JP6721450B2 - Roundness measuring device - Google Patents

Description

The present invention relates to a roundness measuring device for measuring the roundness of an inner peripheral surface of a segment assembled by a shield machine.

The shield machine assembles a segment tunnel by assembling segments into a cylindrical wall inside the tail portion and excavating.
Inside the tail part, the upper holding body is attached to the upper end of the inner peripheral surface of the segment assembled into a cylindrical wall, and the lower holding body is attached to the lower end of the inner peripheral surface of the segment to form the inner peripheral surface. A perfect circle holding device that holds a perfect circle is provided (see Patent Document 1).
However, since the circularity of the inner peripheral surface of the segment changes under the influence of the relative positional relationship between the excavation direction of the shield machine and the already assembled segment, the inner peripheral surface can be changed only by the circularity holding device. It is difficult to maintain the perfect circular shape.
If the circularity of the inner peripheral surface of the segment is reduced, an excessive load may be applied between the segments, and a part of the segment may be damaged.
If the segment is damaged, repairing the segment is required, which results in an increase in cost.
Therefore, conventionally, before and after excavation work with a shield machine, data indicating the degree of distortion of the inner peripheral surface of the segment with respect to the perfect circular shape was measured using a plumb bob from the scaffold assembled by the worker on the premises, and the measured data Is used as data for controlling the excavation direction of the shield machine or as data for controlling segment assembly.

JP, 2000-213297, A

However, in the above-described conventional technique, there is room for improvement in order to improve the measurement efficiency because it is necessary for the worker to perform the measurement work at the time of measurement.
In addition, when the inside of the segment has a large diameter, work in high places is required, and when the inside of the segment has a small diameter, it is necessary to work in a narrow space, which imposes a heavy physical burden on the worker. There is a disadvantage.
Further, in order to secure the roundness of the inner peripheral surface of the segment, it is more preferable to control the shield machine based on the measured value of the roundness.
The present invention has been made in view of such circumstances, and an object of the present invention is to measure the roundness which is advantageous in improving the efficiency of measuring the roundness and reducing the burden on the operator. To provide a device.

In order to achieve the above-mentioned object, the invention according to claim 1 is a roundness measuring device for measuring the roundness of an inner peripheral surface of a segment assembled into a cylindrical wall shape by a shield machine, and irradiating a laser beam. Then, the distance detection unit that receives the reflected light reflected by the target object and detects the distance to the target object, and the inner peripheral surface of the segment and the virtual plane orthogonal to the axis of the shield machine intersect. Around a first axis line extending along the axis of the shield machine, the laser light emitted from the distance detecting unit so that the laser light is emitted along an annular crossing line formed by And a scanning unit that guides the reflected light reflected by the inner peripheral surface of the segment to the distance detection unit via the same optical path as the optical path of the laser light. A rotation angle detection unit that detects a rotation angle of the laser beam that is rotationally scanned around the first axis, a distance that is detected by the distance detection unit, and a rotation that is detected by the rotation angle detection unit. A circularity calculation unit that specifies an ellipse formed by the circular intersection line based on the angle and calculates the circularity of the inner peripheral surface based on the specified ellipse.
The invention according to claim 2 is characterized in that the distance detecting section and the scanning section are arranged radially inside a segment tunnel portion immediately after the segments are assembled into a cylindrical wall shape and constructed. And
The invention according to claim 3 is characterized in that the distance detecting unit and the scanning unit are provided in the shield machine.
In the invention according to claim 4, the distance detecting section is arranged so as to irradiate the laser light along the first axis, and the scanning section is located on the first axis and the distance detecting section is located. A mirror that reflects the laser light emitted from the part to the outside in the radial direction of the axis of the shield machine, and a rotating part that rotates the mirror around the first axis.
According to a fifth aspect of the present invention, the scanning unit supports the mirror so as to be swingable about a second axis orthogonal to the first axis and a swing angle of the mirror about the second axis. It is characterized by further comprising a swing angle adjusting section for adjusting.
According to a sixth aspect of the present invention, there are provided a swing angle detecting section for detecting the swing angle, the rotation angle detected by the rotation angle detecting section and the swing angle detected by the swing angle detecting section. Based on the setting, a setting data acquisition unit that acquires setting data in which the rotation angle and the swing angle sufficient to scan the laser beam along the intersection line are associated with each other, and is detected by the rotation angle detection unit. And a swing angle control unit that controls the swing angle adjusting unit according to the swing angle specified from the setting data based on the rotation angle.

