JP2851971B2 - Segment assembly positioning method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a segment assembling method for automatically assembling a tunnel lining segment.

[0002]

2. Description of the Related Art It has been proposed to use a light cutting method to position an assembled segment in accordance with the position and posture of an existing segment when performing automatic assembly of segments in shield work (Japanese Patent Laid-Open No. 3-199999). .

[0003] This is. As shown in FIG. 10, three slit light beams from the light projector and an existing segment 41 are roughly positioned near a predetermined assembly position by using three sets of light projectors and a television camera installed on the elector.
The slit light images A, A ', B, B', C, and C generated by irradiating two points on the boundary part along the tunnel circumferential direction and one point on the boundary part along the tunnel axis direction of a to 41c.
C ′ is picked up by a television camera, and the coordinate values of the end points a, a ′, b, b ′, c, c ′ of each slit light image obtained by processing the image data from these television cameras are used to calculate the 3 The step / gap of the location is detected, and based on the step / gap information, the assembly segment 42 and the existing segments 41a-41
The deviation of the relative position / posture 41c is determined, and the deviation is corrected to finely position the assembly segment 42 at a predetermined assembly position.

[0004]

In the above-mentioned prior art, no consideration was given to the influence on the detection of the step between the existing segment and the end of the assembly segment to be irradiated with the slit light when the end of the assembly segment was chipped. . A of FIG.
A ', B, B', C, C 'are examples of normal light section images without any missing in the assembly segment.
Δx1, Δx2, Δy3 in 7a to 47c correspond to gaps between segments, and Δy1, Δy2, Δx3 correspond to steps between segments. However, for example, when the assembly segment 42 has a notch 54 as shown in FIGS. 11 and 12, the slit light image A is deformed as shown in the camera image 47 a of FIG. Is different from the step value Δ because a different end point coordinate value a (ax, ay) is detected.
y1 is calculated to be large apparently. When the position / posture deviation and the correction amount are calculated based on such erroneous step / gap information and fine positioning of the assembly segment is performed, the apparent step in the camera image is increased, so that there is no missing part. In the part, a step is generated between the assembly segment and the existing segment, and accurate positioning cannot be performed. Also, if automatic assembly is forcibly performed in such a state, the segments may be damaged.

An object of the present invention is to detect a step / gap with an existing segment without being affected by the chipping even if the end of the assembly segment has a certain degree of chipping, and to assemble based on the step / gap information. Segments can be automatically positioned according to the position and orientation of existing segments.If the chip is too large to detect a step, automatic positioning is stopped to prevent positioning errors and segment damage. It is an object of the present invention to provide a method for assembling and positioning segments.

[0006]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention provides an erector installed in a shield machine and roughly positions an assembly segment near a predetermined assembly position. A TV camera that irradiates slit light to two points on the boundary between the assembled segment and the existing segment along the tunnel circumferential direction and one point on the boundary along the tunnel axis direction, and sets each slit light image on the erector. The three steps and gaps are detected from the image data obtained by imaging by the
In a segment assembling positioning method for automatically determining the position / posture deviation between the assembly segment and the existing segment based on the gap information and finely positioning the assembly segment to the assembly position by correcting the deviation, After the coarse positioning, before detecting the three steps and gaps, the maximum coordinate in the direction of the step of the slit light image of the assembly segment side from the image data of each of the slit light images to determine the degree of chipping of the assembly segment. The difference between the value and the minimum coordinate value is obtained, and the difference is compared with the lower limit set value and the upper limit set value. Using the coordinate values of the maximum coordinate point in the direction and the minimum coordinate point in the gap direction of the slit light image on the assembly segment side, steps and gaps between these segments Calculates and lower limit set value or more,
If it is less than the upper limit set value, the step between these segments is determined using the respective coordinate values of the gap direction maximum coordinate point of the existing segment side slit light image and the gap direction maximum coordinate point of the assembly segment side slit light image, and the existing segment side is used. The gap between these segments is calculated using the coordinate values of the maximum coordinate point in the gap direction of the slit light image and the minimum coordinate point in the gap direction of the slit light image on the assembly segment side.
If the difference between the maximum coordinate value and the minimum coordinate value in the step direction of the assembly segment side slit light image at the location is equal to or larger than the upper limit set value, it is considered that step detection at the location is impossible, and the position based on the step / gap information is used. -It is characterized in that the calculation of the posture deviation and the correction of the deviation are stopped.

