JP2609010B2 - Automatic segment assembly equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic segment assembling apparatus for shielding work, and more particularly to a wedge-shaped segment inserted between existing segments at the end of one ring assembly in accordance with the position and posture of the existing segments. It relates to means for positioning.

[0002]

2. Description of the Related Art When segments are automatically assembled in a shield work, it is proposed to use a light cutting method as shown in FIG. 19 as a means for detecting a deviation amount of a relative position / posture between an assembled segment and an existing segment. that has been.

[0003] In this method, three slit lights from a projector (not shown) are radiated to the boundaries of the assembly segment 72 and the existing segments 71a and 71b roughly positioned in the vicinity of a predetermined assembly position in the tunnel axial direction and the tunnel circumferential direction. And
The slit light images 73a to 73c at the respective boundaries shown in FIGS. 20A to 20C are captured by a television camera (not shown), and the slit light images obtained by performing image processing on image data from the television cameras. End points A, A ', B, B', C,
Steps and gaps at the boundaries are obtained from the coordinate values of C ', and the existing segments 71a and 71b are determined based on the step and gap information.
The deviation of the relative position and attitude of the assembly segment 72 and the amount of correction are calculated, and the positioning of the assembly segment 72 is corrected.

[0004]

The above-mentioned method is a method used when the assembled segment is in contact with the existing segment on two sides. In this case, the method is based on numerical data such as measurement results of the position and posture of the existing segment. Even if the first rough positioning cannot be performed so accurately, it is possible to position the assembly segment at a time at a position where the assembly segment and the existing segment are reflected on all of the television cameras which are step and gap detecting means.

However, as shown in FIG. 7, the assembling segment 42 has a wedge shape having a taper in the tunnel axial direction, and when assembling with the existing segments 41a, 41b, 41c in contact with three sides, the assembling time is reduced. Due to the increased constraint conditions, the assembly shape of the existing segment is deviated from the design data set in advance, and so on, based on only the above numerical data, all of the TV cameras which are step and gap detecting means are used. It is difficult to roughly position the assembly segment at a time to a position where the assembly segment and the existing segment are reflected at once, and there is a high possibility that the assembly segment will hit the existing segment and cannot be positioned, or the segment will be damaged.

SUMMARY OF THE INVENTION It is an object of the present invention to automatically position a wedge-shaped segment without hitting an existing segment and automatically correct a deviation in position and posture from the existing segment to position the segment at a predetermined assembly position. It is to provide a device.

[0007]

In order to achieve the above object, the present invention, as shown in FIG. 1, employs a first method for detecting a step or a gap at a boundary between an assembly segment and an existing segment on both sides in the circumferential direction of the tunnel. Detecting means 1 and a second detecting means 2 for detecting a step and a gap at a boundary portion in the tunnel axial direction between the assembling segment and the existing segment; and a step and a gap can be detected by the first detecting means. A primary coarse positioning calculating means for calculating a primary coarse position of the assembly segment which does not contact the segment; and an existing segment on both sides in the tunnel circumferential direction and the assembly segment detected by the first detecting means after the primary coarse positioning of the assembly segment. Compare the gap amount with the set value, and if the gap amount on both sides is equal to or greater than the set value, the assembly segment is divided into the existing segment based on the gap amount and the segment shape. Calculate the amount of movement of the assembly segment in the direction of the tunnel axis so as to approach the distance. If one of the clearances on both sides is less than the set value, the tunnel circumference of the assembly segment is set so that both clearances on both sides are greater than the set value. A secondary coarse positioning calculating means 4 for repeatedly performing an operation of calculating the moving amount in the direction until the assembly segment reaches a position where a step and a gap can be detected by all of the first and second detecting means; After the secondary coarse positioning of the segment, a correction amount for eliminating a deviation of the relative position and posture of the assembled segment and the existing segment from the steps and gaps at the respective boundaries detected by the first and second detection means. And control means for controlling the actuator 7 based on the output value of each of the calculation means to move the assembly segment to a target position and posture. Characterized by comprising and.