According to the first aspect of the present invention, the laser light is rotated and scanned around the first axis so that the laser light is irradiated along the annular crossing line, and the reflection reflected by the inner peripheral surface of the segment is performed. By guiding the light to the distance detection unit, the ellipse formed by the annular crossing line is specified based on the distance detected by the distance detection unit and the rotation angle of the laser beam rotationally scanned around the first axis. Then, the roundness of the inner peripheral surface is calculated based on the specified ellipse.
Therefore, the measurement work by the worker is unnecessary, which is advantageous in improving the measurement efficiency of the roundness and reducing the physical burden on the worker.
According to the invention described in claim 2, since the roundness can be measured at an early stage, the roundness is used as data for controlling the excavation direction of the shield machine or as data for performing assembly control of the segment. It is more advantageous in use.
According to the invention of claim 3, it is not necessary to manually dispose the distance detecting section and the scanning section inside the segment every time the segment is assembled, and therefore the excavation operation is not stopped without stopping the excavation operation of the shield machine. Since the inner roundness can be continuously obtained, it is more advantageous in improving the measurement efficiency of the roundness.
According to the invention described in claim 4, it is advantageous in performing the rotational scanning of the laser light with a simple configuration.
According to the invention described in claim 5, it is possible to accurately irradiate the laser beam along the annular crossing line, which is advantageous in ensuring the measurement accuracy of the roundness.
According to the invention of claim 6, it is more advantageous in accurately irradiating the laser beam along the annular crossing line, and more advantageous in ensuring the measurement accuracy of the roundness.

1 is an overall view of a shield machine equipped with a roundness measuring device according to an embodiment. It is explanatory drawing which shows the installation state of the roundness measuring device of embodiment. It is the sectional view on the AA line of FIG. It is a perspective view showing the composition of the roundness measuring device of an embodiment. (A)-(C) is operation|movement explanatory drawing of the rocking|swiveling angle adjustment part and rotation part of the roundness measuring device of embodiment. It is a block diagram showing the composition of the roundness measuring device of an embodiment. It is a functional block diagram of the roundness measuring device of an embodiment. It is explanatory drawing at the time of specifying an ellipse from the distance L of the measurement point M and the rotation angle (theta). It is explanatory drawing of an ellipse. It is a figure which shows the mathematical formula used when calculating a circularity from an ellipse. It is a flow chart which shows acquisition processing of setting data. It is a flow chart which shows operation of a roundness measuring device.

Next, embodiments of the present invention will be described with reference to the drawings.
First, the shield machine will be described.
As shown in FIG. 1, the shield machine 10 includes a front body portion 12, a tail portion (rear body portion) 14, a rear carriage 16, and the like. And a rear chamber 12B provided on one side.
The present invention can be applied to earth pressure type or muddy type, or various conventionally known shield machines.

The excavation section 12A includes a cutter device 1202, an exterior wall (a front skin plate facing the inner wall 2002 of the tunnel 20) 1204, and the like.
The rear chamber 12B is a location inside the front skin plate 1204 and behind the excavation portion 12A. In the rear chamber 12B, an unillustrated earth discharging device, an unillustrated jack device, and the like are arranged. Further, a partition wall 13 separates the excavation portion 12A and the rear chamber 12B.
The cutter device 1202 is configured to excavate the natural ground by rotating a disc-shaped cutter around an axis parallel to the excavation direction.
The earth discharging device is configured to convey the earth and sand discharged by excavation of the ground by the cutter device 1202 to the rear, and the earth discharging device is configured by, for example, a screw conveyor.
The jack device propels the cutter device 1202 and the soil discharging device 18 in the excavation direction by pressing the segment 22 assembled in a cylindrical wall shape in the tunnel 20 excavated by the cutter device 1202 rearward in the excavation direction. Is configured to let.

