JP3396560B2 - Elector segment positioning device - 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 segment positioning device for assembling tunnel fulfillment segments.

[0002]

2. Description of the Related Art When a segment is assembled by shield work, for example, the assembled segment is
Japanese Laid-Open Patent Application No. 3-1
It has been proposed in Japanese Patent Publication No. 99600 that a light cutting method is used.

The one disclosed in the above-mentioned Japanese Patent Laid-Open No. 3-199600 uses a visual sensor system including three sets of projectors and cameras fixed to the segment grips of the erector in the shield machine, and roughly positions the assembled segments. After that, three slit lights are irradiated from the projector to two positions on the boundary between the assembled segment and the existing segment along the tunnel circumferential direction, and one position on the boundary along the tunnel axial direction. The slit light image (light cut image) generated by the above is captured by each camera, and from the coordinate values of the end points of each slit light image obtained by processing the image data from these cameras, the assembly segment and the existing segment at the above three locations And the step difference and the gap between the existing segment and the position deviation of the assembly segment with respect to the three existing segments, and Seeking energized deviation, the deviation determined the proper position of the assembly segment relative existing segment by correcting, is to automatically fine positioning the assembly segment to its proper position.

[0004]

However, the above-mentioned prior art has the following problems. In the above-mentioned conventional technique, since three sets of the projector and the camera are fixed to the segment grip of the erector, slit light is always emitted from the projector at the same position on the boundary between the assembled segment and the existing segment, and at that position. The slit light image will be captured by the camera. However, if there is a foreign object such as a chip or a mud at a position on the assembly segment that irradiates the slit light, the slit light image is deformed at the chip or the foreign object in the camera image, and it means that there is no chip or foreign object. Since different end point coordinate values are detected, the step difference between the assembled segment and the existing segment is apparently calculated to be large. If the calculation for positioning is performed based on such incorrect step / gap information, it becomes impossible to accurately position the assembly segment. Further, if the segments are forcibly assembled in such a state, the segments may be damaged.

Further, since the projector and the camera are fixed as described above, slit light is applied to two portions of the boundary between the assembly segment and the existing segment along the tunnel circumferential direction, and these slit light are emitted. Two sets of projectors and cameras are required to capture the image. Further, when the shape of the target segment changes, the position where slit light is emitted also changes, so that a projector and a camera are required accordingly. In this case, it becomes an expensive visual sensor system,
This will increase the cost of the tunnel machine as a whole.

It is a first object of the present invention to provide a segment positioning device for an erector that can position an assembled segment without being affected by a chip or a foreign substance in the segment.

A second object of the present invention is to provide a segment positioning device for an erector that can inexpensively position an assembly segment with a minimum of projectors and cameras.

[0008]

In order to achieve the above first and second objects, the present invention adopts the following configurations. That is, a segment gripper for gripping an assembly segment and a projector provided on the segment gripper for irradiating slit light to the boundary between the assembly segment and an existing segment adjacent thereto and a slit created by the slit light of this projector. At least one visual sensor including a camera that captures a light image, and determining the proper position of the assembly segment with respect to the existing segment based on the image data of the camera, and positioning the assembly segment at the proper position. In a segment positioning device of an erector having a segment gripper movement control means for moving a gripper, a guide means is provided in the segment gripper, and the visual sensor is attached so as to be movable along the guide means.

In the segment positioning device of the erector, preferably, it is judged whether or not the visual sensor needs to be moved along the guide means, and the visual sensor is moved until it is judged that the visual sensor does not need to be moved. A visual sensor movement control means for moving the visual sensor along the guide means, wherein the segment gripper movement control means determines that the visual sensor movement control means does not need to move the visual sensor. The means for obtaining the proper position of the assembly segment and moving the segment gripper so that the assembly segment is positioned at the proper position.

In this case, in order to achieve the first object, preferably, the visual sensor movement control means determines from the image data of the camera whether or not there is a defect in the assembly segment and the existing segment. And a means for moving the visual sensor by a predetermined amount until the malfunction judging means judges that there is no malfunction, and the segment gripper movement control means has no malfunction in the malfunction judging means. And determining the proper position of the assembly segment, and moving the segment gripper so that the assembly segment is positioned at the proper position.

In order to achieve the above second object,
Preferably, the visual sensor movement control means determines whether or not the arrangement position of the visual sensor is stored in advance and the visual sensor has moved to all the arrangement positions stored in the storage means. And a means for moving the visual sensor to the arrangement position until the movement judgment means determines that the visual sensor has moved to all the arrangement positions stored in the storage means. The segment gripper movement control means obtains an appropriate position of the assembly segment when the movement determination means determines that the visual sensor has moved to all the arrangement positions stored in the storage means, and A means for moving the segment gripper so that the assembly segment is positioned at an appropriate position.

[0012] Preferably, the guide means is provided on a side surface of the segment gripper so that the visual sensor can move over substantially both ends of the assembly segment when the segment gripper grips and positions the assembly segment. Installed configuration.