Further, according to the present invention, after the rough positioning of the assembly segment and before detecting the three steps or gaps, the degree of chipping of the assembly segment is determined based on each image data of the slit light image. Obtain the difference between the maximum coordinate value and the minimum coordinate value in the step direction of the assembling segment side slit light image, compare the difference with the set value, and if less than the set value, the maximum in the gap direction of the existing segment side slit light image. Using the respective coordinate values of the coordinate point and the maximum coordinate point in the gap direction of the assembly segment side slit light image, the step between these segments is reduced to the maximum coordinate point of the existing segment side slit light image and the minimum gap direction of the assembly segment side slit light image. The gaps between these segments are calculated using the coordinate values of the coordinate points, respectively, and if any one of the three places, the step direction of the slit light image on the assembly segment side is calculated. If the difference between the maximum coordinate value and the minimum coordinate value is equal to or larger than the set value, it is considered that the step can not be detected at that point, and the calculation of the position / posture deviation based on the step / gap information and the correction of the deviation are stopped. It is characterized by the following.

[0008]

After rough positioning of the assembling segment, slit light is radiated to two portions of the boundary between the assembled segment and the existing segment along the circumferential direction of the tunnel and one portion of the boundary along the axial direction of the tunnel. The difference between the maximum coordinate value and the minimum coordinate value in the step direction of the slit light image on the assembly segment side is obtained from image data obtained by capturing the image with a television camera. At this time, if there is a chip at the end of the assembly segment irradiated with the slit light, the difference between the maximum coordinate value and the minimum coordinate value in the step direction becomes larger than in the normal state. However, if the assembly segment has a chip, not all the steps can be detected.If the difference between the maximum coordinate value and the minimum coordinate value in the step direction is within an allowable range, the gap direction of the existing segment side slit light image Using the respective coordinate values of the maximum coordinate point and the gap direction maximum coordinate point of the assembly segment side slit light image, a step between these segments is calculated, and the gap direction maximum coordinate point of the existing segment side slit light image and the assembly segment side slit light are calculated. By calculating the gap between these segments using each coordinate value of the minimum coordinate point in the gap direction of the image, the position / posture deviation between the assembly segment and the existing segment is obtained based on the step / gap information, and the assembly segment is calculated. Can be automatically positioned at the assembly position, and the step is detected only when the difference between the maximum coordinate value and the minimum coordinate value in the step direction exceeds an allowable range. It is regarded as the ability to stop the automatic 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 an externally threaded screw shaft 35 that matches the grout hole 43 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 the screw shaft 35 is centered on the grout hole 43 of the assembly segment 42 placed under the erector, the segment 4 is rotated while the screw shaft 35 is rotated.
2, and after the screwing into the grout hole 43 is completed, the segment 42 is gripped by pulling back the screw shaft 35 until the segment 42 hits the end face of the segment gripping portion 34.

The erector main body is configured as described above, and has a function of gripping the assembly segment 42 and finally positioning it at a predetermined assembly position, and assembling the existing segment 41 with a bolt fastening device (not shown).

FIG. 7 shows a step / step used for segment positioning.
3 shows a positional relationship between a gap detecting unit and an assembled / existing segment and a system configuration. Numeral 12 schematically shows the erector main body. 42 is an assembly segment,
41a and 41b represent existing segments adjacent to the assembly segment 42 in the tunnel axial direction, and 41c represents existing segments adjacent to the assembly segment 42 in the tunnel circumferential direction. In order to detect a step / gap between these assembled / existing segments, three sets of projectors 44a, 44
b, 44c and the television cameras 45a, 45b, 45c are fixed to the segment holding portion 34 of the erector main body 12 via a rigid body (not shown). Therefore, the floodlight 44
a to 44c, the television cameras 45a to 45c, and the grip 34
The relative position / posture of the assembly segment 42 is constant during gripping, regardless of the movement of the erector. The light emitters 44a and 44b are slit at two positions along the boundary between the assembly segment 42 and the existing segments 41a and 41b along the tunnel circumferential direction, and the light projector 44c is positioned at the boundary between the assembly segment 42 and the existing segment 41c along the tunnel axis direction. Light is irradiated, and slit light images A, A ', B, B', C and C 'generated on each segment are displayed on a television camera 45.
Images are respectively taken by a to 45c. 10 to 12
, 46a to 46c are television cameras 45a to 45
c is the camera field of view, and 47a to 47c are the TV cameras 45.
The camera images reflected on a to 45c are shown.