[0008]

When a wedge-shaped assembly segment is assembled between existing segments with three sides constrained by the automatic segment assembling apparatus of the present invention, positioning using the first numerical data (primary coarse positioning) cannot be performed so accurately. Therefore, the assembly segments are positioned far apart in the axial direction of the tunnel so as not to contact the existing segments. At this stage, even if it is not possible to detect a step or a gap between the assembled segment and the existing segment in the tunnel axial direction boundary by the second detection means, the first detection means and the existing segment on both sides in the tunnel circumferential direction cannot be detected. Since it is possible to detect the step and the gap at the boundary of
Compare the gap amount on both sides of the tunnel circumferential direction detected by the detection means with the set value, if both gap amounts on both sides are equal to or more than the set value, move the assembly segment in the tunnel axial direction so as to approach the existing segment, If either one of the gap amounts on both sides is less than the set value, the operation of moving the assembly segment in the circumferential direction of the tunnel so that both the gap amounts on both sides are equal to or more than the set value is repeated, thereby performing the first and second detections. Position where all means can detect steps and gaps (secondary coarse position)
The assembly segment can be brought closer to the existing segment. Then, using the step and gap information from all the detecting means, the relative position, the deviation of the posture and the correction amount between the assembly segment and the existing segment are calculated, and the final positioning (fine adjustment) of the assembly segment is performed based on the calculation result. Positioning).

[0009]

Embodiments of the present invention will be described below with reference to the drawings.

As shown in FIGS. 2 to 6, an erector main body 12 used for automatic segment assembly is installed at a rear portion of a shield main body 11 having a cylindrical shape. The erector body 12 is roughly divided into an erector ring 13 serving as a turning mechanism.
And a swing motor 16, a suspension beam 21 and a pressing jack 22 as a pressing mechanism, a horizontal slide frame 24 and a horizontal slide jack 25 as a left and right sliding mechanism, a front and rear slide frame 27 and a front and rear slide jack 2 as a front and rear sliding mechanism.
8. Spherical frame 29 as attitude control mechanism for pitching, rolling, yawing, etc., and attitude control jack 3
1, 32, 33 and a segment gripper 34.

The electric ring 13 is provided on the shield body 11.
Is guided by an outer guide roller 14 and a side guide roller 15 installed at several locations on the inner circumference of the vehicle, and is turned by a turning motor 16 mounted on the shield body 11 via a pinion 17 and a ring gear 18. Along with this, the following components supported on the electoring ring 13 are simultaneously turned left and right.

A suspension beam 21 supported on left and right arms 19 of the electoring ring 13 via guide rods 20
Is the pressing jack 2 attached between the arm 19 and
2 is moved in the Z-axis direction (radial direction of the electoring ring 13) by extension and contraction, and accordingly, the following parts supported on the suspension beam 21 also move in the same direction.

A horizontal slide frame 24 supported by the suspension beam 21 via a linear bearing 23 includes a horizontal slide jack 25 mounted between the suspension beam 21 and the suspension frame 21.
Is moved in the Y-axis direction on the suspension beam 21 by the expansion and contraction of the suspension, and accordingly, the following components supported on the horizontal slide frame 24 also move in the same direction.

A front-rear slide frame 27 supported on a horizontal slide frame 24 via a linear bearing 26
Is moved back and forth on the horizontal slide frame 24 in the X-axis direction (shield axis direction) by expansion and contraction of a front and rear slide jack 28 attached to the horizontal slide frame 24, and accordingly, supported on the front and rear slide frame 27. The following parts moved also move in the same direction.

The spherical frame 29 incorporated in the spherical guide portion 27a of the front and rear slide frame 27 moves as follows due to the expansion and contraction of the two attitude control jacks 31 and 32 attached to the front and rear slide frame 27. do. In FIG. 4, when the two jacks 31 and 32 are extended or contracted at the same time, the spherical frame 29 is tilted around the X axis including the spherical center G, and this movement is used for rolling control of the segment gripper 34. . When one of the jacks 31 and 32 is extended and the other is contracted, the spherical frame 29 is turned left and right around the Z axis including the spherical center G, and this movement is caused by the yawing of the segment gripper 34. Used for control.

The segment holding portion 34 hung on the central axis 30 of the spherical frame 29 is tilted around the central axis 30 by expansion and contraction of an attitude control jack 33 attached to the spherical frame 29, and this movement is performed. Are used for pitching control of the segment gripper 34.

