JP3377761B2 - Elector control device, control method, method of assembling lining member, and tunnel excavator - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an erector control device for assembling a lining member such as a segment on an inner wall surface of an existing tunnel, a control method and an assembling method for the lining member, and a tunnel boring equipped with this erector control device. Related to tunnel excavators such as machines and shield excavators.

[0002]

2. Description of the Related Art For example, in a conventional shield excavator, a cutter head is rotatably mounted on a front portion of a cylindrical excavator body by a drive motor, and a plurality of shields are provided on a rear portion of the excavator body. The jacks are arranged side by side along the circumferential direction, and the erector device is attached. Therefore, when the shield head is rotated by the drive motor and each shield jack is extended and the excavator main body is advanced by the reaction force against the existing segment, the cutter head excavates the ground in front. Then, the excavated earth and sand are discharged to the outside, and a segment of a predetermined length can be constructed by assembling the segments in a ring shape on the inner wall surface of the existing tunnel by the erector device.

In such tunnel excavation work, the erector device holds and moves the segment carried into the existing tunnel, and assembles the segment held at a predetermined position on the inner wall surface of the existing tunnel. In this case, in order to reliably assemble the segment at a predetermined position on the inner wall surface of the existing tunnel, it is necessary to control the erector device with high accuracy.

FIG. 20 is a control block of a conventional erector control device, and FIG. 21 is a schematic diagram showing a method of segment positioning control by the conventional erector control device.

As shown in FIG. 21, the erector device has a holding mechanism at the rear of the excavator main body for holding the segment S carried into the existing tunnel. The X direction along the longitudinal direction of the existing tunnel, the Y direction along the circumferential direction of the existing tunnel,
It is movable in the Z direction along the radial direction of the existing tunnel and is also swingable in the θ _X direction, the θ _Y direction, and the θ _Z direction. The conventional erector control device controls the erector device to move the segment S held by the holding mechanism in the X direction, the Y direction, the Z direction, the θ _X direction,
The segment S is positioned by moving in the θ _Y direction and the θ _Z direction respectively. In FIG. 21, 001 is the shield jack, 002 is the telescopic rod of the shield jack, 0
03 is a spreader, S is a holding segment, and S _S is an existing segment.

That is, as shown in FIGS. 20 and 21, the point P, which is the center of the holding segment S held by the holding mechanism, is used as a reference point, and the holding segment S (holding mechanism) is set to X.
Displacement X of the hydraulic jack that moves in the Y, Z and Z directions
_The displacement detector 011 detects _C , Y _C , and Z _C. Then, the difference between the target displacement values X _r , Y _r , Z _r and the actual displacement values X _C , Y _C , Z _C is obtained by the subtractor 012, and the displacement control gain 013 is multiplied to obtain the X direction, the Y direction, The correction speed of the moving axis in the Z direction is calculated. On the other hand, the displacement of the hydraulic jack that moves the holding segment S in the θ _X direction, the θ _Y direction, and the θ _Z direction is detected by the displacement detector 014 and converted by the converter 015 to obtain the rolling angle θ _XC and the pitching angle θ _YC. , Yaw angle θ _ZC is calculated. Then, the subtractor 016 obtains the differences between the rolling angle target value θ _Xr , the pitching angle target value θ _Yr , the yawing angle target value θ _Zr and the actual rolling angle θ _XC , the pitching angle θ _YC , and the yawing angle θ _ZC , The angle control gain 017 is multiplied to find the correction speeds for the rolling axis, pitching axis, and yawing axis in the θ _X direction, θ _Y direction, and θ _Z direction, respectively, and the converter 018 converts the rotary shaft speed into the expansion / contraction speed of the hydraulic jack. It

Then, the control device 019 controls the X direction, the Y direction,
The hydraulic jacks of the elector device 020 are driven and controlled at the correction speeds of the moving axes in the Z direction, and the displacement values X _C , Y _C , and Z _C are maintained so as to be the displacement target values X _r , Y _r , and Z _r. Positioning the segment S held by the mechanism and controlling device 01
9 drives and controls each hydraulic jack of the elector device 020 at the correction speed of each moving axis in the θ _X direction, θ _Y direction, and θ _Z direction, and the rolling angle θ _XC , the pitching angle θ _YC , and the yawing angle θ _ZC are rolling. The segment S held by the holding mechanism is positioned so that the angle target value θ _Xr , the pitching angle target value θ _Yr , and the yawing angle target value θ _Zr are obtained.

Further, the excavation diameter of the tunnel, the shape and size of the segment, the assembling sequence and the position, etc. are previously stored in the control device (displacement target values X _r , Y _r , Z _r , angle target values θ _Xr ,
θ _Yr , θ _Zr ), but the segment S is not always assembled at a predetermined position due to manufacturing error, assembly error, etc. There is a risk of contact and damage, and it is desirable that the sensor be assembled in a predetermined position while grasping the positions of the holding segment S and the existing segment S. Conventionally, this sensor is used to hold the holding segment S.
And the distance (gap) between the existing segment S and the existing segment S are detected and fed back to the control device, and the control device drives and controls the erector device based on the target value and the measured value.

[0009]

As described above, the conventional elements are
In the actuator control device, the displacement X of the hydraulic jack_C, Y
_C, Z_CIs the target displacement value X_r, Y_r, Z_rSo that
Also, the rolling angle θ_XC, Pitching angle θ_YC, Yaw in
Angle θ_ZCIs the rolling angle target value θ_Xr， Pitching angle target
Value θ_Yr, Target yaw angle θ_ZrSo that each hydraulic
Operate the jack to position the segment S.
in the case of. Of rolling angle, pitching angle and yawing angle
Positioning control uses the point P, which is the center of the holding mechanism, as a reference point.
Then, the holding segment S is swung.

By the way, as shown in FIG. 21, when positioning the holding segments S at a predetermined assembly position adjacent to the existing segment S _S, the same position on the end point R of the end point Q is the existing segment S _S of holding segments S Must be positioned so that However, in the conventional erector control device, since the holding segment S is rocked and positioned with the point P as a fulcrum, the holding segment S is rocked and the end point Q of the holding segment S and the end point of the existing segment S _S are moved. There is a problem in that workability is not good because positioning of the holding segment S takes time because of a deviation from R.

Further, conventionally, while the movement of the holding segment S is stopped, the sensor is moved between the holding segment S and the existing segment S to measure the step and distance between the two. However, it takes a long time to position and the assembly work efficiency of the segment S is not good.

The present invention solves such a problem by improving the positioning accuracy of the lining member and
An object of the present invention is to provide an erector control device and a control method, a method of assembling a lining member, and a tunnel excavator that improve workability by improving work efficiency of assembling work.

[0013]

According to another aspect of the present invention, there is provided an erector control device for holding an lining member carried in a tunnel, and a holding lining member for holding the lining member. An X-axis moving unit that moves in the X-axis direction that is the longitudinal direction of the tunnel, a Y-axis moving unit that moves the holding lining member in the Y-axis direction that is the circumferential direction of the tunnel, and the holding lining member of the tunnel. Z-axis moving means for moving in the radial Z-axis direction, X-axis swinging means for swinging the holding lining member around the X-axis, and swinging the holding lining member around the Y-axis. The Y-axis swinging means for swinging, the Z-axis swinging means for swinging the holding lining member around the Z-axis, and the holding lining member are joined to the existing lining member mounted on the inner wall surface of the tunnel. X-axis, Y-axis, and Z at the junction point when
First displacement detecting means for detecting axial displacement, second displacement detecting means for detecting displacement around the X-axis, Y-axis, and Z-axis at the joining point, and the first and second displacements Point-of-interest position and orientation calculation means for calculating a position vector and orientation vector based on the displacement from the joint detected by the detection means, preset position target value vector and orientation target value vector, and the target point position and orientation calculation A position / orientation deviation calculating means for calculating a position deviation and an attitude deviation based on the actual position vector and attitude vector calculated by the means;
It is characterized by further comprising: control means for driving and controlling the moving means and the swinging means based on the position deviation and the attitude deviation from the joint point calculated by the position and attitude deviation calculating means. .

Further, in the erector control apparatus according to the invention of claim 2, the moving means and the swinging means are hydraulic jacks, and the joint points in the reference coordinate system calculated by the position / orientation deviation calculating means. Lining member coordinate system converting means for converting the position deviation and the posture deviation from the lining member coordinate system into the position deviation and the posture deviation in the lining member coordinate system, and the position deviation and the posture deviation in the lining member coordinate system A speed converting means for converting to a posture correction speed, and a position correction speed in the lining member coordinate system to a position correction speed in the X-axis, Y-axis, and Z-axis directions in the erector coordinate system, and the posture correction speed. Is provided to the posture correction speed around the X-axis, the Y-axis, and the Z-axis, and the control means controls the hydraulic pressure based on the position correction speed and the posture correction speed in the erector coordinate system. Jack Is characterized in that the position control and the attitude control said retaining lining member is operated about the said junction point.

Further, in the erector control device according to the invention of claim 3, the X-axis, the Y-axis and the Z-axis which act on the holding lining member.
A pressure detecting means for detecting the axial pressure and the swinging direction pressure on the shaft, and an external force acting on the holding lining member based on the change in the axial direction pressure and the swinging direction pressure detected by the pressure detecting means. An external force calculating means for calculating is provided, and the control means adds the external force acting on the lining member calculated by the external force calculating means to the position deviation and the attitude deviation from the joint point calculated by the position / orientation deviation calculating means. The moving means and the swinging means are drive-controlled.

In the erector control method according to the invention of claim 4, the lining member carried into the tunnel is held, and the held lining member is arranged in the longitudinal direction of the tunnel in the X-axis direction and in the circumferential direction of the tunnel. In the erector device that movably supports in the Y-axis direction and in the Z-axis direction, which is the radial direction of the tunnel, and swingably around the X-axis, the Y-axis, and the Z-axis, the holding lining member is a tunnel. Detecting displacements in the X-axis, Y-axis, and Z-axis directions at the joining point when joining to an existing lining member assembled on the inner wall surface, and detecting displacements around the X-axis, Y-axis, and Z-axis. Then, the position vector and the attitude vector are calculated based on the displacement from the joint point, and the position deviation and the attitude deviation are calculated based on the preset position target value vector and attitude target value vector and the position vector and attitude vector. Calculated, those characterized in that the retaining lining member on the basis of the position deviation and attitude deviation from 該接 consent was to position control and the attitude control about said junction.

According to a fifth aspect of the present invention, there is provided a method for assembling a lining member, wherein the lining member carried into the tunnel is held, and the holding lining member is attached to the inner wall surface of the tunnel. At the time of joining to a member, positional displacements in the X-axis direction which is the longitudinal direction of the tunnel, the Y-axis direction which is the circumferential direction of the tunnel, and the Z-axis direction which is the radial direction of the tunnel are detected at the joining point and the X-axis and The posture displacement around the Y-axis and the Z-axis is detected, the position deviation and the posture deviation are calculated based on the preset position target displacement and posture target displacement, and the position displacement and posture displacement, and the position deviation and the posture deviation are calculated. Based on the above, the holding lining member is assembled at a predetermined position with respect to the existing lining member while controlling the position and the posture of the holding lining member about the joint point.