Image data from these television cameras is taken into an image memory 50 via a camera switch 48 and an image input device 49. Reference numeral 51 denotes an image processing apparatus for processing image data stored in the image memory 50 to obtain end point coordinates of the slit light image. Reference numeral 52 denotes an end point coordinate value obtained by the image processing apparatus 51 or numerical value data input in advance. The control mounting of the erector main body (hereinafter referred to as the main body controller) which outputs the result to the servo controller 53 as a command value by performing the positioning control calculation, and the servo controller 53 turns the erector main body according to the command. Motor 1
6 and hydraulic jacks 22, 25, 28, 31, 32,
The actuator controls seven axes including 33.

Hereinafter, a control procedure for positioning the assembly segment will be described with reference to FIG. 1 and FIGS.

As shown in FIG. 8, the positioning control executed by the main body controller 52 is roughly divided into two stages, a coarse positioning control 100 and a fine positioning control 200.

First, the coarse positioning control in step 100 will be described. FIG. 9 shows a detailed procedure of the coarse positioning control. In the rough position calculation in step 101, a target position where the assembly segment will be finally positioned is predicted and calculated from the segment position / posture data at the time of design or the position / posture measurement result of the existing segment, and based on the target position. The slit light images A, A ', B, B', on the assembly segment 42 and the existing segments 41a to 41c shown in FIG.
C, C 'enter the field of view of the television cameras 45a to 45c, and the assembly segment 42 and the existing segment 41a
Calculate the erector position / posture (to be referred to as a coarse position hereinafter) that does not come into contact with .about.41c. The position / posture of the erector means the position / posture of the segment gripper 34 of the erector main body 12, and is the same as the position / posture of the assembly segment being gripped. The coarse position is represented by the turning angle of the erector body and the erector coordinate system (X, Y, Z) shown in FIG.

In the actuator command value calculation in step 102, the command value of each actuator including the swing motor 16 is calculated from the coarse position obtained previously, and the command value is output to the servo controller 53 by the actuator control in step 103. Wait for the servo controller 53 to finish controlling the actuator.

Next, the fine positioning control in step 200 will be described. FIG. 1 shows a detailed procedure of the fine positioning control. After the above-described rough positioning control is completed, the projectors 44a to 44c are respectively provided at two places of a boundary along the tunnel circumferential direction of the assembly segment 42 and the existing segments 41a to 41c shown in FIG. From each other, and the slit light images A, A ', B,
B ', C and C' are imaged by the television cameras 45a to 45c.

FIG. 1 shows the positional relationship between the assembling segment 42, the existing segments 41a to 41c and the slit light image when the end of the assembling segment irradiated with the slit light is not chipped.
0, and at this time three television cameras 45a to 45c
The camera images 47a to 47c shown in FIG. FIG. 1 shows the positional relationship between the assembly segment 42, the existing segments 41a to 41c, and the slit light image when the end of the assembly segment irradiated with the slit light has a chip.
1, shown in FIG. 12, at this time three television cameras 45a
Camera images 47a to 47c shown in FIGS.

In the slit light image end point extraction in step 201,
The image data from the television cameras 45a to 45c are sequentially switched and selected by the camera switch 48 and are taken into the image memory 50. These image data are processed by the image processing attachment 51, and the slit light in the image coordinate system (xv, yv) is obtained. Image A,
Extract the end point coordinates on both sides of A ', B, B', C, C ',
Remember. The extracted end point coordinates are a (ax, a
y), a '(ax', ay '), b (bx, by),
b '(bx', by '), c (cx, cy), c' (c
x ', cy'), d (dx, dy), d '(dx', d
y '), e (ex, ey), e' (ex ', ey'),
f (fx, fy) and f '(fx', fy ').