The segment gripper 34 has a male threaded screw shaft 35 corresponding to the grout hole 42a of the assembly segment 42. The segment gripping portion 34 is equipped with a drive motor 36 for rotating the screw shaft 35, and a lifting jack 38 for raising and lowering the screw shaft 35 together with the drive motor 36 and the bearing bracket 37. After centering the screw shaft 35 on the grout hole 42a of the assembly segment 42 placed under the erector, projecting toward the segment 42 while rotating the screw shaft 35, after the screwing into the grout hole 42a is completed, the segment 42 is The segment 42 is gripped by pulling back the screw shaft 35 until it hits the end face of the segment gripper 34.

The erector main body is constructed as described above, and has a function of gripping the assembly segment 42 and finally positioning it at a predetermined assembly position, and assembling it with the existing segment 43 by a bolt fastening device (not shown).

FIG. 7 shows the positional relationship between the step and gap detecting means, the assembling segment and the existing segment, and the system configuration in the automatic segment assembling apparatus of the present invention. Numeral 12 schematically shows the erector main body. 42
The wedge-shaped assembly segment, 41a represents an existing segment adjacent to the assembly segment 42 in the tunnel axial direction, and 41b and 41c represent existing segments adjacent to the assembly segment 42 in the tunnel circumferential direction. This figure shows an example in which the light section method is used as the step and gap detecting means. The light projectors 43b and 43c and the television cameras 44b and 44c are connected to the first detecting means 1, and the light projector 43a and the television camera 44a are connected to the first detecting means 1. Each corresponds to the second detection means 2. These light projectors 43a to 43
c, The television cameras 44a to 44c are fixed to a holding portion 34 (not shown) provided on the erector 12 via rigid bodies 12a to 12c. Therefore, the projectors 43a to 43a-4
3c, the relative positions and postures of the television cameras 44a to 44c, the grip 34, and the assembly segment 42 are constant during the grip, regardless of the movement of the erector. Floodlights 43b, 4
3c is a slit light at each boundary between the assembly segment 42 and the existing segments 41b and 41c on both sides in the tunnel circumferential direction.
The floodlight 43a is composed of the assembly segment 42 and the existing segment 4.
1a is illuminated with slit light at a tunnel axial direction boundary portion, and slit light images (hereinafter, referred to as light cut images) 45a to 45c generated by these light beams are transmitted from television cameras 44a to 4c.
The images are respectively taken at 4c. 46a to 46c represent the visual fields of the television cameras 44a to 44c.

Image data from these television cameras is taken into an image memory 49 via a camera switch 47 and an image input device 48. Reference numeral 50 denotes an image processing apparatus for processing image data stored in the image memory 49 to obtain end point coordinates of the light section image. Reference numeral 51 denotes an end point coordinate value of the light section image obtained by the image processing apparatus 50 or input in advance. A controller for the erector main body (hereinafter, referred to as a main body control device) that performs a positioning control operation described later from the numerical data and outputs the result to the servo control device 52 as a command value, and the servo control device 52 The rotation motor 16 and the hydraulic jacks 22, 25, 28, 3 of the
It controls seven-axis actuators including 1, 32 and 33.

Hereinafter, a control procedure for positioning the wedge-shaped assembly segment in a shape in which three sides are restricted will be described with reference to FIGS.

FIG. 8 shows a rough control procedure of the main body controller 51. As shown in the figure, the control is roughly divided into three procedures.

First, the primary coarse positioning control of procedure 100 in FIG. 8 will be described with reference to FIGS. FIG. 9 shows a detailed procedure of the primary coarse positioning control. Step 10
In the coarse position calculation (1), a target position where the assembly segment will be finally positioned is calculated from the segment position at the time of design, posture data, or the position and posture measurement results of the existing segment, and based on this target position. 7, the light cut images on the existing segments 41b and 41c shown in FIG.
And the position and posture of the erector in which the existing segments 41a, 41b, 41c do not contact each other (hereinafter, referred to as a primary coarse position). The position and posture of the erector mean the position and posture of the segment gripper 34 of the erector main body 12, and are the same as the position and posture of the assembly segment being gripped. The primary coarse position is represented by the turning angle of the erector body and an erector coordinate system described later.