Further, preferably, the guide means is attached to the side surface of the segment gripping portion so that the visual sensor can move in the tunnel circumferential direction.

Further, preferably, the guide means may be attached to a side surface of the segment gripping portion so that the visual sensor can move in the tunnel axis direction.

Further, preferably, the number of the visual sensors is two, and the guide means is provided when one of the two visual sensors is in the circumferential direction of the tunnel and the segment gripping portion grips and positions the assembled segment. First guide means attached to a side surface of the segment gripper so as to be movable over substantially both ends of the assembly segment; the other of the two visual sensors is in a tunnel axial direction and the segment gripper grips the assembly segment. Second guide means attached to the side surface of the segment gripper so as to be able to move over substantially both ends of the assembly segment during positioning.

[0016]

In the present invention constructed as described above, the segment gripping portion is provided with the guide means, and the visual sensor is attached so as to be movable along the guide means, so that it is assembled at the position where the slit light is emitted from the projector. If a segment or existing segment has a chip or foreign matter,
The visual sensor is moved from that position along the guide means to irradiate the slit light of the projector at a position where there is no chipping or foreign matter, thereby positioning the assembly segment without being affected by the chipping or foreign matter. In addition, the guide means segment grips the segment sensor so that when the segment gripper grips and positions the assembled segment, the visual sensor can move over two existing segments that are adjacent to each other in the tunnel axial direction with respect to the assembled segment. When it is attached to the section, at least two positions of the boundary between the assembled segment and the two existing segments are irradiated with slit light, and when capturing the slit light image at that time, at least It is not necessary to irradiate the slit light by using one visual sensor, and it is sufficient to move one visual sensor to a predetermined position along the guide, thereby positioning the assembly segment at a low cost with a minimum of floodlights and cameras. be able to.

Further, the visual sensor movement control means moves the visual sensor along the guide means by a predetermined amount until the defective determination means determines that the assembled segment and the existing segment adjacent thereto are not defective. Even if there is a chip or foreign matter in the assembled segment or the existing segment at the position where the slit light is emitted from the projector, the visual sensor automatically moves to the position where there is no chip or foreign matter, so that it is not affected by the chip or foreign matter. The assembly segment can be positioned.

Further, the visual sensor movement control means moves the visual sensor along the guide means until the visual sensor has moved to all the arrangement positions stored in the storage means by the movement judging means. By moving
When slit light is emitted to at least two locations on the boundary between the assembled segment and two existing segments that are adjacent to it in the tunnel axis direction, and when capturing the slit light image at that time, the visual sensor automatically detects all positions. Movement, which allows the assembly segment to be inexpensively positioned with a minimum of floodlights and cameras.

Further, the guide means is attached to the side surface of the segment grip so that the visual sensor can move over substantially both ends of the assembly segment when the segment grip grips and positions the assembly segment. The possible range is widened, and the selection range of the irradiation position of the slit light of the light projector is widened, so that the assembly segment can be positioned without being more affected by chipping or foreign matter.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 and 2, the erector device equipped with the segment positioning device of this embodiment is an erector body 12
This erector body 12 is installed in the rear part of the cylindrical shield body 11. The erector body 12 grips the assembly segment 42 and finally positions it at the target assembly position, and assembles it to the existing segment 41 by a bolt fastening device (not shown). Mechanism, pressing mechanism including suspension beam 21 and pressing jack 22, lateral slide frame 24 and lateral slide jack 2
5, a left / right sliding mechanism, a front / rear sliding mechanism including a front / rear slide frame 27 and a front / rear slide jack 28, a spherical frame 29, and attitude control jacks 31, 32, 3
3 includes a posture control mechanism including pitching, rolling, yawing, and the like, and a segment gripping mechanism including a segment gripping portion 34.

The electret ring 13 is a shield body 11.
It is guided by an outer peripheral guide roller 14 and a side guide roller 15 which are installed at several inner peripheral portions, and is driven to rotate by an electric rotation motor 16 via a pinion 17 and a ring gear 18. Along with this, the following parts supported by the elector ring 13 also turn left and right at the same time.

Two arms 19 are attached to the right and left sides of the elector ring 13, and these arms 19 support a suspension beam 21 via a guide rod 20, and a hydraulic type between the suspension beam 21 and the arm 19. The pressing jack 22 is attached, and the suspension beam 21 moves in the Z-axis direction (radial direction of the elector ring 13) shown in FIG. 1 due to expansion and contraction of the pressing jack 22. Along with this, the following respective parts supported by the suspension beam 21 also move in the same direction.

As shown in FIGS. 2 and 3, the suspension beam 21 supports a horizontal slide frame 24 via a linear bearing 23, and a hydraulic horizontal slide is provided between the horizontal slide frame 24 and the suspension beam 21. The jack 25 is attached, and the horizontal slide frame 24 is expanded and contracted by the horizontal slide jack 25 so that the suspension beam 21 is placed on the suspension beam 21 as shown in FIG.
Move in the axial direction. Along with this, the horizontal slide frame 2
The following parts supported by 4 also move in the same direction.

