JP2820011B2 - How to grasp the existing segment shape - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for grasping the shape of an existing segment for accurately grasping the shape of an already assembled segment used in a shield excavation method.

[0002]

2. Description of the Related Art As is well known, there is a shield construction method as a tunnel construction method. As one type of this kind of construction method, a shield excavator is used to excavate a ground while moving forward, and the shield excavator is used with the advance. There is a method of sequentially assembling annular segments on the rear side to take excavation reaction force.

In the segment assembling apparatus used in such a shield method, the positioning of the segments is performed by copying control. That is, when assembling the segments, assemble while pressing the concave and convex guides provided between the butted segments, and when connecting the butted segments, if the bolts are difficult to enter the bolt holes, intermittently insert the bolts When the segment is moved little by little while moving forward and backward, the bolt holes are inserted into the bolt holes when they match.

[0004]

However, in such a conventional segment assembling apparatus, the shape of the segment is uniform in the normal direction with respect to the entire circumference of the segment in which disturbance such as soil water pressure is assembled. Therefore, even if the segment is assembled in a shape close to a perfect circle, the segment may be deformed to some extent after the assembly. If such segment deformation is left unchecked, the roundness of the existing segment becomes a position reference when assembling a new segment. Not only is there a problem that the error occurs, but if the accumulated error becomes large, there is a possibility that the assembling may not be possible eventually.

The present invention has been made in view of such conventional problems, and an object of the present invention is to easily and accurately determine the shape of an existing segment, which serves as a positioning reference when assembling a new segment. An object of the present invention is to provide a method for grasping the shape of an existing segment that can be grasped.

[0006]

In order to achieve the above object, the present invention is a method for grasping the shape of an existing segment which is annularly assembled at the rear end thereof with the excavation of a shield machine. Using a sensor that is installed in the existing segment in a state separated from the shield machine and behind the shield machine, and pivots in a circumferential direction around a horizontal pivot axis substantially coinciding with the center axis of the segment, The sensor is stopped at a plurality of positions so as to face the inner peripheral surface of the segment, and the distance from the sensor to the inner peripheral surface of the segment is measured, and the rotation angle of the sensor and the rotation axis of the segment are measured. The distance to the peripheral surface is calculated, and the coordinates (X, Y) of a plurality of positions on the inner peripheral surface of the segment are obtained based on the calculation result. A plurality of arbitrary three points selected from the target are extracted to obtain a plurality of central point groups, a center of gravity of these central point groups is calculated, and an eccentric amount (Δx, Δy) between the segment center and the turning center of the sensor is calculated. And the coordinates (X,
Y) is subjected to coordinate transformation based on the eccentricity to obtain a coordinate point group (X1, Y1), and this coordinate point group (X1, Y1) is obtained.
An ellipse that is approximated based on 1) is created, and the shape of the existing segment is grasped by displaying the ellipse.

[0007]

According to the above configuration, the shape of an existing segment serving as a positioning reference when assembling a new segment can be easily and accurately grasped by elliptical approximation.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below in detail with reference to the accompanying drawings. FIG. 1 shows a segment assembling apparatus of a shield method to which the present invention is applied. The assembling apparatus 1 shown in FIG. 1 has shields 3 and 3 which are assembled in a hollow cylindrical shape behind a shield machine 2. It is installed separately from the excavator 2.

The segment assembling apparatus 1 is provided with four sets for supporting the inner peripheral surface of the existing segment 3 by supporting and supporting the inner segment and for moving the whole apparatus forward as a new segment is assembled. The support device 4 and the support device 4
And a substantially hexagonal frame which is supported at the tip of the support beam 5 and which can swing about a horizontal axis orthogonal to the axis of a tunnel constructed by the existing segments 3 and 3 Swing frame 6, an annular swing frame 7 supported on a front portion of the swing frame 6, and capable of swinging about a swing axis orthogonal to the swing plane of the swing frame 6, and a swing frame 7 And an erector device 9 which can move forward and backward in a radial direction of the revolving frame 7 with respect to a pair of resilient arms 8 protruding from the front of the revolving frame 8.