FIG. 10 shows the positional relationship among the absolute coordinate system, the erector coordinate system, and the hand coordinate system.
r, Yr, Zr) and the Erector coordinate system (X, Y,
The X-axis of Z) overlaps with the turning center axis of the erector body 12, and the origin of the hand coordinate system (dx, dy, dz) is on the center line of the grout hole 42a of the assembly segment 42 and the thickness of the assembly segment 42. Is bisected (the center point of the assembly segment).

In the actuator command value calculation in step 102, the target values of the actuators of all the seven axes including the turning motor 16 are calculated from the previously calculated primary coarse position. Then, in the actuator control in step 103, the calculated target value is output to the servo control device 52, and it waits for the servo control device 52 to finish controlling each actuator.

Next, the secondary coarse positioning control in step 200 in FIG. 8 will be described. FIG. 11 shows the positional relationship between the assembly segment 42 and the existing segments 41a to 41c in a state where the primary coarse positioning control of the procedure 100 has been completed. FIG. 12 is an enlarged view of the images shown on the three television cameras 44a to 44c at this time. Show. In this state, the TV camera 44
b and 44c show light cut images 4 of both the assembly segment 42 and the existing segments 41b and 41c on both sides in the tunnel circumferential direction.
5b and 45c are shown, and the steps and gaps at the boundary in the tunnel circumferential direction can be detected from the light-section image. However, the television camera 44a has an existing segment 4 in the tunnel axis direction.
Since the light cut image on 1a is not shown, no step or gap at the boundary in the tunnel axial direction can be detected. Therefore, the next step 3
00 fine positioning control cannot be performed. In the secondary coarse positioning control in the procedure 200, an operation is performed to bring the assembly segment 42 closer to the existing segment 41a up to a position (secondary coarse position) where the light cut image on the existing segment 41a is reflected on the television camera 44a.

FIG. 13 shows the details of the procedure 200.
Hereinafter, the procedure 200 will be described with reference to FIG. First, in step 201, the image data from the television camera 44a is selected by the camera switch 47 and taken into the image memory 49, and the image data is processed by the image processing device 50 to extract the end point of the light-section image. It is determined whether or not the light cut image on the existing segment 41a is reflected on the television camera 44a. If the light-section image on the existing segment 41a is shown, the procedure 200 is determined to be completed, and the procedure moves to the procedure 300. In addition, the existing segment 41a
If the upper light-section image has not moved, the process proceeds to step 202.

In step 202, the television cameras 44b, 4
4c and the existing segment 41
It is determined whether the gap edyb or edyc between b and 41c is less than a preset value α. Here, the gaps edyb and edyc are the TV cameras 44b and
The image data from 44c is sequentially switched by the camera switch 47 and stored in the image memory 49, and the image data 45 is processed by the image processing device 50 to obtain a light section image 45.
b, 45c, the end point coordinate values B (bx, by), B '(b
x ', by'), C (cx, cy), C '(cx', c
y ′) is calculated by the following equation.

[0029]

(Equation 1)

Here, ky is a coefficient for converting image data into numerical values in mm units.

The set value α is set to a value within a range in which the assembling segment 42 and the existing segments 41b and 41c do not come too close in the tunnel circumferential direction.

If it is determined in step 202 that both edyb and edyc are not less than the set value α, the process proceeds to the calculation of the axial movement amount in step 203. As shown in FIG.
2 has a wedge shape having a taper in the tunnel axis direction, the gap at the boundary in the tunnel circumferential direction with the existing segments 41b and 41c is eddyb, edyc, and the gap at the boundary in the tunnel axial direction with the existing segment 41a is edxa. Then, edyb, edyc, and edxa are in a proportional relationship according to the taper ratio of the segment 42. Therefore, in step 203, the movement amount dx1 of the assembly segment 42 in the tunnel axis direction is calculated by the following equation.

[0033]

(Equation 2)

Here, kt is a value determined by the taper ratio of the assembly segment 42. However, when kt is set to the actual taper ratio, the assembly segment 42 may hit the existing segments 41b and 41c during the movement. Therefore, kt is preferably set to be larger than the actual taper ratio. The reason why the minimum values of edyb and edyc are selected is that safety is considered so that the assembly segment 42 does not hit the existing segments 41b and 41c.

