B, and C on the front end surface 20a of the segment 20. demand.
Vector AB=(Bx-Ax, By-Ay, Bz-Az)
Vector AC=(Cx-Ax, Cy-Ay, Cz-Az)
The normal vector to the front end surface 20a of the segment 20 is the cross product of vector AB×vector AC.

Furthermore, the orientation of the front end surface 20a can also be determined from the normal vector.
The horizontal surface angle of the front end surface 20a is
tan ^-1 (normal vector y component/normal vector x component) ÷ π x 180 degrees The vertical angle of the front end surface 20a is:
tan ^-1 (normal vector z component/normal vector x component) ÷ π×180 degrees.
When the angle of the front end surface 20a with respect to the cross section of the skin plate 12 exceeds the standard, it becomes difficult to maintain the posture of the shield machine 1, which moves forward by pressing the front end surface 20a with a shield jack. Therefore, by understanding the surface orientation angle of the front end surface 20a, the attitude of the shield machine 1 can be controlled by selecting a shield jack or the like.

The skin plate rear end tail clearance measuring means 14 measures the front side tail clearance dc determined by the distance measuring means 7, the distance from the front end surface 20a of the segment 20 to the rear end of the skin plate 12, and the segment surface direction measuring means 13. The skin plate rear end tail clearance dc', which is the distance between the rear end of the inner peripheral surface of the skin plate 12 and the outer peripheral surface of the segment, is determined from the normal vector of the front end surface 20a of the segment 20 determined by .

FIG. 8 is a schematic diagram of the skin plate 12 and the segment 20 in the portion where the skin plate rear end tail clearance dc' is to be determined, as viewed from the front.
In the figure, P is the position where the front side tail clearance dc was measured, P' is the calculated position of the tail clearance dc' at the rear end of the skin plate, and α is the circumference angle at the position where the front side tail clearance was measured (circular cross section in front view). (for example, the angle clockwise from the 12 o'clock direction to 0 degrees to the position P), vector N is the unit normal vector of the front end surface 20a of the segment 20 obtained earlier, and β is the normal to the front end surface 20a. The rotation angle of the vector N (the angle expressed clockwise when the inclination of the vector N in front view is set to 0 degrees from the 12 o'clock direction, for example), and the vector R is a unit vector in the radial direction that passes through P and is calculated based on α. Although not shown, Is is the distance from the front end surface 20a (dc) of the segment 20 to the rear end (dc') of the skin plate 12.

The distance Is from the front end surface 20a of the segment 20 to the rear end of the skin plate 12 is determined by the distance from the rear end of the skin plate 12 to the measurement reference position where the laser distance meter 130 is installed, and the calculation standard from the measurement reference position. This is the difference between the distance to the measurement position closest to the position of the front side tail clearance dc.
Further, it is assumed that the dc direction and the dc' direction are parallel.
Then, the skin plate rear end tail clearance dc'=dc-Is×vector N and vector R (“vector N and vector R” is the inner product of vector N and vector R).
In this way, based on the eight front side tail clearances dc calculated by the distance measuring means 7, the skin plate rear end tail clearance dc' is determined.

The main control unit 8 is a CPU of a main computer, and controls the entire tail clearance measurement system of the shield machine.

The measurement by the tail clearance measurement system of the shield machine can be switched between a manual mode, which is performed manually when the connection of a new segment 20 is completed, and an automatic mode, which is performed automatically every time a suitable time elapses. When the automatic mode is enabled, the measurement management section 9 manages the measurement start timing.

The display 15 displays the front side tail clearance calculated by the distance measuring means 7, the skin plate rear end tail clearance calculated by the skin plate rear end tail clearance measuring means 14, etc.

Laser control section 31, CCD camera 40, camera control section 41, line detection means 5, intersection detection means 6, distance measurement means 7, segment surface direction measurement means 13, skin plate rear end tail clearance measurement means 14, measurement management section 9 and the display 15 are connected to the main control section 8 and mutually transmit and receive signals via the main control section 8.

The shield machine tail clearance measurement system measures the skin plate rear end tail clearance dc' in the procedure shown in FIG.

When the shield machine 1 starts operating and the tail clearance measurement system of the shield machine starts, the front side tail clearance dc is obtained according to the procedure shown in FIG. 4 (step S20).

Next, the segment surface orientation measuring means 13 determines the surface orientation of the front end surface 20a of the segment 20 and the normal vector of the front end surface 20a of the segment 20 (step S21).

Next, the skin plate rear end tail clearance measuring means 14 calculates the skin plate rear end tail clearance dc' (step S22).

Further, the calculated skin plate rear end tail clearance dc' is stored as data and output processing such as displaying it on a display is performed (step S23), and then the process ends.