A segment supply device 10 for supplying a new segment 3 to a lower portion of the erector device 9 under the support device 4 is provided below the segment assembling device 1.

The support device 4 includes a first fixed holding device 11, a first reaction force support device 12, and a second
, And a second fixed holding device 14. The first and second fixed holding devices 11 and 13 are arranged on both left and right sides of the tunnel and extend vertically via a pair of fixed support legs 15 and an upper jack 16 from above the fixed support legs 15. A crescent-shaped upper fixing shoe 17 which can be attached to and detached from the upper part of the inner peripheral surface of the existing segment 3 by the vertical movement of the jack 16, and the vertical movement from the lower part of the fixed support leg 15 via the lower jack 18. The lower fixed shoe 19 which can be detached below the inner peripheral surface of the existing segment 3, and which can be detached on the inner peripheral side of the existing segment 3 by moving back and forth from the side of the fixed support leg 15 in the left-right direction. And a side fixing shoe 20.

On the other hand, the first and second reaction force support devices 12,
14 is a pair of support legs 21 which are disposed on the left and right sides of the tunnel and extend in the vertical direction, and are bridged from the upper portion of the support legs 21 via the upper jack 22 so that the existing segments 3 are moved forward and backward by the jack 22. A crescent-shaped upper shoe 23 which can be attached to and detached from the upper part of the inner peripheral surface, and a lower part which can be moved up and down from the lower part of the support leg 21 via the lower jack 24 to be separated from the lower part of the inner peripheral surface of the existing segment 3 And a shoe 25. Then, the fixed holding devices 11, 1
A jack (not shown) for moving the fixed holding devices 11 and 13 forward by applying a reaction force to the reaction force supporting devices 12 and 14 is provided between the reaction force supporting device 3 and the reaction force supporting devices 12 and 14.

The support beam 5 is fixed to the first and second fixed holding devices 11 and 13 and is relatively movable only in the front-rear direction with respect to the first and second reaction force support devices 12 and 14. It is supported by.

As shown in FIGS. 2 and 3, the erector device 9 can be moved up and down in the drawing by a pair of lifting jacks 26, 26 provided at the tips of the spring-out arms 8, 8, respectively. 3 is provided with a crescent-shaped erector device main body 27 conforming to the inner surface shape of the erector device 3, the erector device main body 27 has a support mechanism 28 for supporting the segment 3 supplied by the segment supply device 10, and a support mechanism 2
8, a plurality of pre-sensing sensors S arranged around
1, S2, S4 (three in this embodiment) and the like.

The support mechanism 28 is fixed to a jack 29 extending in the radial direction of the revolving frame 7 from the elector device main body 27, and is moved up and down in a fixed cylinder 31 of the elector device main body 27 by being fixed to a plunger 30 of the jack 29. A moving cylinder 32, a chuck 33 protruding from the moving cylinder 32 to the outside in the radial direction, and a driving mechanism 3 provided in the moving cylinder 32 for rotating the chuck 33 about its axis.
And 4.

At the tip of the chuck 33, a 1/4 ring-shaped convex portion 35 is fixedly mounted. On the jack 29 side of the convex portion 35, as shown in FIG. A surface 36 is formed. On the other hand, a hole 37 is formed in the center of the segment 3, and the chuck 3 is located in the hole 37.
The cylindrical fitting 38 with which the engaging member 3 is engaged is fitted, and the cylindrical fitting 38 is formed with an inclined surface 39 which engages with the inclined surface 36 of the chuck 33. The engagement between the chuck 33 and the cylindrical fitting 38 allows the chuck 33 to be inserted into the cylindrical fitting 38 when the chuck 33 is at a predetermined rotation angle, and the chuck 33 is rotated by, for example, 90 degrees in the inserted state. Then, the segments 3 are supported by the chuck 33 by the surface contact between the inclined surfaces 36 and 39.

