JP3350912B2 - 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 positioning method for assembling a tunnel lining segment carried into a shield machine in a ring shape in accordance with the position and posture of an existing segment.

[0002]

2. Description of the Related Art In recent years, in the shield construction method for excavating a tunnel in soft ground, drastic improvements have been made in excavation machines, but there are still many parts that rely on the visual and judgment of an operator in segment assembly. In the context of automation of shield construction, automation of segment assembly has become an important issue that must be promptly advanced.

In order to solve this problem, an automatic segment assembling apparatus has been developed in which a segment conveyed by a conveying apparatus is gripped by a segment assembling apparatus, positioning control is performed, and the segment is assembled by an automatic bolt / nut fastening machine.
A method for automatically assembling a segment ring of a circular tunnel has been provided for implementation.

For example, as described in Japanese Patent Application Laid-Open No. 4-213699, a technique has been proposed in which, when performing automatic assembly of segments in shield work, the assembled segments are positioned following the existing segments. This technology uses a visual sensor consisting of three sets of projectors and a television camera installed on an erector, and as shown in FIG. 9, an assembling segment in which three slit lights from the projector are positioned near a predetermined assembling position. Slit light images A, A ', B, and B generated by irradiating two points on a boundary along the circumferential direction of the tunnel and one of the boundaries along the tunnel axis direction of the existing segments 41a to 41c. , C, and C 'are respectively photographed by television cameras, and the end points a, a', b, and b of the slit light images in FIGS. 10, 11, and 12 obtained by processing image data from these television cameras. detecting the three steps and gaps from the coordinate values of b ', c and c', and calculating the position / posture deviation between the assembly segment and the existing segment based on the information on the steps and gaps and correcting the deviation; By The standing segment in which the fine positioning using in place.

[0005] The positioning of the assembly segment is performed in two stages. In the first stage, the target position / posture is calculated from the design position / posture and the coarse position correction amount of the assembly segment previously input to the control device. To roughly position the assembly segment in place. After this, the second
At this stage, as described above, the deviation of the relative position / posture of the assembly segment and the existing segment is obtained by the light cutting method, and the erector is moved so as to eliminate the deviation to finely position the assembly segment at a predetermined position. By repeating such positioning control a plurality of times, a segment for one ring is assembled.

[0006]

A point to be noted when assembling the segments is whether or not the segments are assembled in a substantially circular shape as specified.
The prior art assembling method has the following problems.

(1) In the conventional assembly, the positioning of the segment is controlled in accordance with the assumption that the existing ring is a perfect circle. However, there is a high possibility that the shape of the existing ring is deviated from the perfect circular shape as shown in FIG. 15 due to the pressure of the excavated earth and the ground and the like.

(2) Since the bolt holes of the segments are formed so as to have a margin for the bolt diameter,
As the assembling is performed sequentially following the existing ring, assembling errors gradually accumulate with respect to the perfect circle, and eventually the assembling becomes impossible.

For example, when constructing a tunnel having a circular cross section, the existing ring may be assembled into a shape that is crushed in the vertical direction as shown in FIG. 15 due to the looseness due to earth pressure or bolt hole tolerance. . In such a case, there is a possibility that the K segment 43 cannot be assembled because the clearance of the K segment 43 to be assembled at the final time is not sufficient. In addition, there is a problem that the K segment 43 is destroyed at the time of assembling, so that only the assembling time is long, and the segment assembling efficiency is reduced.

It is an object of the present invention to provide sufficient clearance for a segment assembled at the end,
An object of the present invention is to provide a segment assembling positioning method for securely assembling a segment without breaking the segment.

[0011]

In order to achieve the above object, according to the present invention, in order to form a segment ring, an assembly segment is roughly positioned near a predetermined assembly position by an erector installed in a shield machine. Thereafter, a relative position between the assembly segment and the existing segment is detected, a position / posture deviation between the two is obtained based on the detection information, and the deviation is corrected to move the assembly segment to a predetermined position. In the segment assembling positioning method for fine positioning, after determining a target shape of the segment ring, various conditions in which the deformation of the segment ring is assumed are considered, and the assembling positions of the assembling segments are sequentially finely moved outward from the target shape. It is characterized by positioning.