Further, in the erector control device according to the invention of claim 6, the holding means for holding the lining member carried into the tunnel and the holding lining member are moved in the X-axis direction which is the longitudinal direction of the tunnel. X-axis moving means, Y-axis moving means for moving the holding lining member in the Y-axis direction which is the circumferential direction of the tunnel, and Z holding the holding lining member in the radial direction of the tunnel.
Z-axis moving means for axially moving, X-axis rocking means for rocking the holding lining member around the X-axis, and Y-axis rocking for rocking the holding lining member around the Y-axis. Means and
Z-axis swinging means for swinging the holding lining member around the Z axis, and first displacement detecting means for displacing the holding lining member in the X-axis, Y-axis, and Z-axis directions at a predetermined reference point of the holding lining member. Displacement detecting means, second displacement detecting means for detecting displacement around the X-axis, Y-axis and Z-axis at the reference point, and displacement of the reference point detected by the first and second displacement detecting means. The position / orientation calculating means for calculating the position vector and the attitude vector based on the above, the step distance detecting means for detecting the step and distance between the holding lining member and the existing lining member, and the step distance detecting means Position / orientation correction amount calculation means for calculating a correction amount in the X-axis, Y-axis, and Z-axis directions and a correction amount around the X-axis, Y-axis, and Z-axis based on a step and a distance, and a preset position target The position and orientation corrections are added to the value vector and the orientation target value vector. Correction adding means for adding the position correction amount and the attitude correction amount calculated by the amount calculating means, the position target value vector and the attitude target value vector to which the correction amount is added by the correction adding means, and the position and attitude calculating means A position / orientation deviation calculating means for calculating the position deviation and the attitude deviation based on the actual position vector and the attitude vector;
The present invention is characterized by comprising control means for driving and controlling the moving means and the swinging means on the basis of the position deviation and the attitude deviation calculated by the position / orientation deviation calculating means.

Further, in the erector control device according to the invention of claim 7, there is provided an offset setting means for setting an offset amount according to a desired assembling position of the holding lining member, and the position / orientation correction amount computing means is provided with the offset setting means. A correction amount in the X-axis, Y-axis, and Z-axis directions and a correction amount around the X-axis, Y-axis, and Z-axis based on the step and distance detected by the step distance detecting unit and the offset amount set by the offset setting unit. It is characterized by calculating.

Further, in the erector control device according to the invention of claim 8, the step distance detecting means has a photographing means for photographing an edge of the holding lining member and the existing lining member facing each other. A range inside / outside determination means for determining whether each edge of the holding lining member and the existing lining member is within the range based on the captured image of the image, and the correction based on the determination result of the range inside / outside determination means. An out-of-range correction unit for correcting the position correction amount and the posture correction amount output to the adding unit is provided.

Further, in the erector control device according to the invention of claim 9, there is provided a manual operation device for manually setting the position target value vector and the attitude target value vector input to the position / orientation deviation calculating means and the position of the reference point. It is characterized by that.

According to a tenth aspect of the present invention, there is provided a tunnel excavating machine, a tubular excavating machine main body, a cutter head rotatably mounted on a front portion of the excavating machine main body, and the cutter head driven to rotate. A cutter head driving means, a propulsion jack for advancing the excavator main body, an X-axis direction which is a longitudinal direction of the tunnel by holding a lining member mounted on a rear portion of the excavator main body and carried into the tunnel. An erector device that is movable in the Y-axis direction that is the circumferential direction of the tunnel and the Z-axis direction that is the radial direction of the tunnel and that is swingably supported around the X-axis, the Y-axis, and the Z-axis, and the holding lining member. A first detecting displacement in the X-axis, Y-axis, and Z-axis directions at a joining point when joining to an existing lining member assembled on the inner wall surface of the tunnel
Displacement detecting means, second displacement detecting means for detecting displacements around the X-axis, Y-axis, and Z-axis at the joining point, and the joining point detected by the first and second displacement detecting means. A target point position / orientation calculating means for calculating the position vector and the attitude vector of the joint point based on the displacement, a preset position target value vector and a posture target value vector, and an actual position calculated by the target point position / orientation calculator. A position / orientation deviation calculating means for calculating a position deviation and an attitude deviation based on the position vector and the attitude vector, and each moving means based on the position deviation and the attitude deviation from the joint point calculated by the position / orientation deviation calculating means. And a control means for driving and controlling each of the rocking means, and an earth discharging means for discharging the excavated earth and sand generated by the excavation of the cutter head to the outside. That.

Further, in the tunnel excavator according to the invention of claim 11, a cylindrical excavator main body, a cutter head rotatably mounted on a front portion of the excavator main body, and the cutter head are driven to rotate. A cutter head driving means, a propulsion jack for advancing the excavator main body, an X-axis direction which is a longitudinal direction of the tunnel by holding a lining member mounted on a rear portion of the excavator main body and carried into the tunnel. An erector device that is movable in the Y-axis direction that is the circumferential direction of the tunnel and the Z-axis direction that is the radial direction of the tunnel and that is swingably supported around the X-axis, the Y-axis, and the Z-axis, and the holding lining member. A first detecting displacement in the X-axis, Y-axis, and Z-axis directions at a predetermined reference point
Displacement detection means, second displacement detection means for detecting displacements around the X-axis, Y-axis, and Z-axis at the reference point, and the reference points detected by the first and second displacement detection means. A position / orientation calculating means for calculating a position vector and an attitude vector based on displacement, a step distance detecting means for detecting a step and a distance between the holding lining member and the existing lining member, and the step distance detecting means A position / orientation correction amount calculation means for calculating a correction amount in the X-axis, Y-axis, and Z-axis directions and a correction amount around the X-axis, Y-axis, and Z-axis based on the level difference and the distance, and a preset position. Correction addition means for adding the position correction amount and the posture correction amount calculated by the position / orientation correction amount calculation means to the target value vector and the posture target value vector,
Position and orientation for calculating the position deviation and orientation deviation based on the position target value vector and orientation target value vector to which the correction amount has been added by the correction addition means and the actual position vector and orientation vector calculated by the position and orientation calculation means. Deviation calculating means, control means for driving and controlling the moving means and the rocking means based on the position deviation and the attitude deviation calculated by the position and attitude deviation calculating means, and excavated earth and sand generated by excavating the cutter head. It is characterized in that it is provided with a soil discharging means for discharging the.

[0024]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 is a control block of an erector control device according to the first embodiment of the present invention, FIG. 2 is a schematic showing a method of segment positioning control by the erector control device of the present embodiment, and FIG. Schematic of the elector device, FIG.
FIG. 5 shows a front view of the erector device, and FIG. 5 shows a side view of the erector device.

In the shield excavator of this embodiment, the excavator main body has a cylindrical shape, a disk-shaped cutter head is rotatably mounted on the front portion, and can be rotationally driven by a drive motor, and a front portion is provided. Many cutter bits are installed. Then, a plurality of shield jacks are arranged side by side along the circumferential direction at the rear portion of the excavator body, and an erector device that attaches a segment as a lining member to the inner wall surface of the existing tunnel is mounted.

Here, the elector device will be described. As shown in FIGS. 3 to 5, the elector device 11 is
The erector device 11 is provided at the rear of the excavator body 12, and the erector device 11 is moved forward by the shield jack 13 and the existing segment S (A1, A in FIG. 3).
2, A3, B1, B2, K. ) Is to assemble a new segment in the space between.

That is, a rotary ring 15 is rotatably supported on a support ring 14 provided at the rear of the excavator body 12, and the rotary ring 15 can be rotated by a plurality of hydraulic motors (Y-axis moving means) 16. Has become. An elevating table 17 is supported on the outer peripheral portion of the rotating ring 15 by a guide rod 18 so as to be vertically movable along the Z axis direction which is the radial direction of the existing tunnel, and can be vertically moved by an elevating jack (Z axis moving means) 19. ing. And this lift 17
A control device 20 and a hydraulic unit 21 are installed on the left and right sides of the counter, and a counterweight 22 is mounted on the upper part.

A first moving body 23 is movably supported on the elevating table 17 along the X-axis direction which is the longitudinal direction of the existing tunnel, and can be moved by a moving jack (X-axis moving means) 24. . The first moving body 23 has a second moving body 25 along the Y-axis direction which is the circumferential direction of the existing tunnel.
Is movably supported, and a moving jack (Y-axis moving means)
It is movable by 26. This second moving body 2
A rotary cylinder 27 is rotatably supported on the rotary cylinder 5.
A segment support 28 as a support member is swingably supported on the lower part of the unit 7. A pair of left and right yawing jacks (Z-axis swinging means) 29 for swinging the segment support 28 around the Z-axis is provided between the second moving body 25 and the rotary cylinder 27. Further, a pair of left and right rolling jacks (X-axis swinging means) 30 for swinging the segment support 28 around the X-axis is provided between the rotary barrel 27 and the segment support 28, and the rotary barrel 28 and the segment support 28. A pair of left and right pitching jacks (Y-axis swinging means) 31 for swinging the segment support 28 around the Y-axis are provided between and.

A segment holding mechanism 32 for holding the segment carried into the existing tunnel is attached to the segment support 28. The segment holding mechanism 32 includes a bolt 33 fixed to the center of the segment.
Is held by the locking portion 34, and the holding jack 35 is contracted to press the segment against the segment support 28, whereby the segment can be held. Further, a bolt fastening machine 36 for connecting and fixing the segments to each other is mounted on the segment support 28.

Therefore, when the holding mechanism 32 holds the segment, the elevating jack 19 can be expanded and contracted to move the holding segment in the Z-axis direction, and the movable jack 24 can be expanded and contracted to move the holding segment in the X-axis direction. When 26 is expanded or contracted, the holding segment can be moved in the Y-axis direction. Further, when the rolling jack 30 is expanded or contracted, the holding segment can be swung around the X axis, when the pitching jack 31 is expanded or contracted, the holding segment can be swung around the Y axis, and when the yawing jack 29 is expanded or swung, the holding segment is swung around the Z axis. Can move.

Now, the control device and method for the above-mentioned erector device 11 will be described. As shown in FIGS. 1 and 2, the erector control device includes displacement detectors (first displacement detection means, second displacement detection means) 101 and 102, a hydraulic jack displacement / rotation angle converter 103, and Point / posture calculator 104, position / posture deviation calculator 105, reference coordinate / segment coordinate velocity converter 106, displacement control gain 107, segment coordinate / erector movement axis velocity converter 108, rotation axis velocity / hydraulic pressure It is composed of a jack speed converter 109 and a control device 110.

Therefore, when the segment holding mechanism 32 holds the segment S carried into the tunnel, the erector device 11 moves to a predetermined position and assembles it. At this time, the displacement detector 101 installs the holding segment S into the existing segment. When joining to S, the displacements X _C , Y _C and Z _C of the end points (joint points) Q that match the end points R of the existing segment S are detected from the strokes of the jacks 19, 24 and 26. Further, the displacement detector 102 detects the displacement of the end point Q from each jack 2
The strokes of 9, 30, and 31 are detected, and the converter 103 converts the detected values to obtain the rolling angle θ _XC , the pitching angle θ _YC , and the yawing angle θ _ZC .