Further, the pre-sensing sensors S1, S2,
As shown in FIG. 2, S4 is disposed on the outer peripheral surface of the erector device main body 27 with a span of, for example, about 40 to 140 mm along the circumferential direction. Pre-sensing sensor S1
Is located outside the erector device main body 27, and the pre-sensing sensor S2 is located near the center line of the erector device main body 27. Then, in a state where the support mechanism 28 of the elector device 9 does not support the segment 3, as described later, the turning frame 7 is turned and the lifting jack 2 is turned.
6 is driven to position the erector device main body 27 so as to face the inner peripheral surfaces of the rings of the existing segments 3 and 3, emit a laser beam, receive the reflected light thereof, and measure the respective distances. Sensor.

The segment assembling apparatus 1 having the above configuration assembles a new segment 3 through the following steps. That is, the assembly of one ring (in this embodiment, one ring is constituted by seven segments) is completed, and after excavation is completed, before the next segment of the next ring is newly assembled. , Pre-sensing sensor S
After measuring the positions of the existing segments 3 and 3 using S1, S2 to grasp the assembled shape, and calculating the distortion amount (correction value) from the perfect circle for each segment or each group,
A new segment 3 is assembled based on this correction value. The pre-sensed data is learned, and the shape of the new segment 3 approximates a perfect circle even if the cross-sectional shape of the segment 3 changes for each ring. Such an operation,
The analysis is performed by control means (not shown) provided in the segment assembling apparatus 1.

Next, a method of measuring the position of the existing segment, a method of grasping the shape of the existing segment, and a method of assembling the segment, which are performed by the control means, will be described.

[Presensing] First, the turning frame 7
The inner peripheral surface coordinates (X, Y) of the existing segments (segments for one ring assembled immediately before the segment to be newly assembled) 3 and 3 when the turning axis of the center is (0, 0) are Find at multiple locations. This is because, in a state where the support mechanism 28 of the erector device 9 does not support the segment 3, the oscillating frame 7 is pivoted about its pivot axis (the swing frame 6 is fixed), and the erector device main body 27 is rotated. At a plurality of positions (in this embodiment, 180 degrees, 90 degrees)
Degrees, 0 degrees, and -90 degrees) and stops from the respective pre-sensing sensors S1 and S2 to the existing segment 3,
3 by collecting distance data to the inner peripheral surface. The turning angles of the sensors S1 and S2 are calculated as follows. That is, as shown in FIG. 5, the turning angle of the pre-sensing sensor S1 is equal to the erector turning angle + θ1 + 360 * (Y−Yc) / (2π * Y).
r), that is, the erector turning angle + θ1 + (Y−Yc)
* 180 / (π * Yr), similarly, the turning angle of the pre-sensing sensor S2 is the erector turning angle + θ2 + (Y−
Yc) * 180 / (π * Yr), and the turning angle of the pre-sensing sensor S4 is the erector turning angle + θ4 + (Y−Y
c) It becomes * 180 / (π * Yr). Here, Y is the swing stroke (mm) on the arc when sensing, Yc
Is a swing stroke (mm) (fixed value) of the support mechanism 28 when the center of the erector is centered mechanically, and Yr is a swing rotation radius (mm).

Here, the pre-sensing sensors S1, S
Since S2 and S4 are arranged on the arc of the erector device main body 27, it is necessary to correct the height position output value of the sensor. The sensor S2 is used as a parameter for correcting the sensor S1 without the necessity of correction because the direction of lifting and lowering by the lifting jack 26 substantially coincides with the radial direction of the turning frame 7. That is, the correction amount ΔH for the height position of the sensor S1 is: ΔH = r− (Δr * cos θ1 + (r−Δr) * cos
θa) The correction amount ΔH for the height position of the sensor S4 is given by the following equation: ΔH = r− (Δr * cos θ4 + (r−Δr) * cos
θa) is determined by the following equation. Θ1 is the mounting angle of the sensor S1 with respect to the center position of the erector device main body 27, r is the distance (mm) from the turning center to the sensor S1, Δr is (output value of the sensor S1) −H0 (mm), and θ1 is asin
((Δr * sin θ1) / (r−Δr)). Here, H0 is a value mechanically designed to pass through the turning center when the output value reaches H0.