The tail portion 14 includes a skin plate (rear skin plate) 1402 which faces the inner wall 2002 of the tunnel 20.
The skin plate 1402 has a cylindrical shape and has an outer peripheral surface facing the inner wall 2002 of the tunnel 20 and an inner peripheral surface 1410 facing the outer peripheral surface and facing the outer peripheral surface 2202 of the segment 22.
The skin plate 1402 of the tail portion 14 is bendably connected to the rear end portion of the exterior wall (front skin plate) 1204 of the excavation portion 12A in the excavation direction.

The rear carriage 16 operates the shield machine 10 and is provided behind the tail portion 14.
In the present embodiment, the rear bogie 16 includes a plurality of bogies 16A, 16B, 16C, 16D, and these bogies include a control unit for operating the excavation section 12A and the tail section 14, a drive source, an oil tank, and the like. Are dispersed.
The rear carriage 16 is movably provided on a rail 19 extending in the longitudinal direction of the tunnel 20.

The segment 22 has a thickness that extends in the radial direction of the tunnel 20, a length that extends in the circumferential direction of the tunnel 20, and a cylindrical outer peripheral surface 2202 that is disposed so as to face the inner wall 2002 of the tunnel 20. It has a cylindrical inner peripheral surface 2204 facing the center of the tunnel 20.
The segment 22 serves to support the inner wall 2002 by being annularly assembled to the inner wall 2002 of the tunnel 20 excavated by the shield machine 10, in other words, being assembled in the mine.
A segment tunnel is constructed by assembling the segment 22 to the inner wall 2002.
Further, among the segments 22 forming the segment tunnel, a boundary line 2210 of the segments 22 adjacent to each other in the axial center O direction of the shield machine 10 extends in the circumferential direction of the inner peripheral surface 2204.

As shown in FIGS. 2 to 4, the roundness measuring device 24 measures the roundness α of the inner peripheral surface 2204 of the segment 22 assembled into a cylindrical wall shape.
As shown in FIGS. 3, 4, and 6, the roundness measuring device 24 includes a base plate 26, a distance detecting unit 28, a scanning unit 30, a rotation angle detecting unit 32, and a swing angle detecting unit 34. And a computer 36.

As shown in FIGS. 3 and 4, the base plate 26 supports the distance detection unit 28 and the scanning unit 30, has a long and narrow rectangular plate shape, and has a thickness direction in the axial center O of the shield machine 10. It is attached to the partition wall 13 of the shield machine 10 through a mounting metal fitting (not shown) in a state in which the longitudinal direction is parallel to the axis O of the shield machine 10 in the direction orthogonal to.
The distance detecting unit 28 and the scanning unit 30 are arranged radially inside the segment tunnel immediately after the segment 22 is assembled into a cylindrical wall and constructed.

The distance detection unit 28 irradiates the laser light P and receives the reflected light S reflected by the object to detect the distance to the object.
A commercially available laser rangefinder can be used as the distance detection unit 28.
In the present embodiment, as shown in FIGS. 3 and 4, distance detecting section 28 includes case 2802, light emitting section 2804, light receiving section 2806, and distance calculating section 2808.
The case 2802 has a prismatic shape, and has a window portion 2810 through which the laser light P can be transmitted at one end in the longitudinal direction.
The case 2802 is attached to a position near the partition wall 13 in the longitudinal direction of the base plate 26 with the longitudinal direction parallel to the longitudinal direction of the base plate 26.
The light emitting unit 2804, the light receiving unit 2806, and the distance calculating unit 2808 are housed inside the case 2802.
The light emitting unit 2804 irradiates the laser light P through the window 2810 along a first axis G1 described later, and the laser light P reaches the inner peripheral surface 2204 of the segment 22 via the scanning unit 30.
The light receiving unit 2806 receives the pulsed reflected light S obtained by reflecting the pulsed laser light P emitted from the light emitting unit 2804 on the inner peripheral surface 2204 of the segment 22 through the scanning unit 30 and the window unit 2810.
The distance calculation unit 2808 determines the distance L from the distance detection unit 28 to the inner peripheral surface 2204 of the segment 22 based on the time difference between the laser light P emitted from the light emitting unit 2804 and the reflected light S received by the light receiving unit 2806. To detect.
The configuration of the laser rangefinder is not limited to the above, and various conventionally known configurations can be adopted.