According to the present invention, the tail clearance dc' at the rear end of the skin plate, which is difficult to measure, can be easily determined from the tail clearance dc at the front side of the segment, which is easy to measure. By understanding this, it is possible to prevent the segment 20 from coming into contact with the skin plate 12 and being damaged when it escapes from the shield machine 1.
Further, the tail clearance dc on the front side of the segment, which is a reference for determining the tail clearance dc' at the rear end of the skin plate, can also be automatically and always accurately measured using a compact device.

Further, the segment surface orientation measuring means 13 measures the distance from the measurement reference position inside the shield machine 1 to at least three measurement positions on the front end surface of the segment, and uses the measured distance to determine the coordinates of each measurement position. By determining the value and calculating the segment surface orientation based on the coordinate values of each measurement position, it is possible to easily know the orientation of the front end surface of the segment with respect to the cross section of the shield machine 1. The attitude of the shield machine 1 can be maintained by selecting the following.

Furthermore, by installing the laser distance meter 130 at a predetermined position, the distance from the predetermined position to the measurement position can be automatically and constantly measured.

Further, the segment surface direction measuring means 13 calculates the normal vector of the front end surface 20a of the segment 20 based on the coordinate values of each measurement position, and the skin plate rear end tail clearance measuring means 14 calculates the front side tail clearance. dc, the distance from the front end surface of the segment to the rear end of the skin plate, and the distance between the rear end of the inner peripheral surface of the skin plate and the outer peripheral surface of the segment from the normal vector, the axial direction of the skin plate It is possible to easily determine the axial inclination of the segment relative to the axial direction, and furthermore, the skin plate rear end tail clearance dc' can be easily calculated from the front side tail clearance.

Moreover, if the measuring device incorporating the laser irradiation means 3, the imaging means 4, and the laser distance meter 130 is installed at the measurement reference position, the installation space for the equipment can be reduced.

[Second embodiment]
A second embodiment according to the present invention will be described below with reference to FIG. 10. Note that descriptions of parts similar to those in the first embodiment will be omitted, and mainly different parts will be described.

In the first embodiment, as shown in FIGS. 3 and 5, the intersection of the outer peripheral side edge portion of the front end surface 20a of the segment 20 and the radial line L1 (the end of the radial line L1) is set as the predetermined position P1. , the distance L3 of the extended portion from the predetermined position P1 to the intersection K1 was measured as the front side tail clearance dc.
In the second embodiment, in the case of a segment 20 in which a tapered surface 20d is provided at the corner of the outer peripheral surface 20b and the front end surface 20a of the segment 20, as shown in FIG. The intersection point between the outer peripheral edge portion and the radial line L1 (the end of the radial line L1) is defined as a predetermined position P1, and the distance L3 of the extended portion from the predetermined position P1 to the intersection K1 corresponds to the radial direction of the tapered surface 20d. The length 20d1 is subtracted and the front side tail clearance dc is measured.

By doing so, the front side tail clearance dc can be measured even for a segment having a tapered surface such as a concrete segment.

[Third embodiment]
A third embodiment of the present invention will be described below with reference to FIG. 11. Note that descriptions of parts similar to those in the first embodiment and the second embodiment will be omitted, and mainly different parts will be described.

In the first embodiment, as shown in FIGS. 3 and 5, the intersection of the outer peripheral side edge portion of the front end surface 20a of the segment 20 and the radial line L1 (the end of the radial line L1) is set as the predetermined position P1. , the distance L3 of the extended portion from the predetermined position P1 to the intersection K1 was measured as the front side tail clearance dc.
In the third embodiment, as shown in FIG. 11, in the case of a segment 20 having a seal groove 20e in which a seal 20f is installed on the front end surface 20a of the segment 20, a step on the outer peripheral surface side of the seal groove 20e and a diameter The intersection with the direction line L1 is set as a predetermined position P1, and the distance 20e1 from the stepped portion on the outer circumferential surface side of the seal groove 20e to the outer circumferential surface 20b is subtracted from the distance L3 of the extended portion from the predetermined position P1 to the intersection K1, and the distance 20e1 is calculated from the front side. Measured as tail clearance dc.

By setting the predetermined position P1 away from the outer edge of the front end face toward the inner circumference in this way, even if the outer edge of the front end face is chipped by a concrete segment, etc., the front The side tail clearance dc can be measured.