As shown in FIGS. 1 and 3, the lateral slide frame 24 supports a front and rear slide frame 27 via a linear bearing 26.
A hydraulic front and rear slide jack 28 is mounted between the horizontal slide frame 24 and the horizontal slide frame 24, and the front and rear slide frame 27 is expanded and contracted by the front and rear slide jacks 28 to move the horizontal slide frame 24 on the horizontal slide frame 24 in the X-axis direction (shield axis) shown in FIG. Slide back and forth). Along with this, the following parts supported by the front and rear slide frame 27 also move in the same direction.

A spherical frame 29 is incorporated in the spherical guide portion 27a of the front and rear slide frame 27, and two hydraulic attitude control jacks 31 and 32 are mounted between the spherical frame 29 and the front and rear slide frame 27. ing. When these attitude control jacks 31 and 32 are simultaneously extended or contracted, the spherical frame 29 is tilted about an axis passing through the spherical center G parallel to the X axis, as shown in FIGS. It is used for rolling control of the segment grip 34. Posture control jacks 31 and 3
When one of the two is expanded and contracted and the other is contracted,
And, as shown in FIG. 4, the spherical frame 29 is pivoted right and left around an axis passing through the spherical center G parallel to the Z axis, and this movement is used for yawing control of the segment gripping portion 34. Further, a hydraulic attitude control jack 33 is attached between the spherical frame 29 and the segment gripping portion 34 as shown in FIG. It is tilted around and this movement is used for pitching control of the segment grips 34.

The segment grip 34 is a spherical frame 29.
And a male threaded screw shaft 35 that hangs on a central shaft 30 of the eclectic body and that fits into a grout hole 43 of an assembly segment 42 located below the erector body 12. As shown in FIG. 5, the segment grip 34 includes a drive motor 36 that rotates the screw shaft 35, and an elevating jack 38 that elevates the screw shaft 35 together with the drive motor 36 and the bearing bracket 37. After aligning the screw shaft 35 with the grout hole 43 of the assembly segment 42 by the positioning sensor, the screw shaft 35 is projected toward the assembly segment 42 while rotating the screw shaft 35, and after the screwing into the grout hole 43 is completed, the assembly segment 42 is The assembly segment 42 is gripped by pulling back the screw shaft 35 until it hits the end surface of the segment grip portion 34.

Further, as shown in FIGS. 6 and 7, linear guides 60a, 60b (referred to as guides 60) are attached to the side surfaces of the segment gripping portion 34 via attachment members 63, and the guides 60 are attached to the guides 60. Two sets of light projectors 44a and 44b are provided via the operating parts 61a and 61b (referred to as the operating part 61).
Visual sensors 65a and 65b (referred to as a visual sensor 65) including a (projector 44) and cameras 45a and 45b (referred to as a camera 45) are slidably attached.
The guide 60a is attached so that the visual sensor 65a can move over substantially both ends in the tunnel circumferential direction of the assembly segment 42 when the segment gripping portion 34 grips the assembly segment 42. The visual sensor 65b is attached so as to be movable over substantially both ends of the assembly segment 42 in the tunnel axis direction when the assembly segment 42 is gripped.

As shown in FIGS. 8 and 9, the guide 60 includes a round rod guide rod 81 and a square rod 1.
The operating portion 61 is composed of a guide rod 82 having a rack formed on its surface, and a frame 84 having a hole through which the guide rods 81, 82 pass, and an electric operating motor 85 fixed to the frame 84. It has a pinion 83 which is attached to the operation motor 85 and meshes with the rack of the guide rod 82. When the operation motor 85 rotates, the drive of the operation motor 85 is transmitted to the guide rod 82 via the pinion 83, and the visual sensor 65 linearly moves along the guide 60. At this time, the round rod guide rod 8
It is even better to have two 1's. Further, the guide 60a is not limited to the linear shape, but may be an arc shape according to the circumference of the tunnel.

The visual sensors 65a and 65b are shown in FIG.
As shown in FIG. 4, the light projector 44a is located at the boundary between the assembly segment 42 and the existing segments 41a and 41b along the tunnel circumferential direction, and the light projector 44b is located at the boundary between the assembly segment 42 and the existing segment 41c along the tunnel axial direction. Slit light images AA * and BB * generated on the assembly segment 42 and the existing segments 41a and 41b respectively by irradiating the slit light are generated on the assembly segment 42 and the existing segment 41c by the camera 45a. The slit light images C-C * are respectively captured by the camera 45b. At this time, the positions of the light projectors 44a and 44b for irradiating the slit light are positions as shown in FIG. 10, and these are stored in the main body processing device 52 as initial positions of the visual sensors 65a and 65b. Regarding the visual sensor 65a, first, at the position P, the boundary between the assembled segment 42 and the existing segment 41a is irradiated with the slit light of the projector 44a, the slit light image AA * is imaged by the camera 45a, and then along the guide 60a. To move the assembly segment 42 and the existing segment 41b at the Q position.
The slit light of the light projector 44a is irradiated to the boundary portion between and, and the slit light image BB * is captured by the camera 45a.