The point of interest position / orientation calculator 104 changes the end point Q.
Rank X_C, Y_C, Z_CAnd rolling angle θ_XC, Pitching angle
θ_YC, Yawing angle θ_ZCBased on and_CY_CZ_C
The position of the end point Q of the holding segment S viewed from the reference coordinate system
Cuttle P (P_X, P_Y, P_Z) And the attitude vector N (N
_X, N_Y, N_Z), O (O_X, O_Y, O_Z), A
(A _X, A_Y, A_Z) Is calculated. Here, O-
X_CY_CZ_CX seen from the reference coordinate system_sgDirection is N
(N_X, N_Y, N_Z), Y_sgDirection is O (O_X，
O_Y, O_Z), Z_sgDirection is A (A_X, A_Y, A
_Z).

Then, the position / orientation deviation calculator 105
OX_CY_CZ_CHolding segment S viewed from the reference coordinate system
Position vector P and posture vector N, O, A of the end point Q of the
And a preset position target value vector P_rAnd posture eyes
Threshold vector N_r, O_r, A _rFrom the end point Q based on
Position deviation ΔP_cAnd attitude deviation ΔN_c, ΔO_c, ΔA _c
Is calculated. This position deviation ΔP_cAnd attitude deviation ΔN_c，
ΔO_c, ΔA_cIs the standard coordinate / segment coordinate velocity converter
In 106, the segment coordinate system Q-X_sgY_sgZ_sgCoordinate
Position deviation ΔP seen from the system_sgAnd attitude deviation ΔN_sg, Δ
O_sg, ΔA_sgConvert to. Furthermore, this position deviation ΔP_sgOver
And posture deviation ΔN_sg, ΔO_sg, ΔA_sgDisplacement control gain 10
Multiply by 7 and Q-X_sgY_sgZ_sgPosition correction speed viewed from the coordinate system
Degree V_xsg, V_{y sg}, V_zsgAnd posture correction speed W_xsg, W
_ysg, W_zsgConvert to.

Further, the position correction speeds V _xsg , V _ysg ,
V _zsg is a segment coordinate / erector movement axis speed converter 108 which is a Jacobian inverse matrix, and is converted into an X-axis correction speed V _x , a Y-axis correction speed V _y , and a Z-axis correction speed V _z, and also an attitude correction speed W _xsg. , W _ysg , W _{zs g} are converted into a rolling axis correction speed W _x , a pitching axis correction speed W _y , and a yawing axis correction speed W _z . Then, the rolling axis correction speed W _x , the pitching axis correction speed W _y , and the yawing axis correction speed W _z are calculated by the rotary shaft speed / hydraulic jack speed converter 109 by the expansion / contraction speed W _xj of the rolling jack 29 and the expansion / contraction of the pitching jack 30. Speed W _yj and yawing jack 3
Convert to the expansion / contraction speed W _{zj of} 1.

Therefore, the controller 110 sets the correction speeds V _x , V _y , V _z for the X, Y, Z axes and the expansion / contraction speeds W _xj , W _yj , W _zj for the rolling axis, pitching axis, and yawing axis, respectively. Based on the hydraulic jacks 19 and 2 of the erector device 11,
4, 26, 29, 30, 31 are operated to perform position control and attitude control of the holding segment S held by the holding mechanism 29 with the position of the end point Q as the center. Therefore, the end point Q of the holding segment S can be easily matched with the end point R of the existing segment S _s , and the work efficiency can be improved.

FIG. 6 shows a control block of the erector control device according to the second embodiment of the present invention.

The erector control device of each of the embodiments described in the second embodiment has the same basic construction of the shield excavator and the erector device as that of the first embodiment described above. Members having the same functions as those described in the embodiments are designated by the same reference numerals, and overlapping description will be omitted. Further, the configuration of the erector control device according to the present embodiment has a familiar function added to the configuration of the first embodiment described above, and other configurations are the same, and therefore, the same reference numerals are given and redundant description is given. Is omitted.

As shown in FIG. 6, the control device for the erector device 11 according to the present embodiment comprises displacement detectors 101, 102, a hydraulic jack displacement / rotation angle converter 103, a target point position / orientation calculator 104, Position / orientation deviation calculator 105, reference coordinate / segment coordinate speed converter 106, displacement control gain 107, segment coordinate / erector moving axis speed converter 108, rotating axis speed / hydraulic jack speed converter 109, and control Device 110
, Pressure detector 111, and eclectic moving axial force torque converter 1
12, switch 113, memory 114, subtractor 115, segment coordinate force torque converter 116, and force control gain 117.
And an adder 118.

Therefore, the holding mechanism 32 of the elector device 11
When the segment S holds the segment S, the displacement detector 101 detects the displacement X _C , Y _C , Z _C of the end point Q of the holding segment S from the strokes of the jacks 19, 24 and 26, and the displacement detector 102 detects the displacement of the end point Q. The displacement is detected from each of the jacks 29, 30, 31 and the converter 103 converts the displacement into a rolling angle θ _XC , a pitching angle θ _YC and a yawing angle θ _ZC . The target point position / orientation calculator 104 determines the O-X _C Y _C Z _C reference coordinates based on the displacements X _C , Y _C and Z _C of the end point Q and the rolling angle θ _XC , the pitching angle θ _YC and the yawing angle θ _ZC. The position vector P and the posture vectors N, O, A from the end point Q of the holding segment S viewed from the system are calculated.

The position / orientation deviation calculator 105 holds
Position vector P of end point Q of segment S and posture vector
Le N, O, A and position target value vector P_rAnd posture target
Value vector N_r, O_r, A_rPosition deviation ΔP based on
_cAnd attitude deviation ΔN_c, ΔO _c, ΔA_cIs calculated. Continued
Position in the standard coordinate / segment coordinate velocity converter 106
Deviation ΔP_cAnd attitude deviation ΔN_c, ΔO_c, ΔA_cSeg
Ment coordinate system Q-X_sgY_sgZ_sgPosition from the coordinate system
Positional deviation ΔP_sgAnd attitude deviation ΔN_sg, ΔO_sg, ΔA_sgStrange
Then, the displacement control gain 107 is multiplied to obtain Q-X._sgY_sgZ_sgseat
Position correction speed seen from the standard system V_xsg, V_ysg, V_zsgas well as
Posture correction speed W_xsg, W_ysg, W_zsgConvert to.

The pressure detector 111 includes the jacks 19,
24, 26, 29, 30, 31 pressure (X axis and Y axis and Z
Axial pressure and rocking direction pressure in the shaft) are detected, and the erector moving axial force torque converter 112 uses the point P as a base point for X.
It is converted into force torque in the axial direction and the swinging direction in the axis, Y axis, and Z axis. On the other hand, when the rough positioning of the holding segment S held by the holding mechanism 32 of the erector device 11 is completed, the switch 53 is momentarily turned ON, and the force torque (holding force of each jack 19, 24, 26, 29, 30, 31 at this point is The weight including the segment S) is stored in the memory 114. When the holding segment S is roughly positioned, the position and orientation of the holding segment S change little, so it is assumed that the change in the force torque due to this change is also small. When the difference between the force torque of each of the jacks 19, 24, 26, 29, 30, 31 output from 112 and the force torque stored in the memory 114 is obtained, this is the external force ΔF acting on the holding segment S.

Then, the segment coordinate force torque converter 11
6 is an external force ΔF converted into a force torque ΔF _{sg as} seen from the segment coordinate system Q-X _sg Y _sg Z _sg coordinate system, and the force control gain 57 is used.
Multiplying by Q-X _sg Y _sg Z _sg Force correction speed V seen from the coordinate system
_Fxsg , V _Fysg , V _Fzsg and torque correction speed W _Txsg , W
_{Convert to Tysg} and W _Tzsg . Then, the adder 118 adds the output of the force control gain 117 to the output of the displacement control gain 107 to obtain the position correction speeds V _xsg + V _Fxsg and V _ysg + V.
_Fysg , V _zsg + V _Fzsg and posture correction speed W _xsg +
W _Txsg , W _ysg + W _Tysg , W _zsg + W _Tzsg are calculated.

After that, the segment coordinate / elector movement axis velocity converter 108 determines the position correction velocity V _{x sg} + V _Fxsg , V
_ysg + V _Fysg , V _zsg + V _Fzsg and attitude correction speed W _xsg
+ W _{Txs g} , W _ysg + W _Tysg , W _zsg + W _Tzsg , X-axis correction speed V _x , Y-axis correction speed V _y , Z-axis correction speed V _z, and rolling axis correction speed W _x , pitching axis correction speed W _y , The yaw axis correction speed W _z is converted into the expansion / contraction speed W _xj of the rolling jack 29, the expansion / contraction speed W _yj of the pitching jack 30 and the expansion / contraction speed W _zj of the yawing jack 31 by the rotary axis speed / hydraulic jack speed converter 109. Convert.

Therefore, the controller 110 sets the correction speeds V _x , V _y , V _z of the X, Y, Z axes and the expansion / contraction speeds W _xj , W _yj , W _zj of the rolling axis, the pitching axis, and the yawing axis, respectively. Based on the hydraulic jacks 19 and 2 of the erector device 11,
4, 26, 19, 30, 31 are operated to perform position control and attitude control of the holding segment S with the position of the end point Q as the center. In this case, as shown in FIG.
When the holding segment S moves to Y _sg and comes into contact with the existing segment S when assembling, the external force in the −Y _sg direction acts on the holding segment S. Since the force control gain 117 described above is set to be positive, V _Fysg <0, and the moving speed of the holding segment S in the Y _sg direction decreases. This is because the holding segment S contacts the existing segment S _s when the existing segment S _s is assembled before (−Y _sg ) the position target value given by the position target value vector P _r. The operation will be realized. Therefore, when assembling the holding segment S with respect to the existing segment S _s , it becomes possible to absorb a minute positional deviation equal to or lower than the accuracy of the visual sensor, and the assembling time can be shortened. The force control gain 11
The larger the value of 7 is set, the larger V _Fysg becomes.

Further, in each of the above-described embodiments, conversion of the point-of-interest position calculator 104, the reference coordinate / segment coordinate velocity converter 106, the segment coordinate / erector movement axis velocity converter 108, and the segment coordinate force torque converter 115. By exchanging the mechanism and dimension data of the erector device 11 in the data, the serial link configuration, the parallel link configuration,
Regardless of the serial / parallel link mixed configuration, it is possible to support erector devices having various mechanisms.

In each of the above-described embodiments, when the holding segment S held by the holding mechanism 32 is assembled to the existing segment S, the holding segment S is moved in the Y _sg direction so that the end point Q of the existing segment S becomes the existing segment S. _The position and attitude were controlled so as to match the end point R of _s , but the position and attitude were adjusted so that the holding segment S was moved in the −Y _sg direction so that the end point T of the existing segment S matched the end point of the corresponding existing segment S. You may control.

