JP2993405B2 - Automatic segment gripping method and automatic segment gripping device - 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 and apparatus for automatically holding a segment carried into a shield machine by automatically aligning and holding a segment holding portion of an erector.

[0002]

2. Description of the Related Art As a part of labor saving in segment assembling work in shield construction, when an erector is to be automatically gripped by a segment, the relative position between a segment placed below the erector and a segment gripper is determined by some method. It is necessary to move the segment gripper to a position where the segment can be gripped by a command from the control device based on the result.

Conventionally, such an automatic segment gripping device is described in "Development of Automatic Segment Assembly System", pp. 20-23 of the 1988 Construction Machinery and Construction Method Symposium, Japan Construction Mechanization Association. In addition, the video camera placed near the segment gripper shows the grout hole of the segment placed below the erector, the center position of the grout hole is calculated from the image data, and based on this, the segment gripper and the segment There is one that detects the relative position of.

[0004] Further, the slit light is irradiated to the grout hole, the end point coordinates of the slit light image cut by the grout hole are obtained from the image data, and compared with a reference value to determine the positional deviation amount between the segment gripper and the segment. It has been proposed to calculate (JP-A-4-83098).

[0005]

In any of the above-mentioned prior arts, only a positional deviation on a plane is obtained in any case, and it is impossible to adjust the gripping posture. For example, even if a segment is oblique on a plane, it cannot be detected. Alternatively, even if the segment gripper itself is inclined, it cannot be detected. Further, it is difficult to cope with a case where there are a plurality of gripping positions or a case where the gripping positions are not on the upper surface of the segment.

SUMMARY OF THE INVENTION It is an object of the present invention to detect a positional deviation between a segment gripping portion of an erector and a segment at a plurality of locations, determine a moving amount and a gripping posture of the erector necessary for a gripping operation, and to automatically and accurately segment the segment. It is an object of the present invention to provide a gripping method and apparatus.

[0007]

In order to achieve the above object, according to the present invention, an erector installed in a shield machine is controlled by an erector control means so as to be carried into the shield machine and mounted at a predetermined position. in segment automatic holding method for gripping the segments automatically, <br/> segment by the first, second floodlight Elekta move up above the segments placed in the predetermined position, placed on erecta long part was irradiated with slit light respectively, d of
Of the segment by a third projector installed on the
The short side is irradiated with slit light, and each of the irradiated slit light images is installed on an erector, and the first and second slit light
The first, second, and third image pickup means corresponding to the second and third light projectors take an image, and the first, second, and third image pickup means are used.
The coordinates of each end point of the slit light image formed by the edge portion of the segment are obtained from the image data obtained by the above, and each end point is determined by the first, second, and third imaging units .
The segment gripper previously obtained in the field of view
Slit light image end point when it is in a position where the
And it calculates the position deviation by a position, Starring the position deviation
The segment gripper is moved to the segment grippable position based on the calculation result .

Another feature of the present invention is that the shield machine
By the installed erector, it is carried into the shield machine.
Automatically grasps the segment placed in
In a segment automatic gripping device that transports to the assembly position
To move the erector out of the segment placed at the predetermined position.
Moving means to move up, and installed on the erector
The long side of each segment is irradiated with slit light.
1. a second floodlight and a segment installed on the erector
A third projector for irradiating slit light to the short side of the
By the first, second and third projectors
First, second, imaging of each irradiated slit light image
Third imaging means, and the first, second, and third imaging means
Edge of the segment from the image data obtained by
The coordinates of each end point of the slit light image formed by the section.
Slit light image end point extracting means and the slit light image end
Each of the end point coordinates extracted by the point extracting means,
Segs obtained in advance within the field of view of the second and third imaging means
The element gripper is at a position where the segment can be gripped
Calculate the position deviation amount with the slit light image end point position in case
In addition, there is provided an erector control means for moving the segment gripper to the segment grippable position based on the calculation result of the positional deviation amount .