The distance from the turning axis of the turning frame 7 to the inner peripheral surfaces of the existing segments 3 and 3 is calculated as follows. That is, the separation distance of the pre-sensing sensor S1 (the length from the actual center of rotation of the erector to the surface of the existing segment) is the separation distance (S1) = ((elevation stroke (left) + elevation stroke (right)) / 2 + Lc + sensor S1 output value + Δ
The separation distance of the pre-sensing sensor S2 is calculated by the following equation: Separation distance (S2): ((elevation stroke (left) + elevation stroke (right)) / 2 + Lc + output value of sensor S2. , A correction value (m
m). Here, the reason why the left and right elevating strokes are averaged is that each jack is servo-controlled, so that the allowable error is taken into account.

If the turning angles of the pre-sensing sensors S1, S2, and S4 stopped at a plurality of locations and the distances from the turning axes to the inner peripheral surfaces of the segments 3 and 3 are calculated as described above, the segment 3 , 3 at a plurality of locations on the inner peripheral surface (X, Y).

[Analysis of sectional shape of existing segment] Three points of data that are not adjacent to each other are selected from a plurality of collected coordinate data, and a coordinate point group (X, Y) is input to the control means for each data. You. Assuming that the point group (X, Y) is composed of points on the circumference, the intersection of three perpendicular straight bisectors formed by any three points in the point group passes through the center of the circle. Therefore, a central point group is determined by extracting three arbitrary points from the point group (X, Y) and determining the intersection thereof. A similar operation is repeated, and a plurality of such ellipses are created, and a center point group of the ellipses is obtained for each of the ellipses.

Next, a center-of-gravity calculation is performed on the obtained center point group, and the arithmetic mean thereof is defined as (Δx, Δy). In this case, it is preferable to take out three points so that a combination having adjacent points is excluded in consideration of a possibility that an error may increase when neighboring points are used as arbitrary three points. The center of gravity calculation is further performed, and the obtained point is set as the center of the actually assembled segments 3 and 3.

Thereafter, the collected data is converted into data in a new coordinate system centered on the segment center, and the amount of eccentricity (Δx, Δ
y) is calculated. Next, using this (Δx, Δy),
The coordinates of (X, Y) are transformed by the following equation, and the point group (X1,
Y1) is created. (X1i, y1i) = (xi−Δx, yi−Δy) In this case, the inclination angle θ of the ellipse, the X axis radius (θ direction) α when approximating the ellipse, and the Y axis radius (θ when approximating the ellipse)
Is assumed to be 0 degree, the point group (X1, Y1) is rotated by -θ and the point group (X2
, Y2). cos−θ−sin−θ (x2i, y2i) = (sin−θ, cos−θ) (x1i,
y1i) Then, for the point group (X2, Y2), for example,
The following equation is approximated by multiplication. Y2 ² = β ² −X ² * α ² / β ^{2 Further} , the absolute value sum ΣΔr of the difference between the distance from the origin and the ellipse radius with respect to the point group (X 2, Y 2) is calculated and stored in a table. Prior to this, the distance from the origin is rd, the radius at the azimuth angle θ0 on the ellipse is ro, the x coordinate at the azimuth angle θo on the ellipse is x0, and the y coordinate at the azimuth angle θo on the ellipse is y
0, when the angle of the straight line formed by the origin and the point was ^{θ0, rd = sqrt (x2i 2} + y2i 2) ro = sqrt (x0 2 + y0 2) xo = 1 / ((1 / α) 2 + (tan (θ0 ) /
β) ² ) yo = sqrt (β ² − (β * x0 / α) ² ) θo = atan (y2i / x2i) is calculated.