In the scanning unit 30, the laser light P is emitted along the ring-shaped intersection line K (FIG. 3) formed by the intersection of the inner peripheral surface 2204 of the segment 22 and the virtual plane orthogonal to the axis O of the shield machine 10. The laser light P emitted from the distance detection unit 28 so as to be emitted is rotationally scanned around the first axis G1 along the axis O of the shield machine 10 (parallel to the axis O in the present embodiment). At the same time, the rotationally scanned laser light P guides the reflected light S reflected by the inner peripheral surface 2204 of the segment 22 to the distance detection unit 28 via the same optical path as that of the laser light P.

As shown in FIG. 4, the scanning unit 30 includes a mirror 38, a swing angle adjusting unit 40, and a rotating unit 42.
The mirror 38 is located on the first axis G1 and reflects the laser light P emitted from the distance detector 28 to the outside in the radial direction of the axis O of the shield machine 10.
Further, the mirror 38 reflects the reflected light S reflected by the inner peripheral surface 2204 of the segment 22 to the distance detection unit 28 and guides it.
Therefore, the optical path of the laser light P and the optical path of the reflected light S coincide with each other.

The swing angle adjusting unit 40 supports the mirror 38 swingably around a second axis G2 orthogonal to the first axis G1 and adjusts the swing angle φ of the mirror 38 around the second axis G2. It is a thing.
In the present embodiment, the swing angle adjusting section 40 is composed of the first stepping motor 40A.
The first stepping motor 40A includes a motor body 4002 and a drive shaft 4004, and the drive shaft 4004 supports the mirror 38.
The first stepping motor 40A is rotationally driven by a drive signal supplied from a computer 36 described later.

The rotating unit 42 rotates the mirror 38 about the first axis G1.
In the present embodiment, the rotating portion 42 is composed of the second stepping motor 42A.
The second stepping motor 42A includes a motor body 4202 and a drive shaft 4204, and the motor body 4202 is attached to a portion of the base plate 26 opposite to the longitudinal partition wall 13 via a frame 4210. The motor body 4002 of the first stepping motor 40A is supported on the drive shaft 4204 via a support tool 4212.
The second stepping motor 42A is rotationally driven by a drive signal supplied from the computer 36 described later.

As shown in FIGS. 5A and 5B, the swing angle adjusting section 40 adjusts the swing angle φ of the mirror 38 about the second axis G2, so that the laser light reflected by the mirror 38 is reflected. The angle of P with respect to the first axis G1 is adjusted, and as a result, as shown in FIG. 3, the position at which the inner peripheral surface 2204 of the segment 22 is irradiated with the laser light P is adjusted.
Further, as shown in FIGS. 5B and 5C, the mirror 38 is rotated about the first axis G1 by the rotating unit 42, so that the laser light P is rotationally scanned about the first axis G1. The inner peripheral surface 2204 of the segment 22 is irradiated.
At this time, as shown in FIG. 2, the laser beam P that is rotationally scanned is partially blocked by the base plate 26, but the laser beam P that is rotationally scanned is mostly over the entire circumference of the inner peripheral surface 2204 of the segment 22. Is reflected on the range Z of the inner peripheral surface 2204 of the segment 22 and is guided to the distance detection unit 28 via the mirror 38.