The erector body 12 also has a bolt fastening device (not shown) for assembling the assembly segment 42 to the existing segment 41 after the assembly segment 42 is positioned.

In addition, the segment positioning device of the present embodiment, as shown in FIGS.
An image input device 49, an image memory 50, an image processing device 51, a main body processing device 52, and a servo control device 53.
And a hydraulic control device 54.

The image input device 49 includes the cameras 45a, 4
Each image data from 5b is switched and selected by the camera switch 48, input, and fetched in the internal image memory 50. The image processing device 51 processes the image data stored in the image memory 50 and obtains the end point coordinates of the slit light images AA *, BB *. The main body control device 52 is a control device of the erector main body 12 including positioning control of the assembly segment 42, and in the internal memory, in addition to the initial arrangement positions of the visual sensors 65a and 65b set in advance as described above, the calculation is performed at the time of designing. The position / orientation data of all the segments obtained by, the position / orientation data of all the assembled segments, etc. are stored. The main body control device 52 uses the visual sensor 6
The positioning control of 5a and 65b is performed, and the positioning control of the assembly segment 42 is performed using the numerical data input in advance and the end point coordinate values obtained by the image processing device 51. The servo control device 53 controls the swing motor 16 of the erector body 12 and the actuators of the operating motors 85 and 83 according to an instruction from the body control device 52, and also via the hydraulic control device 54 that converts an electric signal into a hydraulic signal. The actuators of the pressing jack 22, the lateral slide jack 25, the front and rear slide jacks 28, and the attitude control jacks 31, 32, 33 of the main body 12 are controlled.

The procedure of positioning control of the assembly segment 42 in the main body control device 52 will be described below. As shown in FIG. 12, the positioning control executed by the main body control device 52 first performs rough positioning control in step 100,
Next, in step 200, there are two steps of performing fine positioning control.

First, the rough positioning control process of step 100 will be described with reference to FIG. First, in step 101,
Assembly segment 42 based on the segment position / posture data at the time of design or the position / posture data of existing segment 41
Predictively calculates the target position that will be finally positioned, and based on the target position, the erector position where the assembly segment 42 and the existing segments 41a to 41c do not contact.
The posture (hereinafter referred to as a rough position) is calculated. The erector position / orientation means the segment grip portion 34 of the erector body 12.
Position / orientation, and is the same as the position / orientation of the assembly segment 42 during gripping. The rough position is represented by an eclectic coordinate system (X, Y, Z) whose origin is the turning angle of the eclectic body 12 and the eclectic center position as shown in FIG.

Subsequently, in step 102, 7-axis segment positioning including the swing motor 16, the pressing jack 22, the lateral slide jack 25, the front and rear slide jacks 28, and the attitude control jacks 31, 32 and 33 is performed from the rough position obtained previously. The command signal for the actuator for actuator is calculated, and then, in step 103, the actuator positioning command signal for segment positioning is output to the servo control device 53, and the control of the actuator is awaited.

Next, the processing of the fine positioning control in the procedure 200 will be described with reference to FIG. First, in step 215, the initial arrangement positions of the visual sensors 65a and 65b stored in the memory are read, and then, in step 216, the actuator command for positioning the visual sensors so that the visual sensors 65a and 65b move to the initial arrangement positions. Signal S1
Is output to the servo control device 54.

Then, in step 201, the end point coordinates of the slit light image extracted by the image processing device 51 are input. Here, extraction of the end point coordinates of the slit light image in the image processing device 51 will be described.

After the coarse positioning control described above, the assembly segment 42 and the existing segments 41a to 4a as described above are used.
The projectors 44a, 4 are provided at two locations on the boundary with the 1c along the circumferential direction of the tunnel and one location on the boundary along the axial direction of the tunnel.
By irradiating the slit light from 4b, the slit light images AA *, BB *, and CC * generated on the assembly segment 42 and the existing segments 41a to 41c are surely obtained by the cameras 45a and 45b. Fields of view 46a, 46b,
Enter 46c. Therefore, the image processing device 51 uses the camera images 47a, 47b, and
47c, the slit light images A-A *, B-
The coordinates of the end points on the image coordinate system (xv, yv) of B * and C-C * can be obtained. At this time, as the end point coordinates of the slit light image A, the minimum coordinate point a (ax, a
y) and the maximum coordinate point d (dx, dy) are extracted, and the maximum coordinate point a in the xv direction is set as the end point coordinate of the slit light image A *.
* (Ax *, ay *) and minimum coordinate point d * (dx *, d
y *) is extracted and x is used as the end point coordinates of the slit light image B.
Minimum coordinate point b (bx, by) and maximum coordinate point e in the v direction
(Ex, ey) is extracted, and the maximum coordinate point b * (bx *, by *) in the xv direction is used as the end point coordinate of the slit light image B *.
And the minimum coordinate point e * (ex *, ey *) are extracted, and the minimum coordinate point c in the xv direction is set as the end point coordinate of the slit light image C.
(Cx, cy) and the maximum coordinate point f (fx, fy) are extracted, and the maximum coordinate point c * (cx *, cy *) and the minimum coordinate point f * in the xv direction are used as the end point coordinates of the slit light image C *.
(Fx *, fy *) is extracted.