[Other variations]
The present invention is not limited to the embodiments described above. Examples include the following:

In this embodiment, the predetermined position P1 of the radial direction line L1 is defined as the outer circumferential edge portion of the front end surface 20a of the segment 20 (first embodiment, second embodiment), the seal groove 20e of the front end surface 20a of the segment 20, etc. Although it is set at the stepped portion on the outer peripheral side (in the third embodiment), it is not limited thereto. It may be an inner peripheral edge portion of the front end surface 20a of the segment 20 or a stepped portion on the inner peripheral side of the seal groove 20e of the front end surface 20a of the segment 20. Further, the distance to the outer circumferential surface 20b of the segment 20 may be a known position; for example, the center line for the thickness of the segment 20 is marked on the front end surface 20a of the segment 20 at a position that intersects with the radial direction line L1, The intersection of the center line and the radial line L1 is set as a predetermined position P1, and half the thickness of the segment 20 is subtracted to measure the front side tail clearance. Furthermore, the radial direction line L1 is arranged so as to overlap the scale marker described above, and the marking of this center line is made to double as either end of the segment 20 of the scale marker in the radial direction. Also good.

In this embodiment, a separate scale marker is provided on the front end surface of the segment, and the front side tail clearance is calculated based on the standard dimensions of the scale marker. However, since the thickness of the segment is known, the front end surface of the segment The edge portion may be detected and the minimum distance between the edges on the inner and outer peripheries may be used as the thickness of the segment and the reference dimension, that is, the front end surface of the segment may be used as a scale marker for measurement.
Alternatively, instead of using the known segment thickness, the distance between the steps on the inner and outer circumferential sides of the known seal groove or the distance between the corner parts on the inner and outer circumferential sides of the seal can be detected and measured as the reference dimension. good.

In this embodiment, the scale marker is provided on the front end surface of the segment, but the scale marker is provided on the spreader of the shield jack of the shield machine, which is placed at a position where it can be imaged by the imaging means, so that the spreader can be attached to the front end surface of the segment. Alternatively, the measurement may be performed when the object is brought into contact with the object. This eliminates the need to provide scale markers for each segment, making the measurement system more efficient.
Further, scale markers may be arranged on both the front end face of the segment and the spreader of the shield jack to improve accuracy.
Furthermore, when measuring the front tail clearance at a position where the spreader is not imaged, a scale marker is provided on the front end face of the segment, and when measuring the front side tail clearance at a position where the spreader is imaged, a scale marker is provided on the front end face of the segment. It is also possible to take appropriate measures depending on the installation location, such as by providing a scale marker.

In this embodiment, the length of the extended portion is calculated from the ratio of the number of pixels corresponding to this and the number of pixels corresponding to the standard dimension of the scale marker. If initialization is done so that the dimensions of any arbitrary location in the captured image can be known and determined in advance, a scale marker is not required.

In this embodiment, the distances between three measurement reference positions and three measurement positions are measured, but the number of measurement reference positions and measurement positions may be greater.

In this embodiment, the laser oscillation tube, CCD camera, and laser distance meter are incorporated into one measuring device, but they may be installed separately.
In this case, the laser oscillation tube and CCD camera can be installed at a different position from the laser rangefinder.
Further, the number of laser oscillator tubes and CCD cameras may be different from the number of laser distance meters.

In this embodiment, the segment surface orientation measurement and the tail clearance measurement are performed and displayed at three locations in the circumferential direction of the tunnel, but the present invention is not limited to this. For example, the measurement may be performed at three locations, and the measured values at eight predetermined locations in the circumferential direction of the tunnel may be displayed using calculations such as proportional distribution. Further, for example, the laser oscillation tube 30, the CCD camera 40, and the laser distance meter 130 may be configured to be able to change their directions so that one device can measure a plurality of locations. The number of installation units may also be set at four or more locations. Furthermore, the segment surface direction measurement and the tail clearance measurement may be performed at different locations and with different numbers of devices.

In this embodiment, the segment surface direction measurement is used together with the tail clearance measurement on the front side of the segment, but the present invention is not limited to this, and may be used only for the segment surface direction measurement. In this case, it is possible to automatically perform the segment surface orientation measurement, which has conventionally been performed manually.

Unlike this embodiment, one or more steps may be performed manually.

In this embodiment, the tail clearance at the rear end of the skin plate is measured from the segment surface direction and the front side tail clearance in a normal segment, a so-called straight segment, in which the front end surface of the segment and the segment outer peripheral surface are perpendicular to each other. However, the present invention is not limited to this, and the segment may be a so-called tapered segment (single tapered segment, double tapered segment), in which the front end surface of the segment and the segment outer circumferential surface are not perpendicular to each other. In this case, the normal vector obtained from the surface orientation of the front end surface of the tapered segment to be measured is corrected to the normal vector obtained if it were a straight segment, and the tail clearance at the rear end of the skin plate is adjusted. Make measurements. Note that the difference in shape between the tapered segment and the straight segment may be input in advance for each ring to be assembled.