FIG. 7 is a control block of the erector control device according to the third embodiment of the present invention, FIG. 8 is a control block showing the configuration of a position / orientation correction amount calculator, FIG. 9 is a schematic view showing a sensor head, and FIG. 1 is a plan view of a segment support showing the mounting position of the head, FIG. 11 is a schematic view showing a method of calculating a step and a distance between a holding segment and an existing segment, and FIG.
2 shows the outline of the assembled state of the segments.

In this embodiment, as shown in FIG.
1 by joining two segments in the circumferential direction of the tunnel
It is possible to assemble two ring segments. In this case, the respective segments are assembled in order from the bottom, and the A1 segment is assembled at the bottom, the A2 segment and the A3 segment are arranged at both sides thereof, the B1 segment and the B2 segment are assembled at the top thereof, and the K segment is assembled at the top. The shape of each segment is different, and in particular, the K segment has a trapezoidal shape in plan view and is designed to be assembled while moving from the front to the rear of the tunnel. The shape matches the K segment. The strength of the tunnel is prevented from deteriorating by displacing the joint in the circumferential direction by a predetermined distance between adjacent ring segments.

First, the structure of the sensor head in the erector control device for driving and controlling the erector device 11 will be described. As shown in FIGS. 9 and 10, five brackets 41 to 45 are extended outward from the outer peripheral portion of the segment support 28, and the first to fifth sensor heads 46 to 50 are attached to the brackets 41 to 45, respectively. ing. The first sensor head 46 is mounted on a bracket 41 extending from the center of the segment support 28 to the rear in the excavation direction, and an ultrasonic sensor 51 for measuring the height to the segment and a joint between the segments or the surface of the segment. A CCD camera 61 for photographing the marker attached to the ultrasonic sensor 51 and the CCD camera 61 constitute a circumferential position detecting means. In addition, this first
The sensor head 46 is located at the center of the segment support 28 in the length of the tunnel circumferential direction.

Further, the second to fourth sensor heads 47 to 50
Have substantially the same structure, and the second and third sensor heads 47, 48 are mounted on brackets 42, 43 extending from both corners of the segment support 28 rearward in the excavation direction to the holding segment. Ultrasonic sensors 52a and 53a for measuring the height of the holding segment, ultrasonic sensors 52b and 53b for measuring the height to the existing segment adjacent to the holding segment in the tunnel longitudinal direction, and the edges of the holding segment and the existing segment. CCD camera 6
2, 63, and the ultrasonic sensor 52a,
52b and ultrasonic sensors 53a and 53b constitute height measuring means, respectively, and CCD cameras 62 and 63 constitute photographing means.

Furthermore, the third and fourth sensor heads 49, 5
0 is attached to brackets 44 and 45 extending from both sides of the segment support 28 in the tunnel circumferential direction, respectively, and ultrasonic sensors 54a and 55a for measuring the height to the holding segment, the holding segment and the tunnel circumferential direction. The ultrasonic sensors 54b and 55b for measuring the height up to the existing segment adjacent thereto and the CCD cameras 64 and 65 for photographing the edges of the holding segment and the existing segment, and ultrasonic sensors 54a and 54b. The ultrasonic sensors 55a and 55b constitute height measuring means, and the CCD cameras 64 and 65 constitute photographing means. The fourth and fifth sensor heads 49, 50 are located at the center of the segment support 28 in the length of the tunnel longitudinal direction.

Further, the second and third sensor heads 47, 4
Branch brackets 42a and 43a are extended in the tunnel circumferential direction on the brackets 42 and 43, respectively, and ultrasonic sensors 52a and 5 are provided on the branch brackets 42a and 43a.
Ultrasonic sensors 52c and 53c for measuring the height to the existing segment adjacent to the holding segment in the tunnel circumferential direction are mounted so as to form a pair with 2b.

The sensor heads 46 to 50 are connected to the arithmetic processing unit 70, and the ultrasonic sensors 51, 52a,
The detection results of 52b ... 55a, 55b and the captured images of the CCD cameras 61, 62, ... 65 are input to the arithmetic processing unit 70. In this arithmetic processing unit 70, the step and distance between the existing segment and the holding segment are calculated based on each detection result and the captured image, and the calculation result is described above in the control unit 20.
This control device 20 drives and controls the respective jacks 19, 24, 26, 29, 30, 31 based on the step and the distance, and positions the held segment at a position where it is properly closely attached to the existing segment. An operation management device 71 is connected to the control device 20, and an operator can use the operation management device 71 to input various data.

Here, a method of calculating the step and the distance between the existing segment and the holding segment by the arithmetic processing unit 70 will be described. Each ultrasonic sensor 51, 52a, 52b
... 55a and 55b detect the distance from the time difference between the emission and the reflection of the ultrasonic wave toward the holding segment or the existing segment. On the other hand, CCD cameras 61 and 6
2 ... 65 detects the opposing edges of the holding segment and the existing segment from the captured image captured.

That is, as shown in FIG. 9 and FIG. 11, for example, in the case of the fifth sensor head 50, the optical axis deviates from the camera photographing center O of the CCD camera 65 to the existing segment side, and the angle of view thereof changes. 2θ ₀ and the number of image memory pixels is 2w ₀ , while the ultrasonic sensors 55a and 55 are
It is assumed that the height difference between the origin of b and the camera photographing center O of the CCD camera 65 is L ₀ (h ₀ ).

With such a setting, first, the distance L5 to the holding segment by each of the ultrasonic sensors 55a and 55b is set.
1 (h ₁ ) is measured, and the distance L5-2 (h ₂ ) to the existing segment is measured. Further, the CCD camera 65 photographs the opposite edges of the holding segment and the existing segment, and the gap Δi on the image is detected as the number of pixels. Then, based on this gap Δi, C
The angle of view θ ₁ from the optical axis of the CD camera 65 (center of the image memory) to the edge of the holding segment and the number of pixels w ₁ are obtained, and the edge of the existing segment from the optical axis of the CCD camera 65 (center of the image memory). The angle of view θ ₂ and the number of pixels w ₂ are calculated.

From each data thus obtained, the step d5s between the holding segment and the existing segment and the distance (gap) C5 between the holding segment and the existing segment can be calculated using the following equation (1).

[Equation 1]

Here, tan θ _i = (w _i / w ₀ ) tan θ ₀
Therefore, when this is substituted into the above equation (1), the following equation (2) is obtained. Note that tan θ ₀ , tan φ, and h ₀ are unknowns and are determined by calibration.

[Equation 2]

Hereinafter, a method of positioning a segment by each of the sensor heads 46 to 50 configured as described above will be described, but here, only the A2 segment will be described.

As shown in FIG. 9, first, in the tunnel, A
When the two segments are loaded and held by the segment holding mechanism 32 of the erector device 11, the hydraulic motor 16 and the jacks 19, 24, 26 are driven to perform rough positioning of the A2 segment (the position shown in FIG. 1). ). Next, the A2 segment is precisely positioned. The sensor heads used here are only the second, third and fifth sensor heads 47, 48 and 50.
7, 48, 50 are operated to activate the ultrasonic sensors 52a, 52
b, 53a, 53b, 55a, 55b detection result and CC
The processing images of the captured images of the D cameras 62, 63 and 65
Enter 0.

That is, the second and third sensor heads 47, 48
Each ultrasonic sensor 52a, 53a of the holding segment (A
2 segments) height L2-1, L3-1 is detected, and each ultrasonic sensor 52b, 53b is height L2-2 of the existing segment (A1 segment, A2 segment).
L3-2 is detected, and the CCD cameras 62 and 63 detect the holding segment (A1 segment) and the existing segment (A1 segment).
Take the edge of 1 segment and A2 segment),
Input to the arithmetic processing unit 70. On the other hand, the ultrasonic sensors 53a and 55a of the third and fifth sensor heads 48 and 50 detect the height L5-1 of the holding segment (A2 segment), and the ultrasonic sensors 53c and 55b are adjacent to each other in the circumferential direction. Height of segment (A1 segment) L5-2
Is detected, the CCD camera 65 photographs the edges of the holding segment (A2 segment) and the existing segment (A1 segment), and inputs them to the arithmetic processing unit 70. In the arithmetic processing unit 70, by the arithmetic method described above,
Step d between the existing segment and the holding segment at each position
2s, d3s, d5s and distances C2, C3, C5 are calculated, and the control device 20 drives and controls the elector device 11 based on the steps d2s, d3s, d5s and the distances C2, C3, C5, and holds the held A2 segment. It is positioned at a predetermined position and bolted by the bolt fastening machine 36.

In the above embodiment, the steps d2s and d3 at the positions of the existing segment and the holding segment are different.
Although the holding segment was moved so that s, d5s and the distances C2, C3, C5 were predetermined values, a caulking groove was formed at the edge of the segment because the sealant was inserted at the joint between the segments. Since the edges do not completely adhere to each other, the holding segment is moved until the steps d2s, d3s, d5s and the distances C2, C3, C5 reach predetermined values.

Further, in the above-described embodiment, the existing segment is positioned at a position displaced by 1/2 in the circumferential direction with respect to the holding segment. However, considering the strength of the ring segment, it is displaced by 1/3 or 1/4. Is desirable.
In this case, it is advisable to attach the marker M to the existing segment in advance and allow the CCD camera 61 to detect the marker M.

Similarly, the A1 segment, A3 segment, B1 segment, B2 segment, and K segment are precisely positioned, respectively, but the sensor head 4 to be used
Operation is the same as described above, with the only difference being 6-50. When the K segment is assembled in this way, 6
The ring segment is assembled by one segment. By repeatedly assembling the ring segments by repeating this, a tunnel of a predetermined length can be constructed.

Now, the control device and method of the above-described erector device 11 will be described. As shown in FIG. 7 and FIG. 8, the erector control device uses the displacement detectors 101, 102.
A hydraulic jack displacement / rotation angle converter 103, a target point position / orientation calculator 104, a position / orientation deviation calculator 105, a reference coordinate / segment coordinate velocity converter 106, a displacement control gain 107, a segment coordinate / Electa moving axis speed converter 1
08, rotary axis speed / hydraulic jack speed converter 109, control device 110, position / orientation correction amount calculator 121, positioning control gain 122, attitude converter 123, and integrators 124 and 125,
It is composed of adders 126 and 127.

Therefore, the holding mechanism 32 of the elector device 11
When the segment S holds the segment S, the displacement detector 101 detects the displacement X _C , Y _C , Z _C of the end point Q of the holding segment S from the strokes of the jacks 19, 24 and 26, and the displacement detector 102 detects the displacement of the end point Q. The displacement is detected from each of the jacks 29, 30, 31 and the converter 103 converts the displacement into a rolling angle θ _XC , a pitching angle θ _YC and a yawing angle θ _ZC . The target point position / orientation calculator 104 determines the O-X _C Y _C Z _C reference coordinates based on the displacements X _C , Y _C and Z _C of the end point Q and the rolling angle θ _XC , the pitching angle θ _YC and the yawing angle θ _ZC. The position vector P and the posture vectors N, O, A from the end point Q of the holding segment S viewed from the system are calculated.