Then, in step 202, the end point coordinate a
(Ax, ay), a * (ax *, ay *) to f (fx,
Assembly segment 4 from fy), f * (fx *, fy *)
2 and the existing segments 41a to 41c are judged whether or not there is a chip or foreign matter. When it is judged that there is a chip or foreign matter, the procedure proceeds to step 203, and when it is judged that there is no chip or foreign matter, the procedure proceeds to step 217. . A method of determining whether there is a chip or a foreign substance will be described with reference to FIGS. 15 to 17 by taking the boundary between the assembly segment 42 and the existing segment 41a as an example.

First, as shown in FIG. 15, when the assembled segment 42 and the existing segment 41a have no chip or foreign matter at their ends, the slit light images A and A * of the camera image 47a are shown by straight lines in the xv direction, At the minimum coordinate point a (ax, ay) and the maximum coordinate point d (dx, dy) of the slit light image A, ay = dy, and the maximum coordinate point a * (ax *, ay *) and minimum of the slit light image A * are obtained. Coordinate point d * (dx *,
In dy *), ay * = dy *.

However, as shown in FIG. 16, when the end of the assembly segment 42 is slightly chipped, the camera image 4
The slit light image A of 7a is shown deformed from a certain portion,
The minimum coordinate point a (ax, ay) and the maximum coordinate point d (dx,
In dy), ay ≠ dy. Also, as shown in FIG. 17, when the end of the assembly segment 42 has a large chip, the slit light image A of the camera image 47a is already transformed from the end point d, and the minimum coordinates are obtained as in the case of FIG. At the point a (ax, ay) and the maximum coordinate point d (dx, dy), ay ≠ dy.

Therefore, the slit light images A, A * to C,
By comparing the yv coordinate value of the minimum coordinate point of C * with the yv coordinate value of the maximum coordinate point, it can be determined whether or not there is a chip or a foreign substance at the end of the assembly segment 42 and the existing segments 41a to 41c.

Returning to FIG. 14, in step 203, the deviation between the yv coordinate value of the minimum coordinate point and the yv coordinate value of the maximum coordinate point of the slit light images AA * to CC *, and a preset value. By comparing with, it is determined whether the size of the chip or the foreign matter is within the allowable range. If it is determined that the size of the chip or the foreign matter is within the allowable range, the procedure 217 is performed. If it is determined that the size of the chip or the foreign substance is out of the allowable range, the process proceeds to step 205.

In step 205, the visual sensor 65
An actuator command signal S2 for positioning the visual sensor is output to the servo control device 53 so that a and 65b move from the initial position by a preset small amount, and then the process returns to step 201.

In step 217, the visual sensor 65
It is determined whether or not a and 65b have moved to all the initial placement positions stored in the memory, and if it is determined that they have moved to all the initial placement positions, proceed to step 204 and move to all the initial placement positions. If it is determined that it has not been performed, the procedure returns to step 216. In this embodiment, as described above, first, the visual sensor 65a is installed in the assembly segment 42 and the existing segment 4.
1a is moved to an initial arrangement position (position P in FIG. 10) at the boundary with 1a, slit light is irradiated at that position to perform image processing on the slit light images A and A *, and then the visual sensor 65a is set to the assembly segment 42. Since it is moved to the initial arrangement position (Q position in FIG. 10) at the boundary with the existing segment 41b and slit light is irradiated at that position to process the slit light images B and B *, the visual sensor 65a is used in this procedure. Moves to the initial position of the boundary between the assembly segment 42 and the existing segment 41b, and the end point coordinates b (b
x, by), e (ex, ey), b * (bx *, by
*), E * (ex *, ey *) will be judged.

In step 204, the slit light image A,
A * to C, C * end point coordinates a (ax, ay), a * (a
x *, ay *) to f (fx, fy), f * (fx *, f
y *) from the assembly segment 42 and the existing segment 41
Steps Δza, Δzb, Δzc with respect to a-41c and gap Δ
xa, Δxb, Δyc are calculated by the following equations.

Δza = (ay * −ay) · kz Δzb = (by * −by) · kz Δzc = (cx * −cx) · kz Δxa = (ax * −ax) · kx Δxb = (bx * −bx) ) · Kx Δyc = (cy * −cy) · ky where kz, kx, and ky are coefficients for converting the image data into numerical values in mm.