At this time, if θ is 90 degrees or less, 0 to 90
The coordinate axes are rotated at a pitch of 0.5 degrees between degrees, an elliptic equation is approximated using the least squares method on each coordinate axis (180 data), and the absolute value sum of each error is calculated. store. Then, ΣΔr in the table is compared, and an ellipse having θ when the sum of absolute values ΣΔr is the minimum approximates the shape of the existing segment ring immediately before a new segment is assembled. In this way, the existing segment shape is grasped by elliptical approximation of the coordinate point group obtained by the pre-sensing. The ellipse obtained as described above is displayed on the display as needed.

The absolute value Δri of the difference between the distance from the origin and the radius of the ellipse for the point group (X 2, Y 2) is calculated and stored in a table.

Next, it is determined whether or not the following condition is satisfied. If not, the maximum Δri is obtained (x2
i, y2i) is deleted and the process returns to the input of the coordinate point group (X, Y). Δri <ΣΔri / n + ε sqrt (Σ (Δri ² ) / (n−2)) <Rs where n is the number of effective points.

When the number of measuring points is less than the minimum number of measuring points, it is determined that proper approximation could not be performed.

[Calculation of Distortion Amount] In this embodiment, as shown in FIG. 6, seven segments A1,
A2, A3, A4, B1, B2, K are group 1
(G1): segment A1, A2, group 2 (G
2): Segments A3 and A4, Group 3 (G3):
Segments B1, B2, and K are divided into three groups, and the value obtained by integrating the difference in radius between the true circle and the segment ring for each group is defined as the distortion amount. Since the amount of distortion means a difference in radius from a perfect circle, it may be reduced to bring the shape closer to a perfect circle. Therefore, the correction amount of the lifting stroke with respect to the desired ring shape matches the value obtained by multiplying the obtained distortion amount by minus (-). Here, the distortion amount ΣΔri in a certain group i is

(Equation 1) It is obtained by the formula. Note that si is the start angle of the group i (changes depending on the right set / left set), ei is the end angle of the group i (changes depending on the right set / left set), and rθ is the radius at the azimuth angle θ on the approximate ellipse. , Α is the x-axis radius of the approximate ellipse, β
Is the y-axis radius of the approximate ellipse.

[Calculation of Correction Value of Existing Segment] The correction for each group is performed in two patterns (CASE1: [G1 +
G3] VSG2, CASE2: G3 vs G2) can be selected. The correction value may be calculated for each segment, or may be calculated for each group. In this embodiment, a method of calculating a correction value for each group is adopted. Note that group 1 does not require correction because it forms the basis of a ring formed by segments. However, the sum of the correction values during one ring needs to be approximately ± 0. For example, if the correction value of group 1 is +3 mm, errors in the turning direction accumulate and the upper segment cannot be assembled.

[Segment Support and Positioning] The segment 3 is transported to a predetermined position by the segment supply device 10 and positioned. The assembling device 1 grasps the position of the segment 3 by a laser sensor (not shown) in order to accurately support the segment 3. If the position of the segment 3 is accurately grasped, the support mechanism 28 of the
Supports the segment 3. The segment 3 supported by the elector device 9 adjusts the inclination of the revolving surface of the revolving frame 7 by oscillating the revolving frame 6, and opposes the assembly position of the segment 3 by revolving the revolving frame 7. Position. The segment 3 positioned at a position facing the assembly position is set at the assembly position by driving the lifting jack 26. The lifting stroke by the lifting jack 26 at this time is corrected by an amount corresponding to the above-described correction amount, and the segment 3 is positioned with the corrected stroke.