[0012]

According to the present invention, the positional deviation between the existing segment and the elector device is accurately grasped in advance, and the assembled segment is gradually assembled outward from a target shape, for example, a perfect circular shape, so that the assembly can be assembled at the final time. The clearance between the K segment and the already positioned existing segment can be increased. This allows K
Positioning can be performed reliably without breaking the segments.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment according to the present invention will be described below with reference to FIGS. In the description of the embodiments, the same portions are denoted by the same reference numerals, and overlapping description will be omitted.

First, an erector device used for segment assembly positioning will be described with reference to FIGS. The erector body 12 used for automatic segment assembly is installed at the rear of the cylindrical shield body 11. This erector body 12 is roughly divided into an erector ring 1 which is a turning mechanism.
3 and a swing motor 16, a suspension beam 2 as a pressing mechanism
1, a pressing jack 22, a horizontal slide frame 24 and a horizontal slide jack 25 as a left and right sliding mechanism, a horizontal slide frame 24 and a horizontal slide jack 25 as a front and rear sliding mechanism, and a front and rear slide frame 27 as a front and rear sliding mechanism.
And a front and rear slide jack 28, a spherical frame 2 which is a posture control mechanism for pitching, rolling, yawing, etc.
9 and posture control jacks 31, 32, and 33 and a segment gripper.

The electric ring 13 is provided on the shield body 11.
The outer peripheral guide roller 14 and the side surface installed at several locations on the inner peripheral side of the shield main body 11 are guided by the guide roller 15.
Is rotated through a pinion 17 and a ring gear 18 by a rotation motor 16 attached to the motor. Along with this,
The following parts supported on the electoring ring 13 are simultaneously turned left and right.

The suspension beam 21 supported by the left and right arms 19 of the electoring ring 13 via the guide lodge 20
Pressing jack 2 attached between arm 19
The suspension beam is moved in the Z-axis direction (radial direction of the electoring ring 13) by the expansion and contraction of 2, so that the following portions of the suspension beam supported on the 21 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 by 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. 5, 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 used for yawing control of the segment gripper 34. Can be

The segment holding portion 34 suspended from the central axis 30 of the spherical frame 29 is tilted around the central axis 30 by the expansion and contraction of the 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. In addition, the segment gripper 34 includes
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 are provided. After the screw shaft 35 is aligned with the grout hole 43, the screw 35 is rotated to protrude toward the segment 42 while rotating, and after the screwing into the grout hole 43 is completed, the screw shaft 35 is pulled back until the segment 42 hits the end face of the segment grip portion 34. Thus, the segment 42 is gripped.

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).

The front and rear slide frame 27 is provided with a non-contact distance meter 60, which measures the distance L1 to the inner peripheral surface of the existing segment by rotating the elelector device before gripping the segment 42. I do. At this time, the erector has an angle detector (not shown) for detecting the rotational position, and the rotational position and the distance L1 to the existing segment are provided.
And are measured simultaneously.

FIG. 8 shows the positional relationship between the assembling segment and the existing segment, and the system configuration, for the step / gap detecting means used for segment positioning. Reference numeral 12 schematically shows the erector main body. Reference numeral 42 denotes a roughly positioned assembly segment, 41a and 41b denote existing segments adjacent to the assembly segment 42 in the tunnel axial direction, and 41c denotes an existing segment in contact with the assembly segment 42 in the tunnel circumferential direction. In order to detect a step / gap between the assembled segment and the existing segment, three sets of projectors 44a, 44b, 44c
And a visual sensor composed of the television cameras 45a, 45b, and 45c are fixed to the segment holding portion 34 of the erector main body 12 via a rigid body (not shown). Therefore, the projectors 44a, 44b, 44c and the television cameras 45a, 4
The relative positions and postures of the grips 5b and 45c, the grip portion 34, and the assembly segment 42 are constant during grip regardless of the movement of the erector. Floodlights 44a and 44b are assembled segment 4.
The light projector 44c irradiates slit light to two places on the boundary between the assembly segment 42 and the existing segments 41a and 41b along the tunnel circumferential direction, and to one place on the boundary between the assembly segment 42 and the existing segment 41c along the tunnel axial direction. , Slit light images A, A ′, B, B ′ generated on each segment,
C and C 'are imaged by the television cameras 45a to 45c, respectively. 9, reference numerals 46a, 46b, and 46c denote the camera fields of view of the television cameras 45a, 45b, and 45c, which are 47a in FIG. 10, 47b in FIG. 11, and 47c in FIG.
Indicates a camera image reflected on the television cameras 45a, 45b, 45c.