[0009]

According to the present invention, the long side of the segment is slipped.
First and second light emitters for irradiating light, and segments
Irradiation by a third projector that irradiates slit light to the short side of
The first, second, and third projectors correspond to the first, second, and third projectors, respectively.
Each slit light is imaged by the second and third imaging means,
Each end point position is found. And these end point coordinates
And a position where the segment gripper can grip the segment.
Deviation from the absolute coordinate value of the slit light image end point when it exists
Seeking quantity. That is, the three endpoints on the segment
Find the coordinates and calculate the deviation on the X, Y, and Z axes.
Only the planar position deviation of the segment
Rather, the height deviation (slope) is detected (three points are searched,
For the first time, three-dimensional positioning is possible.)
The amount of movement of the electric device to compensate for the amount, and grip
Control your posture. As a result, segment gripping
And will be able to do it reliably.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. First, in Figures 2-7, will be described Elekta 170 to which the present invention is applied. 1 is a shield main body, 2 is a ring girder. Reference numeral 4 denotes an elector ring, which is pivotally attached to the ring girder 2 via a bearing 3. Reference numeral 5 denotes an arm, which is attached to the left and right of the erector ring 4 and extends in the direction of the axis (Z axis) of the shield body. Reference numeral 6 denotes a slide frame, which is attached to the arm 5 as a guide via a linear bearing 8,
It is moved in the Z-axis direction by the front-rear drive 7. 10 is
A holding frame A for holding the A and B segments 19 (see FIG. 6), and a linear bearing A1 is attached to the suspension beam A17.
Attached via 1. Reference numeral 12 denotes a holding frame B for holding the K segment 20 (see FIG. 6), which is attached to the suspension beam B18 via a linear bearing B13.

The suspension beam A17 has rods A9 on both sides.
Is mounted, and the rod A9 is slidably mounted on the slide frame 6, and the radial driving device A15
Moves in the Y-axis direction. Rods B14 are attached to both sides of the suspension beam B18, and the rods B14 are slidably attached to the slide frame 6, and are moved in the Y-axis direction by a radial driving device B16.

Reference numeral 22 denotes a rotary driving device which is attached to the elector ring 4 or the arm 5 and has a coupling 23.
The screw rod 25 is rotationally driven through the. Reference numeral 26 denotes a ball screw, which is attached to the slide frame 6 and has a screw rod 2
It is a female screw (in principle, the relationship between bolts and nuts) that fits with the 5 male screws. Accordingly, the ball screw 26 moves along the screw rod 25 with the rotation of the screw rod 25, that is, the slide frame 6 moves in the Z-axis direction. The holding frames 10, 12 are attached to the suspension beams 17, 18, and a bolt fastening device 29 as a segment fastening device is attached to each holding frame.

Next, the operation of the above-mentioned erector 170 will be described. 2, 3, and 4, the erector ring 4
Is supported by the ring girder 2 by the bearing 3 and is turned by a motor (not shown). Two arms are protruded from the erector ring 4 in the Z-axis direction, and a linear bearing 8 that is movable in the Z-axis direction is attached to the arm 5. The slide frame 6 is attached to the linear bearing 8 and is movable in the Z-axis direction by the front-rear drive unit 7. A pair of suspension beams (a suspension beam A17 and a suspension beam B1) are symmetrically arranged on the slide frame 6 in the diameter direction.
8) Attach. Rods (rod A9, rod B14) are attached to both sides of the suspension beam, fit into holes formed in the slide frame 6, and move in the Y-axis direction.

Since both the suspension beam A17 and the suspension beam B18 are attached to the slide frame 6, they are moved together by the front-rear drive unit 7. Hold frame (hold frame A10, hold frame B12)
And a bolt fastening device 29 is attached to each holding frame. Holding frame A10, Holding frame B1
2 is a linear bearing A11 and a linear bearing B, respectively.
13 allows movement in the X-axis direction. Although two arms are protruded in the Z-axis direction in the figure, the role of the arm is to mount the linear bearing 8 in the Z-axis direction and to receive the load applied thereto.
For example, it is made to project from the erector ring 4 in a cylindrical shape, or in a semi-cylindrical shape. Although the rod is used as a guide for movement in the Y-axis direction, a linear bearing may be used as in the case of the Z-axis direction.