As shown in FIG. 4, the rotation angle detection unit 32 (FIGS. 6 and 7) causes the rotation angle θ of the laser beam P to be rotationally scanned around the first axis G1, that is, the first rotation angle of the mirror 38. The rotation angle θ around the axis G1 is detected.
In the present embodiment, the rotation angle detection unit 32 is composed of an encoder built in the second stepping motor 42A of the rotation unit 42.
The swing angle detector 34 (FIGS. 6 and 7) determines the swing angle φ of the laser beam P around the second axis G2, in other words, the swing angle φ around the second axis G2 of the mirror 38. It is something to detect.
In the present embodiment, the swing angle detection unit 34 is composed of an encoder incorporated in the first stepping motor 40A of the swing angle adjustment unit 40.

The computer 36 is provided on the carriage 16A of the rear carriage 16 as shown in FIG.
As shown in FIG. 6, the computer 36 is connected to the distance detection unit 28, the swing angle adjustment unit 40, the rotation unit 42, the rotation angle detection unit 32, and the swing angle detection unit 34 via a cable (not shown). There is.
The computer 36 has a CPU 44, a ROM 46, a RAM 48, a hard disk device 50, a disk device 52, a keyboard 54, a mouse 56, a display 58, a printer 60, an interface 62, etc., which are connected via an interface circuit and a bus line (not shown). doing.
The ROM 46 stores a control program and the like, and the RAM 48 provides a working area.
The hard disk device 50 stores a calculation program for calculating the roundness α, a control program for controlling the scanning unit 30, a control program for acquiring setting data described later, and the like.
The disk device 52 records and/or reproduces data on a recording medium such as a CD or a DVD.
The keyboard 54 and the mouse 56 receive an operation input by the operator.
The display 58 displays and outputs data, the printer 60 prints out data, and the display 58 and the printer 60 output data.
The interface 62 is for exchanging data with an external device. In the present embodiment, the interface 62 receives the data of the distance L from the distance detecting unit 28, and the swing angle adjusting unit 40 and the rotating unit 42. To the rotation angle detection unit 32 and the swing angle φ data from the swing angle detection unit 34.

When the CPU 44 executes the control program stored in the hard disk device 50, as shown in FIG. 36C is realized.
The roundness calculation unit 36A identifies the ellipse formed by the annular crossing line K based on the data of the distance L and the data of the rotation angle θ input via the interface 62, and based on the identified ellipse, the inner circumference is determined. The arithmetic processing for calculating the roundness of the surface 2204 is executed, and the roundness α is output via the display 58, the printer 60, or the interface 62.
As will be described later, the setting data acquisition unit 36B causes the laser beam P to cross the line K based on the rotation angle θ detected by the rotation angle detection unit 32 and the swing angle φ detected by the swing angle detection unit 34. The setting data in which the rotation angle θ and the swing angle φ that are sufficient for scanning along are associated with each other are acquired and stored.
The swing angle control unit 36C controls the swing angle adjustment unit 40 according to the swing angle φ specified from the setting data based on the rotation angle θ detected by the rotation angle detection unit 32.

Further, the CPU 44 executes the control program stored in the hard disk device 50 so that the computer 36 can directly control the swing angle adjusting unit 40 and the rotating unit 42 according to the operation of the keyboard 54 or the mouse 56. Has been done. That is, the computer 36 directly controls the rotations of the first and second stepping motors 40A and 42A according to the operation of the keyboard 54 or the mouse 56, and determines the swing angle φ of the mirror 38 and the rotation angle θ of the mirror 38. It has a function of manual adjustment for adjusting any angle or every predetermined angle.

A calculation process in which the roundness calculation unit 36A calculates the roundness α of the inner peripheral surface 2204 will be described.
As shown in FIG. 8, the roundness calculating unit 36A forms the inner peripheral surface 2204 based on the distance L detected by the distance detecting unit 28 and the rotation angle θ detected by the rotation angle detecting unit 32. The ellipse is specified, and the roundness α is calculated based on the specified ellipse.
The distance L detected by the distance detector 28 is a value including the distance ΔL from the distance detector 28 to the mirror 38. Therefore, in the following description, the roundness calculation unit 36A treats the distance L′=L−ΔL obtained by subtracting the distance ΔL as the distance L and calculates the roundness α.