If it is determined in step 202 that either of edyb or edyc is less than the set value α, the process proceeds to step 204 to calculate the amount of movement in the circumferential direction. In this state, the assembling segment 42 is the existing segment 41b, 41c in the circumferential direction of the tunnel.
Is too close to either of them. Therefore, in step 204, the movement amount dy1 in the tunnel circumferential direction is calculated by the following equation so that the assembly segment 42 is located at the center of both the existing segments 41b and 41c.

[0036]

(Equation 3)

When the procedures 203 and 204 are completed, the procedure 2
Move to 05.

The calculation of the target position and posture of the erector in step 205 and the calculation of the actuator command value in step 206 will be described with reference to FIG. The position / orientation calculation unit 60 uses the current strokes J1 to J6 of the six-axis actuators excluding the swing motor 16 to determine the position, orientation x, y, z, θ1, θ2 of the hand coordinates expressed in the erector coordinate system. , Θ3
Is calculated. Further, this is forward-transformed by a forward-point coordinate forward conversion unit 61 to obtain a hand-side coordinate matrix T representing the position and orientation of the hand-side coordinates. Here, the direction of the hand coordinates with respect to the erector coordinate system is represented by three vectors n, o, a, and the position of the hand coordinates is represented by vector p. n, o, and a are vectors in the dx, dy, and dz axis directions, respectively, and when n, o, and a are represented in the erector coordinate system, the following equation is obtained.

[0039]

(Equation 4)

When p is expressed in the erector coordinate system, the following equation is obtained.

[0041]

(Equation 5)

Nx to nz, ox to oz, a in Equations 4 and 5
The hand coordinate matrix T is expressed by the following equation using x to az and px to pz.

[0043]

(Equation 6)

Assuming that the correction amount obtained from the light-section image is dx to δz, the minute movement amount dT of the hand coordinates obtained by performing the forward conversion in the forward converter 62 for the minute change can be expressed by the following equation.

[0045]

(Equation 7)

From the equations (6) and (7), the target value matrix Tref of the hand coordinates representing the target position and posture of the hand coordinates is obtained by the following equation.

[0047]

(Equation 8)

This is inversely transformed by a hand coordinate inverse transformation unit 63, and the target position, posture xref, yref, zref, θ1ref, θ2ref of the hand coordinates expressed in the erector coordinate system.
, Θ3ref. In the secondary positioning control, the correction amounts dx and dy are calculated as dx1 or dy1 obtained by Expressions 2 and 3.
By substituting zero into another correction amount, the target position and posture of the erector can be calculated. Next, in the actuator command value calculation of step 206, the command value of each actuator is calculated from the target position and posture of the eleta obtained earlier and the turning angle at the primary coarse position obtained by the primary coarse positioning control. Then, in the actuator control of step 207, the calculated command value of each actuator is output to the servo control device 52, and the servo control device 52 waits for the control of each actuator to be completed. After the actuator control is completed, the procedure returns to the procedure 201, and in the procedure 201, the procedure 200 is repeated until the light cut image on the existing segment 41a is displayed on the television camera 44a.

Next, a procedure 300 will be described with reference to FIGS.
Will be described. FIG.
17 shows the details of the assembly segment 42 and the existing segment 41 in a state where the secondary coarse positioning control is completed.
FIG. 18 is an enlarged view of the positional relationship between a and 41c, and images shown in the three television cameras 44a to 44c at this time.

In the calculation of the deviation for fine positioning in the procedure 301 shown in FIG. 16, the television cameras 44a to 44c take images of the assembly segment 42 and the light cut images 45a to 45c on the existing segments 41a to 41c. 47
Are selected and sequentially taken into the image memory 49.
Then, the image data stored in the image memory 49 is processed by the image processing device 50, and the coordinate values of the end points A, A 'to C, and C' of the light-section images shown in FIGS. Ask for. As shown in the figure, the end points A, A ', B, B', C,
Let the coordinates of C 'be (ax, ay), (ax', a
y '), (bx, by), (bx', by '), (c
x, cy) and (cx ', cy'), steps edza, edzb, edzc between the assembly segment 42 and the existing segments 41a, 41b, 41c, and gaps edya, e
dyb and edxc are obtained by the following equations.