On the other hand, the position / orientation correction amount calculator 121 uses the detection values C2 (CCD camera 62), C3 (CCD camera 63), between the holding segment and the existing segment, based on the detection results of the sensor heads 46 to 50. C4 (CCD camera 64) and C5 (CCD camera 65), and distance detection values L1 (ultrasonic sensor 51) and L2-1 (ultrasonic sensor 5)
2a), L2-2 (ultrasonic sensor 52b), L2-3
(Ultrasonic sensor 52c), L3-1 (Ultrasonic sensor 53
a), L3-2 (ultrasonic sensor 53b), L3-3 (ultrasonic sensor 53c), L4-1 (ultrasonic sensor 54)
a), L4-2 (ultrasonic sensor 54b), L5-1 (ultrasonic sensor 55a), L5-2 (ultrasonic sensor 55b)
And the step d2r between the holding segment and the existing segment
(Ultrasonic sensor 52a, 52b), d2s (Ultrasonic sensor 52b, 52c), d3r (Ultrasonic sensor 53a, 5)
3b), d3s (ultrasonic sensors 53b, 53c), d4
s (ultrasonic sensors 54a and 54b) and d5s (ultrasonic sensors 55a and 55b) are input. Then, the type A of the segment input from the assembly segment determiner 130
1, A2, A3, B1, B2, K according to the respective axis XYZ correction amounts, the rotation correction amounts θ _xsg , θ _ysg , θ _zsg in the segment coordinate system and the translation correction amounts X _sg , Y _sg in the reference coordinate system. , Z _sg is calculated.

Then, the positioning displacement control gain 122 is multiplied to adjust the gain, and the posture converter 123 adjusts the rotation correction amount θ.
_{After converting xsg} , θ _ysg , and θ _zsg from the segment coordinate system to the reference coordinate system, the integrator 124 integrates the correction amount to obtain a movement correction amount (posture correction amount vector ΔNr, ΔOr, ΔAr), and translation correction. The quantities X _sg , Y _sg , and Z _sg are integrated by the integrator 125 to obtain a position correction amount (position correction amount vector ΔPr). The adder 126 and 127, the position target value vector P _r and orientation target vector N _r, O _r, respectively A _r position correction amount vector ΔPr and orientation compensation amount vector .DELTA.Nr,
ΔOr and ΔAr are added to obtain the final position target value vector P _r and attitude target value vector N _r , O _r , A _r .

The position / orientation deviation calculator 105 is a holding segment
The position vector P of the end point Q of the toe S and the posture vector N,
O, A and position target value vector P_rAnd posture target value
Toll N _r, O_r, A_rPosition deviation ΔP based on_cas well as
Attitude deviation ΔN_c, ΔO_c, ΔA _cIs calculated. continue,
Standard coordinate / segment coordinate Velocity converter 106 position deviation Δ
P_cAnd attitude deviation ΔN_c, ΔO_c, ΔA_cThe segment
Coordinate system Q-X_sgY _sgZ_sgPosition deviation seen from the coordinate system
ΔP_sgAnd attitude deviation ΔN_sg, ΔO_sg, ΔA_sgConverted to
Multiply the displacement control gain 107 to Q-X_sgY_sgZ_sgCoordinate system
Position correction speed V_xsg, V_ysg, V_zsgAnd posture modification
Positive speed W_xsg, W_ysg, W_zsgConvert to.

Further, the position correction speeds V _xsg , V _ysg ,
V _zsg is a segment coordinate / erector movement axis speed converter 108 which is a Jacobian inverse matrix, and is converted into an X-axis correction speed V _x , a Y-axis correction speed V _y , and a Z-axis correction speed V _z, and also an attitude correction speed W _xsg. , W _ysg , W _{zs g} are converted into a rolling axis correction speed W _x , a pitching axis correction speed W _y , and a yawing axis correction speed W _z . Then, the rolling axis correction speed W _x , the pitching axis correction speed W _y , and the yawing axis correction speed W _z are calculated by the rotary shaft speed / hydraulic jack speed converter 109 by the expansion / contraction speed W _xj of the rolling jack 29 and the expansion / contraction of the pitching jack 30. Speed W _yj and yawing jack 3
Convert to the expansion / contraction speed W _{zj of} 1.

Therefore, the controller 110 sets the correction speeds V _x , V _y , V _z of the X, Y, Z axes and the expansion / contraction speeds W _xj , W _yj , W _zj of the rolling axis, the pitching axis, and the yawing axis, respectively. Based on the hydraulic jacks 19 and 2 of the erector device 11,
4, 26, 29, 30, 31 are operated to perform position control and attitude control of the holding segment S held by the holding mechanism 32 with the position of the end point Q as the center. Therefore, the end point Q of the holding segment S can be easily matched with the end point R of the existing segment S _s , and the work efficiency can be improved.

An operation selector 128 is provided on the input side of the control device 110, and the manual operation device 12 is connected to the operation selector 128.
9 is switchably connected. When the automatic operation of the erector device 11 is not necessary or when a problem occurs in the automatic operation, the manual operation device 129 is switched to the manual operation.
Can be operated.

FIG. 13 shows a control block of the erector controller according to the fourth embodiment of the present invention, and FIG. 14 shows a control block showing the configuration of the position / orientation correction amount calculator.

The erector control device of this embodiment is shown in FIG.
As shown in FIG. 14, the displacement detectors 101 and 102, the hydraulic jack displacement / rotation angle converter 103, the target point position / orientation calculator 104, the position / orientation deviation calculator 105, and the reference coordinate / segment coordinate velocity are shown. A converter 106, a displacement control gain 107,
Segment coordinate / erector movement axis speed converter 108, rotation axis speed / hydraulic jack speed converter 109, and control device 110
A position / orientation offset amount setter 131, a seal thickness adder 132, a position / orientation correction amount calculator 121, a positioning control gain 122, a posture converter 123, integrators 124 and 125, and an adder 126, It is composed of 127 and.

Therefore, the holding mechanism 32 of the elector device 11
Holds the segment S, each jack 19, 24,
Based on the displacements X _C , Y _C , and Z _{C of} the end point Q detected from 26 and the rolling angle θ _XC , the pitching angle θ _YC , and the yawing angle θ _ZC , the focus point position / orientation calculator 104 determines O−X _C Y _C Z _C
The position vector P and the posture vectors N, O, A from the end point Q in the reference coordinate system are calculated.

On the other hand, the position / orientation offset amount setting unit 131
Is an offset setting value Xf0, Y that shifts the assembly position of the segment in the radial direction of the tunnel according to the magnitude of earth pressure.
Set f0, Zf0, θxf0, θyf0, and θzf0. Further, the seal thickness adder 132 shifts the segment in the longitudinal direction of the tunnel in order to push the segment against the existing segment by the shield jack later, and the seal thickness setting value X
Set s0 and Ys0. The position / orientation correction amount calculator 121 then determines the offset set values Xf0, Yf0, Zf.
0, θxf0, θyf0, θzf0, seal thickness setting values Xs0 and Ys0, gap detection values C2 to C5, distance detection values L1 to L5-2, step d2r from the arithmetic processing unit 70.
Based on _.about.d5s , rotation correction amounts θ _xsg , θ _ysg , θ _zsg in the segment coordinate system and translation correction amounts X _sg , Y _sg , Z _sg in the reference coordinate system are calculated.

Then, the positioning displacement control gain 122, the figure
Posture correction amount check by force converter 123 and integrators 124, 125
Tor ΔNr, ΔOr, ΔAr and position correction amount vector Δ
Pr is calculated, and the position target value vector is added by the adders 126 and 127.
P_rAnd posture target value vector N _r, O_r, A_rTo that
The position correction amount vector ΔPr and the posture correction amount vector Δ
Nr, ΔOr, and ΔAr are added to obtain the final position target value
Cutle P_rAnd posture target value vector N_r, O_r, A_rWhen
To do.

After that, the position / orientation deviation calculator 105, the reference coordinate / segment coordinate velocity converter 106, the displacement control gain 10
7. Corrected speeds V _x , V _y , V _z and expansion / contraction speeds W _{xj of} rolling axis, pitching axis, yawing axis by segment coordinate / elector moving axis speed converter 108 and rotating axis speed / hydraulic jack speed converter 109. , W _yj , W _zj are calculated, and the control device 110 controls the correction speeds V _x , V _y , V _z of the X, Y, and Z axes and the expansion / contraction speeds W _xj , W of the rolling axis, the pitching axis, and the yawing axis. Based on _yj and W _zj , the respective hydraulic jacks 19, 24, 26, 2 of the erector device 11
Position control and attitude control are performed with the holding segment S held by the holding mechanism 32 as the center by operating 9, 30, 31.

FIG. 15 is a control block of the erector control device according to the fifth embodiment of the present invention, FIG. 16 is a control block showing the configuration of the inside / outside range determination device, and FIG. An outline is shown.

The erector control device of this embodiment is shown in FIG.
17, the displacement detectors 101 and 102, the hydraulic jack displacement / rotation angle converter 103, the point of interest position / orientation calculator 104, the position / orientation deviation calculator 105, and the reference coordinate / segment coordinate velocity A converter 106, a displacement control gain 107,
Segment coordinate / erector movement axis speed converter 108, rotation axis speed / hydraulic jack speed converter 109, and control device 110
A range inside / outside determiner 141, a range outside processor 142, a switch 143, a position / orientation correction amount calculator 121, a positioning control gain 122, a posture converter 123, integrators 124 and 125, and an adder. It is composed of vessels 126 and 127.

Therefore, the holding mechanism 32 of the elector device 11
Holds the segment S, each jack 19, 24,
Based on the displacements X _C , Y _C , and Z _{C of} the end point Q detected from 26 and the rolling angle θ _XC , the pitching angle θ _YC , and the yawing angle θ _ZC , the focus point position / orientation calculator 104 determines O−X _C Y _C Z _C
The position vector P and the posture vectors N, O, A from the end point Q in the reference coordinate system are calculated.

On the other hand, the gap detection values C2 to C5 from the arithmetic processing unit 70 are input to the inside / outside determination unit 141, where
It is determined whether the existing segment has entered the range of the CCD cameras 61 to 65 with respect to the holding segment. In this case, as shown in detail in FIG. 16, all the range inside / outside determination cases are set according to each segment A1, A2, A3, B1, B2, K, and the range inside / outside determination unit 141 sets the existing segment to the range. When it is determined that the value is outside the range, the switch 143 is operated and the out-of-range processor 142 issues an operation command according to each case.

For example, as will be described in detail with reference to FIG. 17, the segment A3 will be described.
When it is determined that all of the clearance detection values C2, C3, C4 are out of the range as in case 1, the out-of-range processor 142 stops yawing the holding segment and moves at a predetermined speed in the X-axis direction (forward in the tunnel longitudinal direction). ) And slide
A small turning movement is made in the Y-axis direction (tunnel circumferential direction). By this operation, at least 1 of the clearance detection values C2, C3, C4
One comes into the range. Then, as in case 7, the gap detection values C2 and C3 are within the range and the gap detection value C
If only 4 is out of range, out-of-range processor
Reference numeral 142 stops the slide of the holding segment in the X-axis direction, yaws it at a predetermined speed, and finely moves it in the Y-axis direction at a predetermined speed. By this operation, the gap detection value C
All of 2, C3 and C4 come into the range.