Then, in step 206, the above step Δ
Based on za to Δzc and the gaps Δxa, Δxb, and Δyc, the position / orientation deviation amount of the assembly segment 42 with respect to the existing segments 41a to 41c is obtained by, for example, the following formula.

Edx = (Δxa + Δxb) / 2 edy = Δyc edz = (Δza + Δzc) / 2 eδx = (Δzb-Δza) / (Lya + Lyb) eδy = {(Δza + Δzb) / 2-Δzc} / (Lx
a + Lxc) eδz = (Δxb−Δxa) / (Lya + Lyb) where edx, edy, and edz represent positional deviations in the x-axis direction, the y-axis direction, and the z-axis direction, respectively, shown in FIG.
δx, eδy, eδz are around the x-axis, around the y-axis,
It represents the posture deviation around the z-axis. Also, Lxa, Lx
c, Lyz, Lyb are the distances in the x-axis direction and the y-axis direction from the center of the assembly segment 42 (coordinate origin o) to the respective end points a, b, c of the slit light images A, B, C on the assembly segment 42. Is represented.

Then, in step 207, the correction amounts dx, dy, dz, δx, δy, δz of the position / orientation of the assembly segment 42 are calculated from the position / orientation deviation amount of the assembly segment 42 with respect to the existing segments 41a to 41c as follows. Ask by.

Dx = -edx dy = -edy dz = -edz δx = -eδx δy = -eδy δz = -eδz Then, in step 208, the correction amount of the position / orientation of the assembly segment 42 is set in advance. Compared with the threshold value, if the correction amount is within the threshold value, the fine positioning control is ended, and if the correction amount is not within the threshold value, step 2
Go to 09.

In step 209, the target position / orientation of the erector is calculated based on the correction amount of the position / orientation of the assembly segment 42 previously obtained, and then in step 210,
An actuator command signal for 7-axis segment positioning including the swing motor 16, the pressing jack 22, the lateral slide jack 25, the front and rear slide jacks 28, and the posture control jacks 31, 32, 33 is calculated from the target position / posture of the erector, and then, In step 211, the segment positioning actuator command signal is transmitted to the servo control device 5.
3 and returns to step 201, and the above steps are repeated until the correction amount calculated in step 207 is within the threshold value.

In the above, the main body control device 52 first sends the actuator command signal S1 for positioning the visual sensor to the servo control device 53, and the visual sensors 65a and 65b are respectively assembled into the assembly segment 42 and the existing segment 41a.
The light projectors 44a and 44b at the boundary with 41c are moved to the initial arrangement position (the visual sensor 65a is the position P in FIG. 10), and the slit light of the light projectors 44a and 44b is irradiated at that position to obtain the slit light images A and A *. , C, C * end point coordinates are extracted. At this time, when it is determined from the coordinates of these end points that there is a chip or a foreign object at the end of the assembly segment 42 or the existing segments 41a and 41c, the main body control device 52
Sends an actuator command signal S2 for visual sensor positioning to the servo control device 53, and in response to this, the operating unit 6
1a and 61b guide the visual sensors 65a and 65b to 60
Move along a and 60b to the position where there are no chips or foreign objects,
At that position, the slit light of the projectors 44a and 44b is irradiated, and the assembly segment 42 or the existing segment 41a,
The above operation is repeated until it is determined that there is no chip or foreign matter at the end of 41c.

Next, the visual sensor 65a is moved to the initial position of the projector 44a (Q position in FIG. 10) at the boundary between the assembled segment 42 and the existing segment 41b, and the slit light of the projector 44a is irradiated at that position. The end point coordinates of the slit light images B and B * are extracted, and it is judged from these end point coordinates whether or not there is a chip or a foreign object at the end of the assembly segment 42 or the existing segment 41b. The above operation is repeated.

Then, the main body control device 52 determines the assembly segment 42 and the existing segment 41 from the coordinates of the end points of the slit light images A, A * to C, C * at the portion where there is no chip or foreign matter.
a-41c, the step / gap is obtained, the position / posture deviation amount of the assembly segment 42 with respect to the existing segments 41a-41c is obtained based on the step / gap, and the assembly segment 42 is corrected based on the position / posture deviation amount. Find the quantity,
Fine positioning of the assembly segment 42 is performed.