[0051]

(Equation 9)

Here, kx, ky, and kz are coefficients for converting image data into numerical values in mm units.

Here, as shown in FIG.
b, L1 is the distance between the end points of the light cut images on the assembly segment 42 illuminated by the light emitters 43b and 43c, and the light projector 43a is obtained from the line connecting the end points of the light cut images on the assembly segments 42 illuminated by the light projectors 43b and 43c. Assuming that the distance in the X-axis direction to the end point of the light-section image on the assembly segment 42 illuminated by the above is L2, the deviation of the position and posture of the center point of the assembly segment 42 from the existing segments 41a to 41c is represented by the following equation. Desired.

[0054]

(Equation 10)

Here, edx, edy, and edz represent positional deviations in the X-axis direction, the Y-axis direction, and the Z-axis direction, respectively.
eδx and eδy represent attitude deviations around the X-axis and Y-axis, respectively.

Therefore, the correction amount for eliminating the deviation is given by the following equation.

[0057]

[Equation 11]

Next, it is determined in step 302 whether or not the calculated correction amounts dx to δy are smaller than a predetermined threshold value. If not less than the threshold value, the calculation of the target position and posture of the erector in step 303,
The actuator command value calculation in step 304 and the actuator control in step 305 are performed. Then, after the actuator control ends, the procedure returns to the step 301, and the step 300 is repeated until the correction amount calculated in the step 301 becomes less than the threshold value.
A series of operations and controls from step 303 to step 305 are performed as follows.
This is the same as the procedures 205 to 207 shown in FIG.

In the above embodiment, to simplify the description,
In the fine positioning control in the procedure 300, the attitude deviation of the assembly segment 42 around the Z axis is assumed to be negligible, and the deviation detection is omitted. However, one set of a projector and a television camera is added, and the assembly segment 42 and the existing segment 41a are added.
Step and gap at the tunnel axial boundary are detected at two points,
By calculating the difference between the gap amounts at the respective points, it is possible to detect and correct the posture deviation of the assembly segment around the Z axis.

If the assembly segment has a large attitude deviation with respect to the existing segment at the time of the primary coarse positioning, and there is a concern that the assembled segment will hit the existing segment during the movement to the secondary coarse position, another assembly is performed immediately after the primary coarse positioning. Means (see Japanese Patent Application No. 2-308740) may be used to detect the attitude deviation of the assembled segment with respect to the existing segment, correct the attitude deviation, and then perform the above-described secondary positioning control.

The procedure 101 in FIG. 9 corresponds to the primary coarse positioning calculating means 3 in FIG. 1, the procedures 201 to 204 in FIG. 13 correspond to the secondary coarse positioning calculating means 4 in FIG. 1, and the procedure 3 in FIG.
Numeral 01 corresponds to the fine positioning calculation means 5 in FIG. 1, respectively, and also corresponds to steps 102 and 103 in FIG. 9 and step 20 in FIG.
5 to 207, the procedures 302 to 305 in FIG. 16, and the servo control device 52 in FIG. 7 correspond to the control means 6 in FIG.

[0062]

According to the present invention, when a wedge-shaped assembly segment is assembled with three sides constrained,
The rough positioning based on the first numerical data cannot be performed so accurately, and it is impossible to detect the steps and gaps at the boundary between the assembly segment and the existing segment in the tunnel circumferential direction and the tunnel axial direction by all the detecting means. Also, the assembly segment is brought close to the existing segment to a position where the steps and gaps at each boundary can be automatically detected by all the detection means, and the assembly segments are accurately fined using the step and gap information from all the detection means. Can be positioned.

[Brief description of the drawings]

FIG. 1 is a schematic diagram of the present invention.

FIG. 2 is a partially cutaway front view of an erector main body installed in the shield machine.

FIG. 3 is a sectional view taken along the line III-III in FIG. 2;

FIG. 4 is a sectional view taken along line IV-IV of FIG. 2;

FIG. 5 is a sectional view taken along line VV of FIG. 2;

FIG. 6 is an enlarged cross-sectional view of a segment grip portion 34 of FIG.

FIG. 7 is a diagram showing an example of a positional relationship between a step and gap detecting means, an assembly segment, and an existing segment and a system configuration used in the present invention.