In this way, the range of the inside / outside range determiner 141
Out-of-range processor 142 responded to each case by outside judgment
The detection value of each master is detected by issuing the operation command.
And the position / orientation correction amount calculator 121 is
The gap detection values C2 to C5 and the distance detection values L1 to L5-
2. Segment coordinate system based on steps d2r to d5s
Rotation correction amount at_xsg, Θ_ysg, Θ_zsgAnd the standard seat
Translation correction amount X in the standard system _sg, Y_sg, Z_sgTo calculate.
Then, the positioning displacement control gain 122, the posture converter 123,
Attitude correction amount vectors ΔNr, Δ by integrators 124, 125
Or, ΔAr and position correction amount vector ΔPr are calculated and added.
The position target value vector P in the calculators 126 and 127_rAnd posture eyes
Threshold vector N_r, O_r, A_rPosition correction amount
Cutler ΔPr and attitude correction amount vector ΔNr, ΔOr,
The final position target value vector P by adding ΔAr_ras well as
Posture target value vector N_r, O_r, A_rAnd

After that, the position / orientation deviation calculator 105, the reference coordinate / segment coordinate velocity converter 106, the displacement control gain 10
7. Corrected speeds V _x , V _y , V _z and expansion / contraction speeds W _{xj of} rolling axis, pitching axis, yawing axis by segment coordinate / elector moving axis speed converter 108 and rotating axis speed / hydraulic jack speed converter 109. , W _yj , W _zj are calculated, and the control device 110 controls the correction speeds V _x , V _y , V _z of the X, Y, and Z axes and the expansion / contraction speeds W _xj , W of the rolling axis, the pitching axis, and the yawing axis. Based on _yj and W _zj , the respective hydraulic jacks 19, 24, 26, 2 of the erector device 11
Position control and attitude control are performed with the holding segment S held by the holding mechanism 32 as the center by operating 9, 30, 31.

FIG. 18 shows a control block of the erector control device according to the sixth embodiment of the present invention, and FIG. 19 shows an operation panel of the manual operation device.

The erector controller of this embodiment is shown in FIG.
As shown in FIG. 3, the displacement detectors 101 and 102, the hydraulic jack displacement / rotation angle converter 103, and the focus point position / orientation calculator 104
A position / orientation deviation calculator 105, a reference coordinate / segment coordinate velocity converter 106, a displacement control gain 107, a segment coordinate / erector movement axis velocity converter 108, a rotary axis velocity / hydraulic jack velocity converter 109, , Controller 110, position / orientation correction amount calculator 121, positioning control gain 122, attitude converter 123, integrators 124 and 125, and adders 126 and 127.
And a manual operation device 151 and an operation switching unit 152.

Therefore, the operation management device 71 disables the operation.
When the converter 152 is switched to automatic operation,
The holding mechanism 32 of the device 11 holds the segment S and
Displacement of end point Q detected from jacks 19, 24, 26
X_C, Y_C, Z_CAnd rolling angle θ_XC, Pitching angle θ
_YC, Yawing angle θ_ZCBased on the point of interest position and orientation calculator
104 is OX_CY_CZ_CFrom the end point Q in the reference coordinate system
Position vector P and posture vector N, O, A of
It On the other hand, the position and orientation correction amount calculator 121 is an arithmetic processing unit.
Gap detection values C2 to C5, distance detection values L1 to L from 70
5-2, the segment seat based on the steps d2r to d5s
Rotation correction amount in standard system θ_xsg, Θ_ysg, Θ _zsgAnd base
Translational correction amount X in the quasi-coordinate system_sg, Y_sg, Z_sgCalculate
It Then, the positioning displacement control gain 122 and the posture converter 1
23, posture correction amount vector ΔN by integrators 124, 125
Obtain r, ΔOr, ΔAr and position correction amount vector ΔPr
Therefore, the position target value vector P is added by the adders 126 and 127._ras well as
Posture target value vector N_r, O_r, A_rTo each position
Positive amount vector ΔPr and attitude correction amount vector ΔNr, Δ
Or and ΔAr are added to obtain the final position target value vector P
_rAnd posture target value vector N_r, O_r, A_rAnd

After that, the position / orientation deviation calculator 105, the reference coordinate / segment coordinate velocity converter 106, the displacement control gain 10
7. Corrected speeds V _x , V _y , V _z and expansion / contraction speeds W _{xj of} rolling axis, pitching axis, yawing axis by segment coordinate / elector moving axis speed converter 108 and rotating axis speed / hydraulic jack speed converter 109. , W _yj , W _zj are calculated, and the control device 110 controls the correction speeds V _x , V _y , V _z of the X, Y, and Z axes and the expansion / contraction speeds W _xj , W of the rolling axis, the pitching axis, and the yawing axis. Based on _yj and W _zj , the respective hydraulic jacks 19, 24, 26, 2 of the erector device 11
Position control and attitude control are performed with the holding segment S held by the holding mechanism 32 as the center by operating 9, 30, 31.

On the other hand, when the automatic operation of the erector device 11 is not necessary, or when a problem occurs in the automatic operation such that various kinds of detection cannot be performed by the sensor, the operation control unit 71 causes the operation switching unit 152 to manually operate. After switching to operation, the operator uses the manual operation device 151 to control the position and orientation of the holding segment S.

As shown in FIG. 19, this manual operation device 151 has a slide operation switch 161 (moving jack 24).
, Yawing operation switch 162 (yawing jack 29), pitching operation switch 163 (pitching jack 31), rolling operation switch 164 (rolling jack 30), grip free switch 165 (holding jack 35), and slide free switch 166. , Yawing free switch 167, speed adjustment switch 168
A lift operation switch 169 (lift jack 19), a swing operation switch 170 (hydraulic motor 16), a grip extension / contraction operation switch 171, a swing fine adjustment operation switch 172 (moving jack 26), and an operation reference point change switch 173a. 173b,
173c, confirmation lamps 174a, 174b, 174c, and an operation prohibiting switch 175.

Therefore, the operator uses the manual operation device 151 to set an operation reference point (P, Q, T in FIG. 2) as a target point.
Is determined using the operation reference point change switches 173a, 173b, 173c. When the holding mechanism 32 of the erector device 11 holds the segment S, each jack 19, 24, 26
Based on the displacements X _C , Y _C , and Z _{C of} the reference point detected from the rolling angle θ _XC , the pitching angle θ _YC , and the yawing angle θ _ZC , the focus point position / orientation calculator 104 determines the O-X _C Y _C Z _C reference. A position vector P and a posture vector N, O, A from a reference point in the coordinate system are calculated.

Then, using the manual operation device 151, the position target value vector P _r and the attitude target value vector N _r , O _r ,
When A _r is set, the position / orientation deviation calculator 105, the reference coordinate / segment coordinate speed converter 106, the displacement control gain 107, the segment coordinate / erector movement axis speed converter 108, the rotary axis speed / hydraulic pressure are set as in the automatic operation. Jack speed converter 109
According to the modified velocities V _x , V _y , V _z, and the expansion / contraction speeds W _xj , W of the rolling axis, the pitching axis, and the yawing axis, respectively.
_yj and W _zj are obtained, and the control device 110 controls the correction speed degrees V _x , V _y and V _z of the X, Y and Z axes and the expansion and contraction speeds W _xj and W _{yj of} the rolling axis, the pitching axis and the yawing axis, respectively. Based on W _zj , each hydraulic jack 19, 2 of the erector device 11
4, 26, 29, 30, 31 are operated to perform position control and attitude control centered on the position of the reference point where the holding segment S held by the holding mechanism 32 is set.

In each of the above-described embodiments, the hydraulic jacks 19, 24, 26, 29 of the elector device 11 are
Although the holding segment S was assembled by performing position control and attitude control centering on the position of the end point Q by operating 30, 31, the end point is P or T depending on the type of segment.
Further, the sensor heads 46 to 50 are used as the step distance detecting means.
The sensor heads 46 to 50 are configured by the ultrasonic sensor and the CCD camera, but a laser measuring sensor, a contact type displacement meter, or the like may be used instead of the ultrasonic sensor. And it can be done by applying a camera. Further, although the lining member is a segment, it may be a formwork for placing cement.

[0097]

As described above in detail in the embodiment, according to the erector control device of the invention of claim 1, the holding means for holding the lining member is constituted by the X-axis, Y-axis and Z-axis moving means. While supporting movably along each axial direction,
The first and second axes are supported by X-axis, Y-axis, and Z-axis swinging means so as to be swingable about each axis, and the displacement of each joining point of the lining member in each axis direction and the displacement around each axis are detected. Displacement detection means, point-of-interest position / orientation calculation means for calculating a position vector and orientation vector based on the displacement of the junction point, based on a position target value vector / orientation target value vector and an actual position vector / orientation vector Since the position / orientation deviation calculating means for calculating the position deviation and the attitude deviation from the joint point and the control means for driving and controlling the moving means and the swinging means on the basis of the position deviation and the attitude deviation are provided, the holding cover is provided. The position control and the posture control of the working member are performed around the position of the joining point, so that the joining point of the holding lining member can be easily matched with the joining point of the existing lining member. Improved positioning accuracy Rukoto it is, it is possible to improve the workability of the positioning operation.

According to the erector control device of the second aspect of the present invention, each moving means and each swinging means are hydraulic jacks, and the position deviation and the attitude deviation from the joint point in the reference coordinate system are used as the lining member coordinates. Lining member coordinate system conversion means for converting into a system, speed conversion means for converting position deviation and attitude deviation in the lining member coordinate system into position correction speed and attitude correction speed, and this position correction speed in the erector coordinate system. Position correction speed in the X-axis, Y-axis, and Z-axis directions of
Erector coordinate system conversion means for converting the attitude correction speed around the axes, the Y axis, and the Z axis is provided, and the control means operates and holds each hydraulic jack based on the position correction speed and the attitude correction speed in the erector coordinate system. Since the position and the posture of the lining member are controlled around the joining point, the workability can be improved by easily controlling the operation of each hydraulic jack.

According to the erector control device of the third aspect of the present invention, the pressure for detecting the axial pressure and the swinging pressure in the X-axis, Y-axis and Z-axis acting on the lining member held by the holding means is detected. Detecting means and external force calculating means for calculating an external force acting on the lining member based on changes in the pressure in the axial direction and the pressure in the swinging direction are provided, and the drive control means detects the position deviation and the attitude deviation from the joint point. Since the moving means and the swinging means are drive-controlled in consideration of the external force acting on the lining member calculated by the external force calculating means, the held lining member is assembled to the existing lining member. At this time, it becomes possible to absorb a minute positional deviation, and the assembly time of the lining member can be shortened.

According to the erector control method of the invention of claim 4, the X-axis, the Y-axis, and the Z-axis at the joining point when the holding lining member is joined to the existing lining member assembled to the tunnel inner wall surface In addition to detecting the displacement in the axial direction, the displacement around the X-axis, the Y-axis, and the Z-axis is detected, the position vector and the posture vector are calculated based on the displacement from the joint point, The position deviation and the attitude deviation are calculated based on the attitude target value vector and the position vector and the attitude vector, and based on the position deviation and the attitude deviation from the joining point, the holding lining member is position-controlled and attitude-controlled around the joining point. Therefore, the position control and the posture control of the holding lining member are performed with the position of the joining point as the center, and the joining point of the lining member held relative to the joining point of the existing lining member can be easily adjusted. Is to be able, it is possible to improve the positioning accuracy of the lining member, it is possible to improve the workability of the positioning operation.