In steps 202 and 203, the degree of chipping of the assembly segment 42 is determined using the end point coordinates of the assembly segment side slit light images A, B and C extracted earlier. Now
Focusing on one of the assembly segment side slit light images A,
In step 202, the end point coordinates a (ax, ay), d (d
x, dy) to the step direction of the slit light image A (yv direction)
, The difference between the maximum coordinate value and the minimum coordinate value is determined, and the presence or absence of chipping of the assembly segment 42 is determined based on whether the difference satisfies the following equation.

[0029]

(Equation 1)

Here, Δd11 is a lower limit set value.

As shown in FIG. 10, if there is no chip at the end of the assembly segment 42 to which the slit light has been irradiated, Equation 1 is satisfied. Therefore, when Equation 1 is satisfied, it is determined that there is no chipping. However, there is a notch 54 as shown in FIGS. 11 and 12 at the end of the assembly segment 42 irradiated with the slit light, and the difference between the maximum coordinate value dy and the minimum coordinate value ay in the step direction of the slit light image A is obtained. Is the lower limit set value Δ
If d11 or more, Equation 1 is not satisfied. Therefore, Equation 1
Is not satisfied, it is determined that there is a chip. If it is determined that there is a chipping, the size of the chipping is within an allowable range in step 203, depending on which of the following equations the difference between the maximum coordinate value and the minimum coordinate value in the step direction of the slit light image A satisfies. It is determined whether or not.

[0032]

(Equation 2)

[0033]

(Equation 3)

Here, Δd12 is an upper limit set value.

Here, when Equation 2 is satisfied, it is determined that the size of the chip is within the allowable range, and Equations 1 and 2 are not satisfied.
If only the condition is satisfied, it is determined that the chipping is too large. FIG.
1 shows the former example, and FIG. 12 shows the latter example.

Next, the steps / gap calculation in steps 204 and 205 will be described. When it is determined that there is no chip in the assembly segment as shown in FIG. 10, in a step 204, the end point a 'which is the maximum coordinate point in the gap direction (xv direction) of the existing segment side slit light image A' as usual. The step / gap between the existing segment 41a and the assembly segment 42 is calculated using the coordinate value and the coordinate value of the end point a which is the minimum coordinate point in the gap direction of the assembly segment side slit light image A. This can be expressed by the following equation.

[0037]

(Equation 4)

Here, k1 and k2 are coefficients for converting image data into numerical values in mm units.

If the assembly segment is missing, Equation 4
When the step is calculated by using, the value is different from that in the normal state. However, as shown in FIG. 11, if the size of the chip of the assembly segment is within the allowable range, the assembly segment side slit light image A
The coordinate value of the end point d which is the maximum coordinate point in the gap direction is suitable for the case where there is no chipping. Therefore, in step 205, the step is represented by the coordinate value of the end point a 'which is the maximum coordinate point in the gap direction of the existing segment side slit light image A' and the coordinate of the end point d which is the maximum coordinate point in the gap direction of the assembly segment side slit light image A. The gap is calculated using the values of the existing segment side slit light image A ′.
Is calculated using the coordinate value of the end point a ′ which is the maximum coordinate point in the gap direction and the coordinate value of the end point a which is the minimum coordinate point in the gap direction of the assembly segment side slit light image A. In this way, a step and a gap can be obtained without being affected by chipping. This can be expressed by the following equation.

[0040]

(Equation 5)

As shown in FIG. 12, when it is determined that the missing of the assembly segment is too large, the coordinate value of the end point d which is the maximum coordinate point in the gap direction of the slit light image A on the assembly segment side does not match the normal state. Even if the step is calculated by Equation 5, it is greatly different from the normal state. Therefore, step 206
To output a signal indicating that a level difference cannot be detected, and thereafter, the calculation of the deviation amount and the correction of the deviation are stopped.

Although the above-described procedures 202 to 206 have been described with respect to the image data from the television camera 45a, the same determination and processing are performed for the image data from the other television cameras 45b and 45c.

When the steps and gaps are obtained for all the image data from the television cameras 45a to 45c, the positions of the assembly segment 42 and the existing segments 41a to 41c are determined in step 207 based on the step and gap information.・ Calculate the posture deviation. The steps between the assembly segment 42 and the existing segments 41a to 41c are represented by Δza, Δzb, Δ
Assuming that zc and the gaps are Δxa, Δxb, and Δyc, the deviation amount can be obtained by the following equation, for example.