The image data from these television cameras is taken into the image memory 50 via the camera switch 48 and the image input device 49 in FIG. Reference numeral 51 denotes an image processing device that processes image data stored in the image memory 50 to obtain end point coordinates of slit light, and 52 denotes an end point coordinate obtained by the image processing device 51 or numerical data input in advance. The controller controls the body of the erector to perform a positioning control operation described later and outputs the result to the servo controller 53 as a command value. The servo controller 53 controls the turning motor 16 and the hydraulic jack 22 of the erector body in accordance with the command. , 25, 28, 31, 32, and 33 are controlled.

Next, control means for positioning the assembly segment will be described with reference to FIGS. 1, 2 and 9 to 14.

First, the erector body is rotated, and the center position deviation between the existing segment and the erector device is measured by the non-contact distance meter 60 and the erector angle detector to obtain a correction value of the erector center position.

The positioning control executed by the main body controller 52 is roughly divided into two stages of coarse positioning control and fine positioning control.

First, the coarse positioning control will be described.
FIG. 13 shows a detailed procedure of the coarse positioning control. Step 15
In the rough position calculation (1), a target position at which the assembly segment will be finally positioned is calculated based on the design position / posture of the assembly segment or the position / posture measurement result of the existing segment circumferentially adjacent to the assembly segment. Then, based on the target position, the slit light images A, A ', B, B', C and C 'on the assembly segment 42 and the existing segments 41a to 41c shown in FIG.
An erector position / orientation (hereinafter, referred to as a coarse position) which enters the camera field of view 45c and does not make contact between the assembly segment 42 and the existing segments 41a to 41c is calculated.
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 and the erector coordinate system (x, y, z) shown in FIG.

In step 152, the actuator command value is calculated from the rough position previously obtained, and each actuator command value including the turning motor 16 is calculated. In step 153, the command value is output to the servo controller 53 by the actuator control. And waits for the servo controller 53 to finish controlling the actuator. Thus, the coarse positioning control ends.

Next, the fine positioning control of the assembly segment will be described. FIG. 1 shows a detailed procedure of the fine positioning control. Assume that in the coarse positioning control described above, the assembly segment 42 is roughly positioned at the position shown in FIG. The image coordinate system (xv, y) of the three slit light images A, A ', B, B,' C, C 'extracted in this state.
v) the end point coordinates a (ax, ay), a ′ (ax ′,
ay ′), b (bx, by), b ′ (bx ′, b
y ′), c (cx, cy), and c ′ (cx ′, cy ′) are used to perform the fine-positioning deviation detection calculation in step 201. In step 201, steps {za, {zb, {zc and gap} between the assembled / existing segments are calculated from these end point coordinate values.
xa, △ xb, △ yc are calculated by the following equations.

Δxa = (ax′−ax) · kx (1.1) Δxb = (bx′−bx) · kx (1.2) Δyc = (cy′−cy) · ky (1.3) ) Δza = (ay′−ay) · kz (1.4) Δzb = (by′−by) · kz (1.5) Δzc = (cx′−cx) · kz (1.6) Here Where kx, ky, and kz are coefficients for converting image data into numerical values in mm units.

The position / posture deviation between the assembly segment 42 and the existing segments 41a to 41c is calculated based on these steps and gaps. The following equation shows a simple example of the deviation amount calculation.

Edx = (△ xa + △ xb) / 2 (2.1) edy = △ yc (2.2) edz = (△ za + △ zc) / 2 (2.3) eδx = (△ zb− △ za) ) / (Lya + Lyb) (2.4) eδy = {(△ za + △ zb) / 2- △ zc} / (Lxa + Lxc) (2.5) eδz = (△ xb + △ xa) / (Lya + Lyb) (2.6) Here, edx, edy, and edz represent positional deviations in the x-axis direction, the y-axis direction, and the z-axis direction shown in FIG.
x, eδy, eδz are around the x-axis, around the y-axis, respectively.
Represents the attitude deviation around the z-axis. Lxa, Lxc, L
As shown in FIG. 14, ya and Lyb are in the x-axis direction and y from the grip center o to the end points a, b, and c of the slit light images A, B, and C on the assembly segment.
It represents the distance in the axial direction. Goal (desired) in step 202
Calculate and input the value of the assembly setting shape.