According to the erector control method of the invention of claim 5, the lining member carried into the tunnel is held,
When the holding lining member is joined to the existing lining member mounted on the inner wall surface of the tunnel, the X-axis direction which is the longitudinal direction of the tunnel, the Y-axis direction which is the circumferential direction of the tunnel, and the radial direction of the tunnel at the junction point. The position displacement in the Z-axis direction is detected, the posture displacement around the X-axis, the Y-axis, and the Z-axis is detected, and the position is determined based on the preset position target displacement and posture target displacement, and position displacement and posture displacement. Deviation and posture deviation are calculated, and the holding lining member is assembled at a predetermined position with respect to the existing lining member while controlling the position and the posture of the holding lining member around the joint point based on the position deviation and the posture deviation. Therefore, the holding lining member is position-controlled and posture-controlled around the position of the joining point, and the joining point of the held lining member can be easily matched with the joining point of the existing lining member. Can, it is possible to improve the positioning accuracy of the lining member, it is possible to improve the workability of the positioning operation.

According to the erector control device of the invention of claim 6, the holding means for holding the lining member is constituted by the X-axis and the Y-axis.
Axial and Z-axis moving means movably support each axial direction, and X-axis, Y-axis, and Z-axis oscillating means oscillatably support each axis, so that the joint point of the lining member First and second displacement detecting means for detecting the displacement in each axial direction and the displacement around each axis, a position / orientation computing means for computing a position vector and a posture vector based on the displacement of the reference point, and a holding lining member. Difference detecting means for detecting a step and a distance between the existing lining member and the existing lining member, correction amounts in the X-axis, Y-axis and Z-axis directions and correction amounts around the X-axis, Y-axis and Z-axis based on the step and the distance. A position / orientation correction amount calculating means, a correction adding means for adding the position correction amount and the attitude correction amount to a preset position target value vector and the attitude target value vector, and a position target value to which the correction amount is added. Vector and posture target value vector and position and posture calculation means Position / orientation deviation calculating means for calculating the position deviation and attitude deviation based on the calculated actual position vector and attitude vector, and drive control of each moving means and each rocking means based on the calculated position and attitude deviation. Since the control means is provided, the position control and the posture control of the lining member are performed by correcting the position target value vector and the posture target value vector while grasping the step and the distance between the holding lining member and the existing lining member. As a result, the positioning accuracy of the lining member can be improved and the workability of the positioning work can be improved.

According to the seventh aspect of the present invention, there is provided the offset setting means for setting the offset amount according to the desired assembling position of the holding lining member, and the position / orientation correction amount calculating means is a step. A correction amount in the X-axis, Y-axis, and Z-axis directions and a correction amount around the X-axis, Y-axis, and Z-axis are calculated based on the step and distance detected by the distance detection unit and the offset amount set by the offset setting unit. Therefore, the holding lining member can be assembled at a desired assembly position based on the offset amount, and the versatility is enhanced.

Further, according to the erector control device of the present invention, the step distance detecting means is provided with the photographing means for photographing the edges of the holding lining member and the existing lining member facing each other, and the photographed image of the photographing means is provided. Based on, the range inside / outside determination means for determining whether each edge of the holding lining member and the existing lining member is within the range, and the position correction output to the correction addition means based on the determination result of the range inside / outside determination means Since the out-of-range correction means for correcting the amount and the attitude correction amount are provided, the position correction amount and the attitude correction amount output to the correction addition means when the edges of the holding lining member and the existing lining member are not within the range. When the edges of the holding lining member and the existing lining member are within the range, the step distance detecting means detects the step and the distance, thereby improving the control reliability. Can .

According to the erector control device of the invention of claim 9, there is provided a manual operation device for manually setting the position target value vector input to the position / orientation deviation calculating means, the attitude target value vector and the position of the reference point. Therefore, if a problem occurs in automatic operation such as automatic operation is not necessary or various kinds of detection cannot be performed by the sensor, the operator uses the manual operation device to control the position and orientation of the holding lining member. It is possible to improve the safety.

According to the tunnel excavator of the tenth aspect of the present invention, the cutter head is mounted on the front portion of the excavator main body so that the cutter head can be driven and rotated by the cutter head drive means, and can be moved forward by the propulsion jack. The holding means for holding the lining member is movable in the X-axis direction that is the longitudinal direction of the existing tunnel, the Y-axis direction that is the circumferential direction of the existing tunnel, and the Z-axis direction that is the radial direction of the existing tunnel, and the X-axis and the Y axis. The excavator body is supported at the rear part of the excavator main body so as to be swingable about the axis and the Z axis, and displacements in the X axis, Y axis, and Z axis directions at the joint points of the lining members are detected, and at the same time as the X axis. First and second displacement detection means for detecting displacements about the Y-axis and Z-axis, a target point position / orientation operation means for calculating a position vector and an attitude vector based on the displacement from the joint point, a position target value vector, and posture Position / orientation deviation calculation means for calculating the position deviation and attitude deviation from the joint point based on the standard value vector and the actual position vector and attitude vector, and each moving means and each swing based on the position and attitude deviation Since the control means for driving and controlling the means is provided, the position control and the posture control of the holding lining member are performed centering on the position of the joining point, and the holding lining member of the holding lining member is attached to the joining point of the existing lining member. The joining points can be easily matched, the positioning accuracy of the lining member can be improved, and
The workability of the positioning work can be improved. As a result, the tunnel excavation work efficiency can be improved.

According to the eleventh aspect of the tunnel excavator of the present invention, the cutter head is mounted on the front portion of the excavator main body so that the cutter head can be driven and rotated by the cutter head driving means and can be moved forward by the propulsion jack. The holding means for holding the lining member is movable in the X-axis direction that is the longitudinal direction of the existing tunnel, the Y-axis direction that is the circumferential direction of the existing tunnel, and the Z-axis direction that is the radial direction of the existing tunnel, and the X-axis and the Y axis. The excavator body is supported at the rear of the excavator body so as to be swingable about the axis and the Z-axis, and displacements in the X-axis, Y-axis, and Z-axis directions at the reference point of the lining member are detected and the X-axis and First and second displacement detection means for detecting displacements about the Y-axis and Z-axis, a position / orientation calculation means for calculating a position vector and an attitude vector based on the displacement from a reference point, a holding lining member and an existing cover. Steps with engineering members And a step distance detecting means for detecting a distance, and a position / orientation correction amount calculation for calculating a correction amount in the X-axis, Y-axis, and Z-axis directions and a correction amount around the X-axis, Y-axis, and Z-axis based on the step and the distance. Means, a correction addition means for adding the position correction amount and the posture correction amount to the preset position target value vector and the posture target value vector, and the position target value vector and the posture target value vector to which the correction amount is added and the actual A position / orientation deviation calculating means for calculating the position deviation and the attitude deviation based on the position vector and the attitude vector, and a control means for driving and controlling each moving means and each swinging means based on the position deviation and the attitude deviation are provided. Therefore, the position control and posture control of the lining member should be performed by correcting the position target value vector and the posture target value vector while grasping the step and distance between the holding lining member and the existing lining member. Becomes, it is possible to improve the positioning accuracy of the lining member, it is possible to improve the workability of the positioning operation. As a result, the tunnel excavation work efficiency can be improved.

[Brief description of drawings]

FIG. 1 is a control block diagram of an erector control device according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram showing a method of segment positioning control by the erector control device of the present embodiment.

FIG. 3 is a schematic diagram of an elector device according to the present embodiment.

FIG. 4 is a front view of the erector device.

FIG. 5 is a side view of the erector device.

FIG. 6 is a control block diagram of an erector control device according to a second embodiment of the present invention.

FIG. 7 is a control block diagram of an erector control device according to a third embodiment of the present invention.

FIG. 8 is a control block diagram showing a configuration of a position / orientation correction amount calculator.

FIG. 9 is a schematic diagram showing a sensor head.

FIG. 10 is a plan view of a segment support showing a mounting position of a sensor head.

FIG. 11 is a schematic diagram illustrating a method of calculating a step and a distance between a holding segment and an existing segment.

FIG. 12 is a schematic view showing an assembled state of segments.

FIG. 13 is a control block diagram of an erector control device according to a fourth embodiment of the present invention.

FIG. 14 is a control block diagram showing a configuration of a position / orientation correction amount calculator.

FIG. 15 is a control block diagram of an erector control device according to a fifth embodiment of the present invention.

FIG. 16 is a control block diagram showing a configuration of a range inside / outside determiner.

FIG. 17 is a schematic diagram illustrating a specific example of the processing content of the out-of-range processor.

FIG. 18 is a control block diagram of an erector control device according to a sixth embodiment of the present invention.

FIG. 19 is an operation panel diagram of the manual operation device.

FIG. 20 is a control block diagram of a conventional erector control device.

FIG. 21 is a schematic view showing a method of segment positioning control by a conventional erector control device.

[Explanation of symbols]

11 Erector Device 12 Excavator Main Body 13 Shield Jack 17 Lifting Platform 19 Lifting Jack (Z-axis moving means) 20 Control Device 23 First Moving Body 24 Moving Jack (Y-axis Moving Means) 25 Second Moving Body 26 Moving Jack (Z-axis) Moving means) 28 Segment support 29 Yawing jack (Z-axis swinging means) 30 Rolling jack (X-axis swinging means) 31 Pitching jack (Y-axis swinging means) 32 Segment holding mechanism 46, 47, 48, 49, 50 Sensor Heads (step difference detecting means) 51, 52a, 52b, 52c, 53a, 53b, 53
c, 54a, 54b, 55a, 55b Ultrasonic sensor 61, 62, 63, 64, 65 CCD camera (imaging means) 70 Arithmetic processing device 71 Operation management device 101 Displacement detector (first displacement detection means) 102 Angle detection Device (second displacement detecting means) 103 Hydraulic jack displacement / rotation angle converter 104 Point of interest position / orientation calculator 105 Position / orientation deviation calculator 106 Reference coordinate / segment coordinate velocity converter 107 Displacement control gain 108 Segment coordinate / erector movement Shaft speed converter 109 Rotating shaft speed / hydraulic jack speed converter 110 Control unit 111 Pressure detector 112 Elector moving shaft force torque converter 113 Switch 114 Memory 115 Subtractor 116 Segment coordinate force torque converter 117 Force control gain 118 Adder 121 Position and posture correction amount calculator 122 Positioning control gain 123 Posture converters 124 and 125 Integrators 126 and 127 Adder 131 Position and posture offset amount setter (OFF (Set setting means) 132 Seal thickness adder 141 Range inside / outside judgment device 142 Outside range correction processor 143 Switching device 151 Manual operation operating device (manual operating device) 152 Operation switching unit