FIG. 8 is a diagram showing a rough control procedure of the main body control device 51;

FIG. 9 is a diagram showing a detailed procedure of primary coarse positioning control.

FIG. 10 is a diagram showing a positional relationship among an absolute coordinate system, an elector coordinate system, and a hand coordinate system.

FIG. 11 is a diagram showing a positional relationship between an assembly segment and an existing segment in a state where primary coarse positioning control has been completed.

FIG. 12 is an enlarged view of an image reflected by three television cameras in the state of FIG. 11;

FIG. 13 is a diagram showing a detailed procedure of secondary coarse positioning control.

FIG. 14 is a diagram showing a relationship between a gap in a tunnel circumferential direction and a tunnel axial direction in the state of FIG. 11;

FIG. 15 is a block diagram for calculating the target position and posture of the erector.

FIG. 16 is a diagram showing a detailed procedure of fine positioning control.

FIG. 17 is a diagram showing a positional relationship between an assembly segment and an existing segment in a state where secondary coarse positioning control has been completed.

FIG. 18 is an enlarged view of an image reflected on three television cameras in the state of FIG. 17;

FIG. 19 is an explanatory diagram of relative position and orientation detection of an assembly segment and an existing segment by a conventional light cutting method.

FIG. 20 is a diagram showing a light section image of FIG. 19 reflected on a television camera.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... 1st detection means, 2 ... 2nd detection means, 3 ... Calculation means for primary coarse positioning, 4 ... Calculation means for secondary coarse positioning,
5: Fine positioning arithmetic means, 6: Control means, 7: Actuator, 12: Elector main body, 41a to 41c: Existing segment, 42: Assembly segment, 43a to 43c
Slit light projector, 44a-44c ... TV camera, 4
5a to 45c: light cut image, 47: camera switching device, 48:
Image input device, 49 image memory, 50 image processing device, 51 body control device, 52 servo control device, 10
1. Control procedure corresponding to the primary coarse positioning calculation means 3
201 to 204... Control procedures corresponding to the secondary coarse positioning calculation means 4, 301... Control procedures corresponding to the fine positioning calculation means 5, 102, 103, 205 to 207, 302
To 305: control procedure corresponding to the control means 6

Continuing from the front page (72) Inventor Hiroaki Tokaibayashi 650, Kandate-cho, Tsuchiura-shi, Ibaraki Pref.Hitachi Construction Machinery Co., Ltd. (72) Inventor Hajime Ozawa 650, Kandate-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Makoto Hattori 502, Kandate-cho, Tsuchiura-shi, Ibaraki Pref.

Claims (1)

(57) [Claims] 1. A segment automatic assembling apparatus which is installed in a shield machine and assembles an assembly segment in accordance with the position and posture of an existing segment, wherein a step and a gap at a boundary between the assembly segment and the existing segment on both sides in a tunnel circumferential direction are reduced. A first detecting means for detecting, a second detecting means for detecting a step and a gap at a boundary portion in a tunnel axial direction between the assembly segment and the existing segment, and a step and a gap by the first detecting means can be detected. And a primary coarse positioning calculating means for calculating a primary coarse position of the assembly segment that does not contact the existing segment; and, after the primary coarse positioning of the assembly segment, the assembly segment detected by the first detection means and both sides of the tunnel circumferential direction. Compare the gap amount with the existing segment with the set value. The amount of movement of the assembly segment in the tunnel axis direction is calculated from the amount and the segment shape so that the assembly segment approaches the existing segment. If either of the clearance amounts on both sides is less than the set value, the clearance amount on both sides is the set value. The operation of calculating the amount of movement of the assembly segment in the circumferential direction of the tunnel as described above is repeated until the assembly segment reaches a position where the steps and gaps can be detected by all of the first and second detection means. Calculating means for secondary coarse positioning, after the secondary coarse positioning of the assembly segment, relative positions of the assembly segment and the existing segment from the steps and gaps of the respective boundaries detected by the first and second detection means, Fine positioning calculating means for calculating a correction amount for eliminating the deviation of the posture; and an actuator controlled based on an output value of each of the calculating means for assembling. Position of the target segment, segment automatic assembling apparatus being characterized in that a control means for moving the posture.