[0044]

(Equation 6)

Here, edx, edy, and edz are positional deviations in the x-axis direction, y-axis direction, and z-axis direction shown in FIG. 13, respectively, and eδx, eδy, and eδz are around the x-axis, respectively.
Represents the attitude deviation around the axis and around the z-axis. Also, Lxa,
As shown in FIG. 13, Lxc, Lya, and Lyb are in the x-axis direction from the center (coordinate origin o) of the assembly segment 42 to the respective end points a, b, and c of the slit light images A, B, and C on the assembly segment. And the distance in the y-axis direction.

From these deviation amounts, the position / posture correction amount d
x, dy, dz, δx, δy, δz are obtained by the following equations.

[0047]

(Equation 7)

In step 208, the previously obtained correction amount is compared with a threshold value, and if it is within the threshold value, the positioning control is terminated. If it is not within the threshold value, in step 209, the target position / posture of the erector is calculated based on the previously obtained correction amount, and the actuator command value is calculated in step 210, the actuator control is performed in step 211, and the procedure proceeds to step 201. return,
Steps 201 to 211 are repeated until the correction amount calculated in step 207 falls within the threshold value. In this way, the deviation of the position / posture is corrected, and the assembly segment is finally positioned.

If a signal indicating that a level difference cannot be detected is output in step 206, the operator measures the level difference and gap between the segments using a scale or the like, and inputs the measured value to the main body control unit 52 to enter step 207. , Or by manually operating the erector body while observing the image of the boundary of the assembled / existing segment with a television camera, the assembly of the segment can be continued.

In this embodiment, the difference between the maximum coordinate value and the minimum coordinate value in the step direction of the slit light image on the assembly segment side is smaller than the lower limit set value, and the difference is larger than the lower limit set value and smaller than the upper limit set value. Separately, the step / gap is calculated by Equation 4 in the former case and by Equation 5 in the latter case. However, without making such a distinction, the difference between the maximum coordinate value and the minimum coordinate value in the step direction is calculated. If the value is less than the upper limit set value, the step / gap may be calculated using Equation 5.

[0051]

According to the present invention, even if there is some chipping at the end of the assembly segment, the chip is not affected by the chipping,
Detects steps and gaps at the boundary between the assembly segment and the existing segment from image data obtained by the light section method,
Based on the gap information, the assembly segment can be automatically positioned at a position where it can be assembled.If it is determined that the step is too large to detect the level difference, the positioning control is stopped and positioning errors or segment damage may occur. Can be prevented beforehand.

[Brief description of the drawings]

FIG. 1 is a diagram showing a detailed procedure of fine positioning control of an assembly segment which is a main part of the present invention.

FIG. 2 is a partially cutaway front view of an erector main body used for automatic segment assembly.

FIG. 3 is a sectional view taken along the line III-III of 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 a detailed cross-sectional view of the segment grip portion 34 of FIG.

FIG. 7 is a diagram illustrating an example of a projector, a television camera, an assembly segment, a positional relationship between an existing segment, and a system configuration used for positioning a segment.

FIG. 8 is a diagram showing a rough control procedure of the main body control device 52;

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

FIG. 10 is a diagram showing a positional relationship between an assembled / existing segment and a slit optical image after completion of coarse positioning control, and three camera images (provided that there is no missing in the assembled segment).

FIG. 11 is a diagram showing a positional relationship between an assembled / existing segment and a slit optical image after completion of coarse positioning control, and three camera images (provided that the size of a chipped assembly segment is within an allowable range).

FIG. 12 is a diagram showing a positional relationship between an assembled / existing segment and a slit light image after completion of coarse positioning control, and three camera images (provided that the missing of an assembled segment is too large).

FIG. 13 is an explanatory diagram of the position / posture deviation amount calculation of FIG. 1;

[Explanation of symbols]

11 ... Shield body, 12 ... Electa body, 41a-4
1c: Existing segment, 42: Assembly segment, 44a
To 44c: Floodlight, 45a to 45c: TV camera, 4
6a to 46c: camera field of view, 47a to 47c: camera image, 48: camera switcher, 49: image input device, 50:
Image memory, 51: Image processing device, 52: Main body control device, 53: Servo control device, 54: Lack of assembly segment.