[Fixation of Segment] When the positioning of the segment 3 is completely completed, the new segment 3
A bolt is inserted into a bolt hole (not shown) and a bolt hole of an existing segment, and a nut is fastened. When the bolts are inserted into all the bolt holes in one segment, the fastening torque of the bolt is adjusted, and the assembly of one segment is completed. [Forward movement of the assembling device] After the above-mentioned assembling and fixing work is repeated and the segments for one ring are assembling and fixed,
When a space for one ring is formed at the rear end by the excavation of the shield machine 2 in which the excavating operation is continued during the fixing operation, the first and second fixing holding devices 11 and 13 are formed.
To the side fixing shoe 20 and the upper and lower fixing shoe 1
7 and 19 are retracted, and the first and second reaction force support devices 1
After moving forward while taking a reaction force on the segments 2 and 14, the upper and lower fixing shoes 17 and 19 are extended and fixed tightly to the inner peripheral surfaces of the existing segments 3 and 3. Next, after the upper and lower shoes 23, 25 of the first and second reaction force support devices 12, 14 are retracted and moved forward, the upper and lower shoes 23, 25 are extended to extend the inner circumference of the existing segments 3, 3. Closely fix to the surface. The side fixing shoes 20 of the first and second fixing and holding devices 11 and 13 may be extended thereafter, or may be extended immediately after the fixed and holding devices 11 and 13 advance. Of course, after the shield work is completed, or when diverting to another shield work, if the entire device is retracted by the support device 4, the mounting device 1 can be moved to the shield shaft and lifted to the ground. .

[Learning] As described above, the correction value is calculated from the pre-sensing result to assemble the segments for one ring, and after the excavation is completed, the pre-sensing of the segment just assembled is performed. Assembly device 1
The control means evaluates how the shape of the segment assembled in consideration of the correction value is deformed in comparison with the previously pre-sensed segment, and accumulates the data as learning data.

For this reason, the control means sets a learning system for learning what correction amount should be given to cause a change in a certain distortion amount based on the next input / output for each group. Have. When the learning system receives as input the amount of change between the amount of distortion in the ring analyzed last time and the amount of distortion in the ring analyzed this time (the ring immediately before the ring to be newly assembled), it is given to the previous ring. The correction amount is output.

As shown in FIG. 7, each group has a matrix of a predetermined membership function (MF) indicating the correlation between the amount of distortion change dr (horizontal axis) and the degree of coincidence (vertical axis). . The MF has a trapezoidal or triangular shape. Each time new data is input, the MF is statistically analyzed and its shape is updated. Here, the distortion change amount is calculated for each group, and it is assumed that the correction given to a specific group may change the distortion amount of another group. I'm going to consider it.

The distortion correction amount is applied to the updated MF matrix, and the degree of matching is determined for each MF. Three MFs are arranged for each row of the matrix, and the matching degree of each row is calculated by multiplying the respective matching degrees. A value exceeding a predetermined threshold value is selected from the obtained matching degrees, and the assigned correction values are weighted according to the respective matching degrees and added. The correction value determined in this way is determined by rounding the correction value thus obtained, for example, at a pitch of 0.5 mm.

In practice, the MF matrix is arranged on the network. If the change in the amount of distortion is significantly different during learning even if the correction value is the same, it is determined that the population is different, and a new synapse (row of the matrix) is automatically extended. Also, various weighting calculations and threshold value calculations for determining the above-described correction values are processed on this network.

The simplest procedure for calculating the control amount is through-out. The control amount TOi for the group i due to the through-out is obtained by the expression TOi = Σ △ ri. However, it is necessary that this control amount does not exceed the maximum and minimum values given by the constants. However, the control amount obtained in the through-out does not take into account disturbance such as gravity, and the current distortion cannot always be eliminated. Therefore, the control by the learning system using the change due to the actual control amount as the learning data is performed.

The input and output at the time of learning have a relationship of "input generated by giving an output". By learning this relationship, "output required to generate input" is obtained.
Is expected to be able to be inferred. On the other hand, a certain number of learnings is required to achieve this.