According to the present embodiment constructed as described above, the following effects can be obtained. That is, the projector 44a,
When the assembly segment 42 or the existing segments 41a to 41c have a chip or a foreign substance at a position irradiated with the slit light of 44b, the visual sensors 65a and 65b move to positions where there is no chip or a foreign substance along the guides 60a and 60b. Therefore, the projectors 44a, 4a and
Slit light can be emitted from 4b, and the assembly segment 42 can be positioned without being affected by chipping or foreign matter. The irradiation of slit light at the boundary between the assembly segment 42 and the existing segments 41a, 41b and the imaging of the slit light images A, A *, B, B * at that time are performed by moving the visual sensor 65a along the guide 60a. By doing so, one set of the projector 44a and the camera 45a can be used, so that it is not necessary to use two sets of the projector and the camera as in the conventional case, and the assembly segment 42 can be inexpensively positioned with the minimum number of the projector and the camera. You can

Further, it is possible to detect whether or not the assembly segment 42 or the existing segments 41a to 41c have a chip or a foreign substance, move the visual sensors 65a and 65b to a position where there is no chip or a foreign substance, and the initial placement positions of the visual sensors 65a and 65b. Is automatically performed, so that the operator can check whether the assembly segment 42 or the existing segments 41a to 41c have a chip or a foreign substance, and can detect the visual sensor 65.
It is not necessary to move a and 65b. In addition, the guide 60a,
Since the visual sensors 65a and 65b are attached so that the visual sensors 65a and 65b can move over substantially both ends of the assembly segment 42 when the segment gripping portion 34 grips the assembly segment, the movable range of the visual sensors 65a and 65b is wide and the projector 44a. , 44b has a wide selection range of the irradiation position of the slit light, and the assembly segment 42 can be positioned without being further affected by chipping or foreign matter.

In this embodiment, the guide 60
Although a and 60b are attached so that the visual sensors 65a and 65b can move over substantially both ends of the assembly segment 42 when the segment gripping portion 34 grips the assembly segment, the movable range is not limited to this, and the segment ends are not limited thereto. It may be a slight range such that a chipped portion or a position where a foreign substance exists is displaced. Even in this case, the assembly segment 42 can be positioned without being affected by chipping or foreign matter.

In this embodiment, the guide 60a is attached so that the visual sensor 65a is movable in the tunnel circumferential direction, and the guide 60b is attached so that the visual sensor 65b is movable in the tunnel axial direction. Not limited to this, a guide may be attached to the segment grip portion 34 so that only one of the visual sensors 65a and 65b can move.

In the above embodiment, the assembly segment 4
Although all of the positioning of 2 are automatically performed, in addition to this, for example, in FIG.
It is determined whether or not b has moved within the movable range along the guides 60a and 60b, and if it is determined that all of the movable range has moved, it is not possible to detect the step / gap because there is no chip or foreign matter at the end of the segment. A procedure for outputting a signal may be provided. At this time, when the step / gap detection impossible signal is output, the operator actually measures the step / gap between the segments using a scale or the like, inputs the measured value to the main body control device 52, and executes step 206. Or the operator may assemble the assembly segment 42 and the existing segment 41
The segment assembly can be continued by manually operating the erector body 12 while observing the camera image at the boundary with a to 41c.

Further, it is possible to detect whether the assembled segment 42 or the existing segments 41a to 41c have a chip or a foreign substance, move the visual sensors 65a and 65b to a position where there is no chip or a foreign substance, and the initial placement positions of the visual sensors 65a and 65b. The operation may be manually performed by the operator.

[0062]

According to the present invention, even if the end of the assembled segment and the existing segment adjacent to the assembled segment has a certain amount of chipping or foreign matter, by moving the projector and the camera, an image of the portion free of chipping or foreign matter can be obtained. The data can be detected and the assembly segment can be positioned without the effects of chipping or foreign material.

Further, the assembly segment can be positioned at a low cost with a minimum of floodlights and cameras.

[Brief description of drawings]

FIG. 1 is a front cross-sectional view of an erector body of an erector device including a segment assembly / positioning device of the present invention.

FIG. 2 is a sectional view taken along line II-II of FIG.

FIG. 3 is a sectional view taken along line III-III in FIG.

FIG. 4 is a sectional view taken along line IV-IV in FIG.

5 is a detailed cross-sectional view of the segment grip portion shown in FIG.

6 is a diagram showing a guide attached to a segment grip of the erector body shown in FIG. 1 and a visual sensor attached to the guide.

7 is a partially enlarged view of FIG.

FIG. 8 is a top view of the inside of the operating unit shown in FIG.

9 is a sectional view taken along line IX-IX in FIG.

FIG. 10 is a diagram showing a positional relationship between an assembled segment of a projector and a camera used for positioning a segment of the present invention and an existing segment, and a system configuration.

FIG. 11 is a block diagram of a control system of the erector body shown in FIG.

12 is a flowchart showing a positioning control procedure of the main body control device shown in FIG.

13 is a flowchart showing a rough positioning control procedure shown in FIG.

FIG. 14 is a flowchart showing a fine positioning control procedure shown in FIG.

FIG. 15 shows a case where the assembly segment is not chipped,
It is a figure which shows the positional relationship of an assembly segment and an existing segment after a rough positioning control and a slit light image, and a camera image.

FIG. 16 is a diagram showing a positional relationship between an assembly segment and an existing segment after completion of rough positioning control and a slit light image, and a camera image in the case where the assembly segment is slightly chipped.