In the correction amount calculation in step 203, the position / posture correction amounts dx, dx are calculated from the deviation amount and the value of the set assembly shape.
y, dz, δx, δy, δz are obtained by the following equations.

Dx = −edx (3.1) dy = −edy (3.2) dz = −edz (3.3) δx = −eδx (3.4) δy = −eδy (3.5) δz = −eδz (3.6) In the calculation of the target position / posture of the erector in step 204, the correction amount obtained earlier is added to the position / posture of the assembly segment after the coarse positioning to eliminate the position / posture deviation of the existing segment. The target position / posture of the erector is obtained. The target position / posture of the erector is the segment gripper 34 of the erector main body.
And the same as the target position / posture of the assembly segment being gripped. Next, in step 205, the design position / posture of the assembly segment is determined so as to be outside the target shape previously input to the main body control device 52.

In step 206, the design position / posture of the assembly segment is subtracted from the calculated erector target position / posture, and the difference is compared with a separately determined threshold value.

FIG. 2 shows an example of the design position / posture of the assembly segment. The dotted lines in the figure indicate positions where the segments are assembled into a target shape, for example, a perfect circle. The segments are assembled in the order of A1, A2... B1, B2, K. First, A1 is positioned at a perfect circular shape position,
After that, the design positions and postures of A2... B1 and B2 are determined by using the clearance between the bolts and the bolt holes as shown in FIG. By doing so, when assembling the K segment 43, B1
Since the gap between B2 is larger than a predetermined amount, the K segment 43 can be easily assembled. The control procedure in this case will be described below.

Here, the design position / posture of the assembly segment is represented by the position in the x-axis direction: P1 The position in the y-axis direction: P2 The position in the z-axis direction: P3 The posture around the x-axis: P4 The posture around the y-axis: P5 z Posture around axis: P6 Position and posture of assembly segment after coarse positioning: Position in x-axis direction: P11 Position in y-axis direction: P12 Position in z-axis direction: P13 Posture around x-axis: P14 Posture around y-axis : P15 Posture around z-axis: P16 Target position / posture of eleector x-axis position: P21 = P11 + dx Y-axis position: P22 = P12 + dy Z-axis position: P23 = P13 + dz Posture around x-axis: P24 = P14 + δxy Attitude around y-axis: P25 = P15 + δy Attitude around z-axis: P26 = P16 + δz. At this time, the deviation between the target position / posture of the erector and the design position / posture of the assembly segment is: Position deviation in the x-axis direction: Δx = P21−P1 (4.1) Position deviation in the y-axis direction: Δy = P22−P2 (4.2) Positional deviation in z-axis direction: △ z = P23-P3 (4.3) Posture deviation around x-axis: △ δx = P24-P4 (4.4) Posture deviation around y-axis: △ δy = P25-P5 (4.5) Attitude deviation around the z-axis: △ δz = P26-P6 (4.6) Threshold values to be compared with these deviations △ x to △ δz are k1 to k6, respectively. This threshold value is set within the range of the gap between the bolt used to fasten the assembled segment and the existing segment, and the bolt hole provided in the segment. For example, if the gap is ± 2 mm, the threshold values in the x-axis direction, y-axis direction, and z-axis direction are 2 mm at the maximum.
(Considering the case where the position deviation and the posture deviation overlap, the threshold value is set lower than the gap).

In step 206, the following (5.1) to (5.
6) Examine the expression, and if it is satisfied, proceed to step 208,
If not, the procedure proceeds to step 207. In step 208, it is determined whether all the comparisons of (5.1) to (5.6) have been completed, and if not completed, steps 206 and subsequent steps are repeated, and if completed, the procedure proceeds to 209.