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Masasaku Tsutsui 650, Kandate-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. (72) Inventor Fumiya Takano 650 Kandate-cho, Tsuchiura-shi, Ibaraki Pref. Hitachi Construction Machinery Co., Ltd. Tsuchiura Plant (58) Fields investigated (Int.Cl. ⁶ , DB name) E21D 11/40

Claims (2)

(57) [Claims] 1. An assembly segment is roughly positioned near a predetermined assembly position by an erector installed in a shield machine, and thereafter, a boundary portion along a tunnel circumferential direction of the assembly segment and an existing segment from a projector installed on the erector. Are irradiated with slit light at two places of the above and one of the boundaries along the tunnel axis direction, and the three steps are obtained from image data obtained by imaging each slit light image by a television camera installed on an erector.・ Detects gaps, finds position / posture deviations between the assembly segment and existing segments based on the step / gap information, and automatically performs fine positioning of the assembly segment to the assembly position by correcting the deviation. In the method for assembling and positioning a segment, after the rough positioning of the assembling segment and before detecting the three steps / gap, In order to determine the degree of chipping of the vertical segment, the difference between the maximum coordinate value and the minimum coordinate value in the step direction of the assembly segment side slit light image is obtained from each image data of the slit light image, and the difference is set to the lower limit setting value. Compared with the upper limit set value, if less than the lower limit set value, the gap coordinate maximum coordinate point of the existing segment side slit light image and the gap direction minimum coordinate point of the assembly segment side slit light image ignoring chipping of the assembly segment. The step / gap between these segments is calculated using the coordinate values of the above. If the difference is equal to or more than the lower limit set value and less than the upper limit set value, the maximum coordinate point in the gap direction of the existing segment side slit light image and the assembly segment side slit light Using the respective coordinate values of the maximum coordinate point in the gap direction of the image, the step between these segments is calculated using the maximum coordinate point in the gap direction of the existing segment side slit light image and the assembly segment. The gap between these segments is calculated using the respective coordinate values of the minimum coordinate point in the gap direction of the side slit light image, and the maximum coordinate value in the step direction of the assembly segment side slit light image even in one of the three places. If the difference between the minimum coordinate value and the minimum coordinate value is equal to or larger than the upper limit set value, it is considered that step detection at that location is impossible, and
A method of assembling and positioning a segment, wherein calculation of a position / posture deviation based on step / gap information and correction of the deviation are stopped. 2. An assembling segment is roughly positioned near a predetermined assembling position by an erector installed in a shield machine, and thereafter, a boundary portion along a tunnel circumferential direction of the assembling segment and an existing segment from a projector installed on the erector. Are irradiated with slit light at two places of the above and one of the boundaries along the tunnel axis direction, and the three steps are obtained from image data obtained by imaging each slit light image by a television camera installed on an erector.・ Detects gaps, finds position / posture deviations between the assembly segment and existing segments based on the step / gap information, and automatically performs fine positioning of the assembly segment to the assembly position by correcting the deviation. In the segment assembling positioning method, after the rough positioning of the assembling segment and before detecting the three steps or gaps, the assembling is performed. In order to determine the degree of chipping of the segment, the difference between the maximum coordinate value and the minimum coordinate value in the step direction of the assembly segment side slit light image is obtained from each image data of the slit light image, and the difference is compared with the set value. If it is less than the set value, the step between these segments is set using the respective coordinate values of the gap direction maximum coordinate point of the existing segment side slit light image and the gap direction maximum coordinate point of the assembly segment side slit light image. The gap between these segments is calculated using the coordinate values of the maximum coordinate point in the gap direction of the slit side slit light image and the minimum coordinate point in the gap direction of the assembly segment side slit light image.
If the difference between the maximum coordinate value and the minimum coordinate value in the step direction of the assembly segment side slit light image at the location is equal to or greater than the set value, it is considered that step detection at the location is impossible, and the position / position based on the step / gap information is used. A method for assembling and positioning a segment, comprising: stopping the calculation of the posture deviation and the correction of the deviation.