However, since the learning system cannot perform inference in the initial state, a neutral value (0) is always used as an inference result, and since the output during learning is always a neutral value, no learning can be performed.
If the inference cannot be performed (the degree of certainty is low), the through-out is set as the inference result. As the certainty, the degree of agreement such as inference is used. If the degree of agreement is equal to or smaller than the maximum value of the difference / 2, it is determined that inference was not possible, and a through-out is returned. As a result of conducting a simple experiment, it is considered that the reliability is stabilized from the time when the 10 rings are assembled, so that the condition of the present case will be satisfied.

The input at the time of inference is "desirable change in distortion amount", and it is desirable that the distortion amount be 0. Therefore, the current distortion amount is input and the correction amount to be applied this time is output. Also, the coincidence is calculated at the same time as the inference, which has the same meaning as the certainty.

In the above-described embodiment, the case where the present invention is applied to the rear-independent segment assembling apparatus has been described. However, the present invention is not limited to the rear-independent type and is applicable to a machine-mounted type. Needless to say.

[0045]

As described in detail in the above embodiment, the turning angle of the sensor and the distance from the turning axis to the inner peripheral surface of the segment are calculated, and the inner peripheral surface of the segment is calculated based on the calculation result. The coordinates of multiple positions on the top (X,
Y) is calculated, the eccentricity (Δx, Δy) between the segment center and the turning center of the sensor is calculated from a plurality of coordinates, the coordinates (X, Y) are coordinate-converted based on the eccentricity, and the coordinate point is calculated. Since an approximated ellipse is created based on the group (X1, Y1) and the ellipse is displayed to grasp the shape of the existing segment, the shape of the existing segment serving as a positioning reference when assembling a new segment is determined. Measurement can be performed easily and accurately, so that there is no assembly error due to deformation, the construction period can be shortened, and assembly is not impossible.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of a segment assembling apparatus according to the present invention.

FIG. 2 is a front view showing details of the elector device.

FIG. 3 is a sectional view of a main part of FIG.

FIG. 4 is a sectional view taken along line AA of FIG. 3;

FIG. 5 is an explanatory diagram of pre-sensing.

FIG. 6 is a diagram showing grouping of one ring to be assembled.

FIG. 7 is a diagram showing a matrix of membership functions used in a learning system.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 segment assembling device 2 shield excavator 3 segment 4 support device 5 support beam 6 swing frame 7 revolving frame 9 elector device 10 segment supply device 26 lifting jack 27 elector device main body 28 support mechanism S1, S2 pre-sensing sensor

────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Hiroyuki Morino 2-3-3 Kandaji-cho, Chiyoda-ku, Tokyo Obayashi Corporation Tokyo Head Office (56) References JP-A-1-263515 (JP, A) (58) Surveyed field (Int.Cl. ⁶ , DB name) E21D 11/40 G01B 21/00 G01B 21/30 101 G01C 7/06 G01C 15/00

Claims (1)

(57) [Claims] 1. A method for ascertaining the shape of an existing segment annularly assembled at a rear end thereof as a shield excavator advances, wherein the shape is set in the existing segment and substantially coincides with the center axis of the segment. Using a sensor that pivots in the circumferential direction around the horizontal pivot axis, stops the sensor at a plurality of positions so as to face the inner peripheral surface of the segment, and stops the sensor from the sensor to the inner peripheral surface of the segment. The distance is measured, and the turning angle of the sensor and the distance from the turning axis to the inner peripheral surface of the segment are calculated. Based on the calculation result, the coordinates (X, Y) of a plurality of positions on the inner peripheral surface of the segment are calculated. ), And then select any 3 selected from the plurality of collected coordinates.
A plurality of points are taken out to obtain a plurality of center points, the center of gravity of these center points is calculated, the eccentricity (Δx, Δy) between the segment center and the turning center of the sensor is calculated, and the coordinates (X, Y) are calculated. ) Is coordinate-transformed based on the eccentricity to obtain a coordinate point group (X1, Y1).
A method for grasping an existing segment shape, comprising: creating an approximated ellipse based on (1, Y1) and displaying the ellipse to grasp the existing segment shape.