Next, an embodiment of the erector control means 160, which is a feature of the present invention, will be described with reference to FIG . 1 and FIGS . The overall configuration of the elector control means 160 is as shown in FIG. 1, and the projectors 106a and 106b that irradiate slit light to the long edge and the short edge of the segment 19 placed below the segment holding portion 70 Illuminator 106c for irradiating the slit light, television cameras (imaging means) 107a and 107 for capturing the respective slit light images
b and 107c. Further, an image input / output device 100 for inputting / outputting a video signal from a television camera, an image memory 110 for storing the image data, performing image processing on the image data on the image memory 110, and calculating a segment of the Deviation calculator 12 for calculating and outputting the positional deviation between the gripper 70 and the segment 19
0, a gripping position calculating device 150 that calculates a moving distance and a gripping posture required for gripping the segment 19 based on the deviation amount output of the deviation amount calculating device 120, and a segment gripper 70 based on the output of the gripping position calculating device 150. Is provided with a control device 130 for instructing the operation of the jack of the erector or the like so as to move to a position where the segment 19 can be gripped. Also, the situation such as the image processing result is displayed on the image monitor 1.
40 can be monitored.

The segment holding section 70 is formed by the x, y, z in FIG.
It is attached to the suspension beam 17 of the erector so as to be movable in each direction of the axis (different from the coordinate system of FIGS. 2 and 3). In the present embodiment, the segment holding section 70 has a screw shaft 71 that is rotated by a rotation mechanism (not shown), and the segment 19 is held by screwing the screw shaft 71 into the grout hole 200. Lifting, turning and assembling the grasped segment into a predetermined position is the same as in a normal erector.

The segment 19 is carried in from the x-axis direction in FIG. 1, and is placed at a predetermined position on the floor so that its longitudinal direction is along the y-axis direction in FIG. Thereafter, control is performed by the segment gripping control device. The Figure 8, the operation of the segment gripping controller.

First, prior to the segment gripping control, the slit lights A, B, and C applied to the segment 19 are respectively imaged by a television camera. That is, in order to detect the relative position of the segment gripping portion 70 and the grout hole 200 on the xy plane, the light projector 10 on the yz plane in FIG.
6a and 106b, the slit light is radiated from the projector 106c on the xz plane in the figure, and the slit light A, B and C radiated on the segment 19 are respectively transmitted to the television camera 107a,
Images are taken at 107b and 107c.

Next, the end points of the slit light image are extracted for controlling the segment gripping (steps 131 to 13).
2). The slit light images captured by the television cameras 107a, 107b and 107c are respectively shown in FIG.
(B) and (c) are obtained. When the slit light applied to the edge portion of the segment 19 is represented by A, B, and C, respectively, the slit light image corresponding to these is cut into A ', B', and C 'with a part of the left side cut. In the figure, the end positions of the slit light images A ′, B ′ and C ′ are a ′,
Represented by b 'and c'. These end point positions a ', b', c '
In FIG. 1, the slit light beams A, B, and C intersect the edge portions of the segment 19 respectively. If the end point cannot be extracted, a gripping detection disable signal is output (step 133).

Next, a difference between the extracted end point and the reference point is determined (step 134), and a deviation between the position and the attitude of the erector is calculated (step 135). Figure
9 , if the absolute coordinate values (reference point positions) of the slit light image end points when the segment gripper is located at a position where the segment can be gripped are represented by a0, b0, and c0, then the television cameras 107a and 107b End points a ′ and b ′ of the segment 19 in the x and y directions and the reference point a
The difference between 0 and b0 is calculated by calculating the difference between the reference point c0 and the end point c 'of the segment 19 in the x direction and y direction by the television camera 107c, and the segment gripper 70 of the erector can be gripped by calculation. It is possible to obtain a position correction amount necessary for moving to a desired position.