-K1≤ △ x≤k1 (5.1) -k2≤ △ y≤k2 (5.2) -k3≤ △ z≤k3 (5.3) -k4≤ △ δx≤k4 (5.4) -K5≤ △ δy≤k5 (5.5) -k6≤ △ δz≤k6 (5.6) In step 206, the threshold value is obtained from the erector target position / posture P21 to P26 previously obtained only for the relevant axis. k1
Ｋk6 is subtracted to obtain a new erector target position / posture. The new target position / posture P31 to P36 of the erector is P
If 1−P21 ≧ 0, P31 = P21 + k, P1−P21
If ≤0, P31 = P21-k, P31 = P21-k1 (6.1) P32 = P22-k2 (6.2) P33 = P23-k3 (6.3) P34 = P24-k4 (6.4) P35 = P25−k5 (6.5) P36 = P26−k6 (6.6) Thereafter, the procedure proceeds to step 209. In the actuator command value calculation in step 209, the actuator command value is calculated from the segment design position / posture used in the comparison in step 206 or the new erector target position / posture obtained in step 207. A command value is output to the controller 53, and the servo controller 53
Waits for the actuator to finish controlling the actuator. This completes the fine positioning control, and the assembly segment is finally positioned at the assembly position.

[0041]

According to the present invention, the assembling time can be shortened and the segment assembling efficiency can be improved by reliably assembling the segments to be assembled at the final stage without breaking them.

[Brief description of the drawings]

FIG. 1 is a flowchart of fine positioning control of a segment assembling positioning method according to an embodiment of the present invention.

FIG. 2 is a diagram showing an assembling order of segments in the fine positioning control of FIG. 1;

FIG. 3 is a partially cutaway front view of an erector installed in the shield machine.

FIG. 4 is a sectional view taken along the line III-III of FIG. 3;

FIG. 5 is a sectional view taken along the line IV-IV in FIG. 3;

FIG. 6 is a sectional view taken along line VV of FIG. 3;

FIG. 7 is a detailed cross-sectional view of the segment grip portion 34 of FIG.

FIG. 8 is a diagram illustrating a positional relationship among a projector, a television camera, an assembly segment, and an existing segment used for segment positioning.

FIG. 9 is a diagram illustrating a positional relationship between an assembled segment, an existing segment, and a slit light image and a camera image in a state where coarse positioning is completed.

FIG. 10 is a diagram showing a camera image reflected on a television camera 45a.

FIG. 11 is a diagram showing a camera image reflected on a television camera 45b.

FIG. 12 is a diagram showing a camera image reflected on a television camera 45c.

FIG. 13 is a flowchart of coarse positioning control.

FIG. 14 is an explanatory diagram of a fine-positioning deviation detection calculation in FIG. 1;

FIG. 15 is a diagram showing an example of a deformation state of a segment, which is a problem of the related art.

[Explanation of symbols]

11 ... Shield body, 12 ... Electa body, 41a-4
1c: Existing segment, 42: Assembly segment, 43 ...
K segment, 44a-44c ... Floodlight, 45a-45
c: TV camera, 46a to 46c: Camera field of view, 47
a 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

──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Yasuo Mori 650, Kandamachi, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Inside the Tsuchiura Plant (72) Inventor Ken Kamei 650, Kandamachi, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Inside the Tsuchiura Plant (56) References JP-A-8-4494 (JP, A) (58) Field surveyed (Int. Cl. ⁷ , DB name) E21D 11/40

Claims (7)

(57) [Claims] In order to form a segment ring, an assembly segment is roughly positioned near a predetermined assembly position by an erector installed in a shield machine, and then a relative position between the assembly segment and an existing segment is determined. A segment assembly positioning method for finely positioning the assembly segment at a predetermined position by detecting the position / posture deviation between the two based on the detected information, and correcting the deviation. After determination, in consideration of various conditions under which the deformation of the segment ring is assumed,
A segment assembling positioning method, wherein the assembling positions of the assembling segments are sequentially finely positioned outside the target shape. 2. The segment assembly positioning method according to claim 1, wherein the deformation of the segment ring is a deformation of an existing ring formed by the existing segment and an assembly ring formed by the assembly segment. 3. The segment assembling positioning method according to claim 1, wherein the conditions under which the deformation is assumed are earth pressure conditions due to the ground outside the shield machine. 4. A segment assembling positioning method according to claim 1, wherein the various conditions under which the deformation is assumed are loosening of the existing segments forming the existing ring due to bolt hole tolerances. . 5. The segment assembling positioning method according to claim 1, wherein the conditions under which the deformation is assumed are accumulation of assembly errors between the assembly ring and the existing ring. 6. A method according to claim 1, wherein said target shape is a perfect circle. 7. The assembly according to claim 1, wherein the assembly position of the assembly segment is finely positioned outside the target shape by using a clearance between a bolt hole and a bolt of the assembly segment and the existing segment. Segment assembly positioning method.