As shown in FIG. 8, by measuring the distance L from the distance detection unit 28 and the rotation angle θ at the measurement point M on the inner peripheral surface 2204 of the segment 22, the X coordinate value Xi and the Y coordinate value of the measurement point are measured. Yi is calculated by the following equations (a) and (b).
Xi=L·cos(θ) (a)
Yi=L·cos(θ) (b)

As shown in FIG. 9, an ellipse is specified by taking Xi and Yi of a plurality of measurement points M on the XY coordinates. In the figure, Xo and Yo represent the coordinates of the center point of the ellipse (the intersection of the long axis and the short axis).
The relational expression that specifies the ellipse is represented by Expression (1) in FIG.
This formula (1) is developed as the formula (2).
However, A, B, C, D and E are coefficients.
From the data of Xi and Yi at each measurement point, the respective coefficients A, B, C, D and E of the equation (2) are calculated by the least square method by the least square method.
That is, by solving equation (3), the angle θ shown in equation (4), the major axis radius a of the ellipse shown in equation (5), and the minor axis radius b of the ellipse shown in equation (6) are calculated. By doing so, θ, a, and b in Expression (1) are specified, and thus the ellipse is specified.
When such an ellipse is specified, the roundness α can be calculated based on the major axis radius a and the minor axis radius b.
The roundness α is represented by the following mathematical expression (7).
Roundness α={(2a-D ₀ )-(2b-D ₀ )}/D ₀ ×100+100 (7)
However, D ₀ represents the designed inner diameter of the inner peripheral surface 2204 of the segment 22 assembled into the cylindrical wall shape.

As described above, the circularity calculation unit 36A has an ellipse formed by the annular crossing line K formed by the inner peripheral surface 2204 of the segment 22 and the virtual plane orthogonal to the axis O of the shield machine 10 intersecting each other. Is specified, and the circularity of the inner peripheral surface 2204 is calculated based on the specified ellipse.
Therefore, the swing angle φ by the swing angle adjusting unit 40 is set so that the laser light P irradiated on the inner peripheral surface 2204 of the segment 22 via the mirror 38 is accurately rotationally scanned along the annular crossing line K. Will need to be adjusted.
Therefore, in the present embodiment, the setting data acquisition unit 36B acquires the setting data in which the rotation angle θ and the swing angle φ sufficient to scan the laser light P along the intersection line K are associated with each other. At the time of actually measuring the roundness α, the swing angle control unit 36C adjusts the swing angle φ of the mirror 38 according to the rotation angle θ of the mirror 38 based on the setting data.

Next, the setting data acquisition processing by the setting data acquisition unit 36B will be described with reference to the flowchart in FIG.
It is assumed that the shield machine 10 has been assembled in advance over a certain range.
First, the distance detection unit 28 is set to the operating state to be irradiated with the laser light P, the scanning unit 30 is set to the operating state to enable the rotational scanning of the laser light P, and the computer 36 is set to the operating state (step S10). ..
Next, the swing angle adjusting section 40 sets the swing angle φ of the mirror 38 to the reference swing angle φ0 (step S12). When the mirror 38 is rotated by the rotating portion 42 and the laser light P is rotationally scanned, the reference swing angle φ0 is such that the laser light P rotationally scanned is a structure in the rear chamber 12B of the shield machine 10, for example, The swing angle φ of the mirror 38 is not obstructed by the soil discharging device or the like.
The setting of the mirror 38 to the reference swing angle φ0 by the swing angle adjusting unit 40 is performed by rotating the first and second stepping motors 40A and 42A and irradiating the inner peripheral surface 2204 of the segment 22 with the laser beam P. It is done after confirming the state of. At this time, the rotation of the first and second stepping motors 40A and 42A and the setting of the reference swing angle φ0 by the swing angle adjusting unit 40 are performed by the computer 36 based on the operation of the keyboard 54 and the mouse 56 as described above. The function of manual adjustment of.