The formula for calculating the position correction amount is shown below. FIG.
As shown in the following, the difference between the end point coordinates of the slit light image taken by the television camera and the reference point position is represented by the screen coordinate system xv-yv as follows.

Δxa = (ax0−ax ′) · k1 Δya = (ay0−ay ′) · k2 Δxb = (bx0−bx ′) · k1 Δyb = (by0−by ′) · k2 Δxc = (Cx0−cx ′) · k1 Δyc = (cy0−cy ′) · k2 (Equation 1) where k1 and k2 are coefficients for converting image data into numerical values in mm units. .

Based on the difference on the screen, the amount of movement and the posture required to move the segment gripper of the erector to a position where the segment can be gripped can be determined by, for example, the following equation.

Edx = (△ xa + △ xb) / 2 edy = △ yce δz = (△ xb− △ xa) / (Lya + Lyb) (2) where edx and edy are respectively shown in FIG. The position deviation in the x-axis direction and the y-axis direction, and eδz represents the posture deviation around the z-axis. Lxa, Lxc, Lya, Lyb are:
As shown in FIG. 10 , the slit light beams A, B, and C on the assembly segment 19 extend from the center of the assembly segment 19 (coordinate origin o).
Represents the distance in the x-axis direction and the y-axis direction to each of the end points a, b, and c.

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

Dx = −edx dy = −edy δz = −eδz (Equation 3) Next, it is determined whether or not the obtained correction amount of the position / posture is within a predetermined threshold value (step 136). ). If the correction amount is within the threshold value, the control by the segment gripping control device ends because control is impossible (step 14).
0). If the correction amount exceeds the threshold value, the target position and posture of the erector are calculated from the obtained position and posture correction amounts (step 137), and the actuator command value is further calculated (step 137). 138), the result is output to the controller of the erector, and the gripper position and posture of the segment gripper are adjusted by the controller of the erector (step 139). In this way, the segment can be reliably gripped.

In the segment assembling method,
If a segment is nonuniform as shown in FIG. 7, FIG.
As shown in FIG. 11 , the A-segment or the B-segment 19 is gripped by the suspension beam A17 and then turned to a predetermined position as shown in FIG.
Is positioned and bolted. Further, as shown in FIG. 13 , the K segment 20 is gripped by the suspension beam B18, turned to a predetermined position as shown in FIG. 14 , then positioned, and bolted. In this way, various segments A, B, and K can be easily connected with one device.

Further, when assembling the B segment 19 shown in FIG. 12 , the suspension beam B18 is located at the lower portion, and therefore, the time required to retrieve the K segment 20 supplied at the lower portion can be reduced.

On the other hand, as shown in FIG. 6, when the segment is equally divided, the hanging beam A17 and the hanging beam B18, and the holding frame A10 and the holding frame B12 are the same. In this way, after assembling is completed, when going to get the next segment piece supplied at the lower part, the suspension beams A, B
Of these, the closer one has to go to get, so the assembly time for one ring is shortened accordingly. This effect is greater as the segment outer diameter is larger.

When different segments are used in equal division, an assembly device suitable for each segment may be attached to each of the suspension beams A and B. For example, when a flat plate segment and a core segment are used, an assembly device for a flat plate segment may be mounted on the suspension beam A, and an assembly device for a core segment may be mounted on the suspension beam B.
In this way, automatic assembly is possible even if different segments are used.

When trying to assemble segments automatically,
It is necessary to control the positions in the X, Y, and Z directions and the postures around the X axis, the Y axis, and the Z axis. Since high precision is required for each, the rigidity is high and the scale is large. In this embodiment, since the movement in the Z-axis direction is shared by the suspension beams A and B, the structure of the suspension beam is simplified,
The effective inner space of the erecta can be increased, and the cost can be reduced.

[0032]

According to the present invention, the deviation of the relative position between the segment gripper and the segment is calculated from the end point of the slit light image cut at the edge of the segment. By simultaneously correcting not only the gripping position but also the gripping posture, it is possible to reliably grip the segment.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an automatic segment gripping device according to the present invention.

FIG. 2 is a front view of the erector of the present invention.