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takushi Sato 1-1-1, Niihama, Arai-cho, Takasago-shi, Hyogo Mitsubishi Heavy Industries, Ltd. Takasago Research Institute (72) Teruyuki Mori Inventor, Wadazaki-cho, Hyogo-ku, Kobe-shi, Hyogo 1-1-1, Mitsubishi Heavy Industries, Ltd. Kobe Shipyard (56) Reference JP-A-4-213699 (JP, A) JP-A-9-217596 (JP, A) JP-A-8-121095 (JP, A) ) JP-A-2-308097 (JP, A) JP-A-4-213700 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) E21D 11/40

Claims (11)

(57) [Claims] 1. A holding means for holding a lining member carried into a tunnel, an X-axis moving means for moving the holding lining member in an X-axis direction which is a longitudinal direction of the tunnel, and the holding lining member. Is moved in the Y-axis direction which is the circumferential direction of the tunnel, Z-axis moving means which moves the holding lining member in the Z-axis direction which is the radial direction of the tunnel, and the holding lining member X-axis swinging means for swinging around the X-axis, Y-axis swinging means for swinging the holding and covering member around the Y-axis, and Z for swinging the holding and covering member around the Z-axis. A first means for detecting a displacement in the X-axis, Y-axis, and Z-axis directions at a joining point when joining the shaft oscillating means and the holding lining member to an existing lining member assembled to the inner wall surface of the tunnel. Displacement detecting means, and the X-axis and Y at the joint point
Second displacement detecting means for detecting displacement around the axis and the Z-axis,
Point-of-interest position / orientation calculating means for calculating a position vector and an attitude vector based on the displacement from the joint detected by the first and second displacement detecting means, and a preset position target value vector and attitude target value A position / orientation deviation calculating means for calculating a position deviation and an attitude deviation based on a vector and an actual position vector and attitude vector calculated by the point-of-interest position / orientation calculating means, and the joint point calculated by the position / orientation deviation calculating means. An erector control device comprising: a control unit that drives and controls each of the moving unit and each of the swinging units based on the position deviation and the posture deviation from 2. The erector control device according to claim 1, wherein each of the moving means and each of the swinging means are hydraulic jacks, and from the joint point in the reference coordinate system calculated by the position / orientation deviation calculating means. Lining member coordinate system conversion means for converting the position deviation and the posture deviation of the lining member coordinate system into the position deviation and the posture deviation in the lining member coordinate system, and the position correction speed and the posture for the position deviation and the posture deviation in the lining member coordinate system. Speed conversion means for converting to a correction speed, and position correction speed in the lining member coordinate system to position correction speed in the X-axis, Y-axis, and Z-axis directions in the erector coordinate system, and the posture correction speed. The X
Erector coordinate system conversion means for converting the attitude correction speed around the axes, the Y-axis, and the Z-axis is provided, and the control means operates each hydraulic jack based on the position correction speed and the attitude correction speed in the erector coordinate system. Then, the erector control device is characterized in that the holding lining member is position-controlled and attitude-controlled about the joint point. 3. The erector control device according to claim 1, wherein pressure detecting means for detecting axial pressure and rocking direction pressure on the X-axis, Y-axis and Z-axis acting on the holding lining member, An external force calculating means for calculating an external force acting on the holding lining member based on changes in the axial pressure and the swinging direction pressure detected by the pressure detecting means is provided, and the control means calculates the position / orientation deviation. The moving means and the swinging means are drive-controlled by adding an external force acting on the lining member calculated by the external force calculating means to the position deviation and the posture deviation from the joining point calculated by the means. Electa control device. 4. A lining member carried into a tunnel is held, and the held lining member is in the longitudinal direction of the tunnel in the X-axis direction, in the circumferential direction of the tunnel in the Y-axis direction, and in the radial direction of the tunnel. An erector device that movably supports in the Z-axis direction and swingably supports about the X-axis, the Y-axis, and the Z-axis, in the existing lining member in which the holding lining member is assembled to the tunnel inner wall surface. The displacements in the X-axis, Y-axis, and Z-axis directions at the joining point when joining are detected, and the displacements around the X-axis, the Y-axis, and the Z-axis are detected, and based on the displacements from the joining point, The position vector and the attitude vector are calculated, the position deviation and the attitude deviation are calculated based on the preset position target value vector and the attitude target value vector and the position vector and the attitude vector, and the position deviation from the joint point and Posture bias An erector control method characterized in that the holding lining member is position-controlled and attitude-controlled centering on the joint point based on the difference. 5. A longitudinal direction of a tunnel at a joining point when a lining member carried into a tunnel is held and the holding lining member is joined to an existing lining member assembled to a tunnel inner wall surface. The positional displacement in the Y-axis direction, which is the X-axis direction and the circumferential direction of the tunnel, and the Z-axis direction, which is the radial direction of the tunnel, is detected, and the posture displacement around the X-axis, Y-axis, and Z-axis is detected, and preset. The position deviation and the attitude deviation are calculated on the basis of the determined position target displacement and attitude target displacement and the position displacement and attitude displacement, and the holding lining member is centered on the joint point based on the position deviation and the attitude deviation. A method for assembling a lining member, characterized in that the holding lining member is assembled at a predetermined position with respect to an existing lining member while controlling the position and the attitude. 6. Holding means for holding the lining member carried into the tunnel, X-axis moving means for moving the holding lining member in the X-axis direction which is the longitudinal direction of the tunnel, and the holding lining member. Is moved in the Y-axis direction which is the circumferential direction of the tunnel, Z-axis moving means which moves the holding lining member in the Z-axis direction which is the radial direction of the tunnel, and the holding lining member X-axis swinging means for swinging around the X-axis, Y-axis swinging means for swinging the holding and covering member around the Y-axis, and Z for swinging the holding and covering member around the Z-axis. Axis oscillating means, first displacement detecting means for detecting displacements of the holding lining member in the X-axis, Y-axis, and Z-axis directions at predetermined reference points, and the X-axis and Y at the reference points.
Second displacement detecting means for detecting displacement around the axis and the Z-axis,
A position / orientation calculating means for calculating a position vector and an attitude vector based on the displacement of the reference point detected by the first and second displacement detecting means, a step between the holding lining member and the existing lining member, and A step distance detecting means for detecting a distance, a correction amount in the X-axis, Y-axis, and Z-axis directions and a correction around the X-axis, Y-axis, and Z-axis based on the step and the distance detected by the step distance detecting means. A position / orientation correction amount calculation means for calculating the amount, and a correction addition means for adding the position correction amount and the attitude correction amount calculated by the position / orientation correction amount calculation means to a preset position target value vector and attitude target value vector. ,
Position and orientation for calculating the position deviation and orientation deviation based on the position target value vector and orientation target value vector to which the correction amount has been added by the correction addition means and the actual position vector and orientation vector calculated by the position and orientation calculation means An erector control device comprising: deviation calculating means; and control means for driving and controlling the moving means and the swinging means based on the position deviation and the attitude deviation calculated by the position and attitude deviation calculating means. . 7. The erector control device according to claim 6, further comprising offset setting means for setting an offset amount according to a desired assembly position of the holding lining member, and the position / orientation correction amount calculation means includes the step. A correction amount in the X-axis, Y-axis, and Z-axis directions and a correction amount around the X-axis, Y-axis, and Z-axis are calculated based on the step and distance detected by the distance detection unit and the offset amount set by the offset setting unit. An erector control device characterized by performing calculation. 8. The eclectic control device according to claim 6, wherein the step distance detecting means has a photographing means for photographing an edge of the holding lining member and the existing lining member facing each other. Range inside / outside determining means for determining whether each edge of the holding lining member and the existing lining member is within the range based on a captured image, and the correction addition based on the determination result of the range inside / outside determining means And an out-of-range correction means for correcting the position correction amount and the attitude correction amount output to the means. 9. The erector control device according to claim 6, further comprising a manual operation device for manually setting the position target value vector and the attitude target value vector input to the position / orientation deviation calculation means, and the position of the reference point. An erector control device characterized by the above. 10. An excavator main body having a tubular shape, a cutter head rotatably mounted on a front portion of the excavator main body, a cutter head drive means for driving and rotating the cutter head, and the excavator main body. A propulsion jack for advancing, and a lining member attached to the rear portion of the excavator body and carried into the tunnel to hold the X-axis direction that is the longitudinal direction of the tunnel and the Y-axis direction that is the circumferential direction of the tunnel. An erector device that is movable in the Z-axis direction, which is the radial direction of the, and swingably supported around the X-axis, the Y-axis, and the Z-axis, and an existing lining in which the holding lining member is assembled on the inner wall surface of the tunnel. First displacement detecting means for detecting displacements in the X-axis, Y-axis, and Z-axis directions at the joining point when joining the members, and displacements around the X-axis, Y-axis, and Z-axis at the joining points. Second displacement detecting means, and the first And a point of interest position / orientation calculating means for calculating a position vector and an attitude vector of the joining point based on the displacement of the joining point detected by the second displacement detecting means,
Position / posture deviation calculating means for calculating a position deviation and a posture deviation based on a preset position target value vector and posture target value vector and the actual position vector and posture vector calculated by the point-of-interest position / posture calculator. Control means for driving and controlling the moving means and the swinging means based on the position deviation and the attitude deviation from the joint point calculated by the position and attitude deviation calculating means, and excavated earth and sand generated by excavating the cutter head. A tunnel excavator, which is provided with a soil discharging means for discharging the soil to the outside. 11. A cylindrical excavator main body, a cutter head rotatably mounted on a front portion of the excavator main body, a cutter head drive means for driving and rotating the cutter head, and the excavator main body. A propulsion jack for advancing, and a lining member attached to the rear portion of the excavator main body and carried into the tunnel to hold the X-axis direction, which is the longitudinal direction of the tunnel, and the Y-axis direction, which is the circumferential direction of the tunnel. And an X-axis and a Y-axis at a predetermined reference point of the holding lining member, which is movable in the Z-axis direction, which is the radial direction of the X-axis, and swingably supported around the X-axis, the Y-axis, and the Z-axis. And first displacement detection means for detecting displacement in the Z-axis direction, second displacement detection means for detecting displacement around the X-axis, Y-axis, and Z-axis at the reference point, and the first and second displacement detection means. The displacement of the reference point detected by the displacement detection means A position / orientation calculating means for calculating a position vector and an attitude vector based on the step, a step distance detecting means for detecting a step and a distance between the holding lining member and the existing lining member, and a step detected by the step distance detecting means. And a position / orientation correction amount calculation means for calculating a correction amount in the X-axis, Y-axis, and Z-axis directions and a correction amount around the X-axis, Y-axis, and Z-axis based on the distance, and a preset target position value. A correction addition means for adding the position correction amount and the posture correction amount calculated by the position / orientation correction amount calculation means to the vector and the posture target value vector, and the position target value vector and the posture target to which the correction amount is added by the correction addition means. A position / orientation deviation calculating means for calculating a position deviation and an attitude deviation based on a value vector and an actual position vector and attitude vector calculated by the position / orientation calculating means; Control means for driving and controlling the moving means and the rocking means based on the position deviation and the attitude deviation calculated by the calculating means, and a discharging means for discharging the excavated soil generated by the excavation of the cutter head to the outside. A tunnel excavator characterized by being equipped with.