FIG. 17 is a diagram showing a positional relationship between an assembly segment and an existing segment after completion of rough positioning control and a slit light image, and a camera image when the assembly segment has a large chip.

18 is a diagram used to calculate the amount of position / orientation deviation in the fine positioning control procedure shown in FIG.

[Explanation of symbols]

12 Electa body 34 segment grip 41, 41a, 41b, 41c Existing segment 42 Assembly segment 44,44a, 44b Floodlight 45, 45a, 45b cameras 48 camera switch 49 Image input device 50 image memory 51 Image processing device 52 Main unit control device 53 Servo control device 54 Hydraulic control device 60, 60a, 60b guide 81 Guide rod 82 Guide rod (with rack) 61, 61a, 61b Working part 85 working motor 61B Pinion 84 frames 65, 65a, 65b Visual sensor

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hiroki Polymorph 650 Kazutachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory (72) Ken Ken Kamei, 650 Kintate-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Stock Company Tsuchiura factory (72) Inventor Yukihisa Hirasawa 650 Jinrachi-cho, Tsuchiura city, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory (56) Reference JP-A-3-199600 (JP, A) JP-A-5-65799 ( JP, A) JP-A-5-321597 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) E21D 11/40

Claims (8)

(57) [Claims] 1. A light projector for irradiating slit light to a segment gripping portion for gripping an assembled segment and a boundary portion between the assembled segment and an existing segment adjacent to the segment gripping portion, and a slit light of the light projector. At least one visual sensor including a camera that captures a slit light image formed by the camera, and an appropriate position of the assembly segment with respect to the existing segment based on image data of the camera, and the assembly segment is positioned at the appropriate position. In the segment positioning device of the erector having the segment gripper movement control means for moving the segment gripper, the segment gripper is provided with guide means, and the visual sensor is movably attached along the guide means. Segment of the Electa characterized by -Decided Me apparatus. 2. The segment positioning device for an erector according to claim 1, wherein it is determined whether or not the visual sensor needs to be moved along the guide means, and it is determined that the visual sensor does not have to be moved. Until the end of the visual sensor, the visual sensor movement control means for moving the visual sensor along the guide means is provided, and the segment gripper movement control means determines that the visual sensor movement control means does not need to move the visual sensor. A segment positioning device for an erector, comprising means for determining a proper position of the assembly segment when the assembly segment is moved, and moving the segment gripper so that the assembly segment is positioned at the proper position. 3. The segment positioning device for an erector according to claim 2, wherein the visual sensor movement control means comprises:
Defect determining means for determining whether or not there is a defect in the assembly segment and the existing segment from image data of the camera, and means for moving the visual sensor by a predetermined amount until the defect determining means determines that there is no defect. And the segment gripper movement control means obtains a proper position of the assembly segment when the malfunction determination means determines that there is no malfunction, and positions the assembly segment at the proper position. A segment positioning device for an erector, which is a means for moving a segment gripping portion. 4. The segment positioning device for an erector according to claim 2, wherein the visual sensor movement control means comprises:
A storage unit that stores the arrangement position of the visual sensor in advance, a movement determination unit that determines whether the visual sensor has moved to all the arrangement positions stored in the storage unit, and a movement determination unit. And a means for moving the visual sensor to the arrangement position until it is determined that the visual sensor has moved to all the arrangement positions stored in the storage means, the segment gripper movement control means, When the movement determination means determines that the visual sensor has moved to all the arrangement positions stored in the storage means, the proper position of the assembly segment is obtained, and the assembly segment is positioned at the proper position. A segment positioning device for an erector, which is a means for moving the segment grip portion. 5. The segment positioning device for an erector according to claim 1, wherein the guide means moves the visual sensor across substantially both ends of the assembly segment when the segment gripping portion grips and positions the assembly segment. A segment positioning device for an erector, wherein the segment positioning device is attached to a side surface of the segment gripper so that the segment can be positioned. 6. The segment positioner for an erector according to claim 1, wherein the guide means is attached to a side surface of the segment gripper so that the visual sensor can move in a tunnel circumferential direction. Segment positioning device. 7. The erector segment positioning device according to claim 1, wherein the guide means is attached to a side surface of the segment gripper so that the visual sensor can move in a tunnel axis direction. Segment positioning device. 8. The erector segment positioning device according to claim 1, wherein the number of the visual sensors is two, and in the guide means, one of the two visual sensors is in a tunnel circumferential direction and the segment gripping portion is the assembly. First guide means mounted on a side of the segment gripper for movement over substantially both ends of the assembly segment when gripping and positioning the segment; and the other of the two visual sensors in the tunnel axis direction and the segment. Segment positioning of an erector comprising: second guide means attached to a side surface of the segment gripper so that the gripper can move over substantially both ends of the assembly segment when gripping and positioning the assembly segment. apparatus.