In this embodiment, in a normal segment in which the outer diameter of the front end surface of the segment and the outer diameter of the rear end surface of the segment are the same, that is, a so-called straight segment, the rear end tail clearance of the skin plate is determined from the segment surface orientation and the front side tail clearance. However, the present invention is not limited to this, and may be a segment in which the outer diameter of the front end surface of the segment is different from the outer diameter of the rear end surface of the segment, that is, a so-called diameter-reduced segment or an enlarged-diameter segment. In this case, the tail clearance of the front end surface of the reduced diameter segment or expanded diameter segment to be measured is corrected to the tail clearance obtained if it were a straight segment, and the tail clearance of the rear end of the skin plate is measured. Do it like this. Note that the difference in shape of the diameter-reduced segment and the diameter-expanded segment from the straight segment may be input in advance for each ring to be assembled.

Each technical matter in any embodiment may be applied to other embodiments to form an example.

1 Shield machine 11 Rotary cutter 12 Skin plate 12a Inner peripheral surface 2 Lining body 20 Segment 20a Front end surface 20b Outer peripheral surface 20c Scale marker 3 Laser irradiation means 3a Plane 30 Laser oscillation tube 31 Laser control section 4 Imaging means 40 CCD camera 41 Camera Control part 5 Line detection means 6 Intersection detection means 7 Distance measurement means 8 Main control part 9 Measurement management part 13 Segment surface direction measurement means 130 Laser distance meter 131 Calculation part 14 Skin plate rear end tail clearance measurement means 15 Display 16 Measuring device L1 Radial line L2 Axial line L3 Distance of extension K1 Intersection P1 Predetermined position of radial line dc Front tail clearance P Position where front tail clearance was measured P' Calculation position of skin plate rear end tail clearance α Front Wrapping angle at the position where the side tail clearance was measured N Unit normal vector of the front end surface of the segment β Wrapping angle of the normal vector of the segment front end surface R Radial direction vector Is Distance from the front end surface of the segment to the rear end of the skin plate dc ' Skin plate rear end tail clearance

Claims (5)

A tail clearance measurement system for a shield machine that measures the distance between the inner peripheral surface of a skin plate and the outer peripheral surface of a segment,
laser irradiation means for irradiating laser line light toward the front end surface of the segment and the inner peripheral surface of the skin plate;
The laser line light irradiated on the front end surface of the segment and the inner circumferential surface of the skin plate, the laser line light irradiated on the front end surface of the segment and the laser line irradiated on the inner circumferential surface of the skin plate. an imaging means for capturing an image so that the line light is not in a straight line;
Line detection means for detecting laser line light irradiated on the front end surface of the segment and the inner circumferential surface of the skin plate as radial lines and axial lines, respectively, in the image captured by the image capture means;
Intersection detection means for determining an intersection between the radial line and the axial line;
Determine the distance between the inner circumferential surface of the skin plate on the front side of the segment and the outer circumferential surface of the segment based on the distance of the extension from the predetermined position of the radial line to the intersection determined by the intersection detection means. a front side tail clearance measuring means;
Segment surface orientation measuring means for measuring segment surface orientation, which is the orientation of the front end surface of the segment with respect to the skin plate;
A skin plate rear end tail clearance measuring means for determining the distance between the rear end of the inner circumferential surface of the skin plate and the outer circumferential surface of the segment from the segment surface direction and the front side tail clearance. Tail clearance measurement system for shield machines. The segment surface orientation measuring means measures distances from a measurement reference position inside the shield machine to at least three measurement positions on the front end surface of the segment, and calculates coordinate values of each measurement position from the measured distances. 2. The tail clearance measurement system for a shield machine according to claim 1, wherein the segment surface orientation is calculated based on the coordinate values of each measurement position. 3. The tail clearance measurement system for a shield machine according to claim 2, wherein the distance from the measurement reference position to the measurement position is measured by a laser distance meter installed at the measurement reference position. The segment surface direction measuring means calculates a normal vector of the front end surface of the segment based on the coordinate values of each measurement position, and the skin plate rear end tail clearance measuring means calculates the front side tail clearance, 2. The distance between the front end surface of the segment and the rear end of the skin plate, and the distance between the rear end of the inner peripheral surface of the skin plate and the outer peripheral surface of the segment are determined from the normal vector. 3. The tail clearance measurement system for a shield machine as described in 3. 4. The tail clearance measurement system for a shield machine according to claim 3, wherein a measuring device incorporating said laser irradiation means, said imaging means, and said laser distance meter is installed at said measurement reference position.

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