FIG. 3 is a view as seen from an arrow II in FIG. 2;

FIG. 4 is a view taken in the direction of arrows II-II in FIG. 2;

FIG. 5 is a detailed view of a front-rear drive device.

FIG. 6 is an equally-divided segment diagram.

FIG. 7 is an unequally divided segment diagram.

FIG. 8 is a flowchart illustrating the operation of the automatic segment gripping device according to the present invention.

FIG. 9 is an explanatory diagram showing a slit light image cut at a segment edge portion.

FIG. 10 is an explanatory diagram of the position / posture deviation amount calculation of FIG. 1;

FIG. 11 is a diagram illustrating the operation of the erector of the present invention.

FIG. 12 is a diagram illustrating the operation of the erector of the present invention.

FIG. 13 is a diagram illustrating the operation of the erector of the present invention.

FIG. 14 is a diagram illustrating the operation of the erector of the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Shield main body, 2 ... Ring girder, 4 ... Electring, 5 ... Arm, 6 ... Slide frame, 7 ... Front / rear drive, 10 ... Holding frame A, 12 ... Holding frame B, 16 ... Radial direction driving device, 22 ... Rotary drive device, 2
9 ... Bolt fastening device

──────────────────────────────────────────────────の Continuing from the front page (72) Inventor Yukihisa Hirasawa 650, Kandamachi, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Inside the Tsuchiura Plant (72) Inventor Takeshi Kamei 650 Kandamachi, Tsuchiura City, Ibaraki Prefecture Inside the Tsuchiura Plant Hitachi Construction Machinery Co., Ltd. (56) References JP-A-4-83098 (JP, A) JP-A-7-62994 (JP) , A) (58) Field surveyed (Int.Cl. ⁶ , DB name) E21D 11/40

Claims (3)

(57) [Claims] 1. A by controlling the erector installed in the shield machine by erector control means, in the segment automatic gripping method for automatically gripped is carried in the shield machine the placed segments in place, Elekta is moved up above the segments said which is placed at a predetermined position, first, irradiates the slit light respectively to the long sides of the segment by the second projecting <br/> optical unit installed on erecta, The third projector mounted on the
Illuminate the short side of the segment with slit light.
Each of the slit light image that is said is placed on erecta
First, second, and third corresponding to the first, second, and third projectors, respectively.
By imaging by the imaging means, these first, second, third
The coordinates of each end point of the slit light image formed by the edge portion of the segment are obtained from the image data obtained by the imaging means, and the respective end points and the visual fields of the first, second, and third imaging means are obtained.
The segment gripper previously obtained in
Slit light image end point position when it is located at a position where it can be gripped
It calculates the position deviation by the arithmetic formation of the position deviation
Moving the segment gripper to the segment grippable position based on the result. 2. A segment automatic gripping device for automatically gripping a segment carried into a shield machine and mounted at a predetermined position by an erector installed in the shield machine and transporting the segment to an assembling position. A moving means for moving the segment to a position above the segment mounted at a predetermined position;
A second light emitter, a third light emitter installed on the elector and irradiating the short side of the segment with slit light, and a light emitter each installed on the elector and illuminated by the first, second and third light emitters First, second, and third imaging means for imaging a slit light image; and the slit light formed by an edge portion of the segment from image data obtained by the first, second, and third imaging means. Slit light image end point extracting means for obtaining each end point coordinate of the image; each end point coordinate extracted by the slit light image end point extracting means; and the end point coordinates extracted beforehand within the field of view of the first, second, and third imaging means. A position deviation amount is calculated based on the position of the slit light image end point when the set segment gripping portion is located at a position where the segment can be gripped, and the segment gripping portion is moved based on the calculation result of the position deviation amount. Automatic gripping device of the segment, characterized in that a erecta control means for moving the bets graspable position. 3. The segment automatic gripping device according to claim 2, wherein the gripping position calculating means is configured to calculate a position deviation between the segment gripping portion and the segment.
An automatic segment gripping device that calculates the amount of movement and gripping posture of an erector necessary to grip a segment.