When the reference swing angle φ0 of the mirror 38 is set, the rotation unit 42 sets the rotation angle θ of the mirror 38 to a predetermined reference rotation angle θ0 (step S13).
Then, it is visually determined whether or not the laser light P reflected by the mirror 38 is correctly applied to the intersection line K of the inner peripheral surface 2204 of the segment 22 (step S14).
The intersection line K is formed in an annular shape by intersecting the inner peripheral surface 2204 of the segment 22 and a virtual plane orthogonal to the axis O of the shield machine 10. Therefore, the intersection line K can be regarded as coincident with the boundary line 2210 (FIG. 3) of the segments 22 adjacent to each other in the axial center O direction of the shield machine 10. Therefore, the boundary line 2210 of the segment 22 can be used as the intersection line K.
The reference crossing line K may be drawn on the inner peripheral surface 2204 of the segment 22 using a laser level, and the crossing line K may be used to perform the process of step S14. The method of displaying on the inner peripheral surface 2204 is arbitrary.

If the determination result in step S14 is negative, the operator operates the keyboard 54 or the mouse 56 to correctly irradiate the laser beam P reflected by the mirror 38 on the intersection line K of the inner peripheral surface 2204 of the segment 22. As described above, the swing angle adjusting section 40 adjusts the swing angle φ of the mirror 38 (step S16).

When the determination result of step S14 is affirmative and when step S16 is executed, the setting data acquisition unit 36B detects the rotation angle θ detected by the rotation angle detection unit 32 and the swing angle detection unit 34. The setting data associated with the swing angle φ is acquired and stored in the hard disk device 52 (step S18).

Next, the setting data acquisition unit 36B determines whether acquisition of the setting data has been completed over most of the range Z of the inner peripheral surface 2204 of the segment 22 except for the region where the laser light P is blocked by the base plate 26. (Step S20).
If the determination result of step S20 is negative, the setting data acquisition unit 36B causes the rotation unit 42 to rotate the mirror 38 by a predetermined rotation angle Δθ, and returns to step S14.
In addition, the predetermined rotation angle Δθ is appropriately set such that the total number of acquired setting data is, for example, 20 to 30.

If such a process is performed over most of the range Z (FIG. 2) of the inner peripheral surface 2204 of the segment 22 except for the region where the laser light P is blocked by the base plate 26, the determination result of step S20 becomes affirmative, The setting data acquisition process by the setting data acquisition unit 36B ends.

Next, the operation of the roundness measuring device 24 will be described with reference to the flowchart of FIG.
First, the distance detection unit 28, the scanning unit 30, the rotation angle detection unit 32, the swing angle detection unit 34, and the computer 36 of the roundness measuring device 24 are activated. As a result, the distance L detected by the distance detector 28, the rotation angle θ detected by the rotation angle detector 32, and the swing angle φ detected by the swing angle detector 34 are supplied to the computer 36. The state is set (step S30).
Next, the shield machine 10 starts excavation of the natural ground and assembly of the segment tunnel (step S32).
The scanning unit 30 rotationally scans the laser light P and the distance detection unit 28 receives the reflected light S, and the swing angle control unit 36C detects the rotation angle θ detected by the rotation angle detection unit 32. The swing angle φ of the mirror 38 is adjusted according to the swing angle φ specified from the setting data stored in advance (step S34).
As a result, the laser light P rotationally scanned by the scanning unit 30 forms an annular intersection line K formed by the virtual plane orthogonal to the axis O of the shield machine 10 and the inner peripheral surface 2204 of the segment 22 intersecting each other. It is precisely rotated and scanned along.

The roundness calculation unit 36A calculates the roundness α of the inner peripheral surface 2204 based on the distance L detected by the distance detection unit 28 and the rotation angle θ detected by the rotation angle detection unit 32. Is executed (step S36), and the circularity α is output via the display 58, the printer 60 or the interface 62 (step S38).
The outputted circularity α is used as data for controlling the excavation direction of the shield machine 10 or as data for controlling the assembling of the segment 22, and the process returns to step S32 to return to the shield machine. The roundness α is measured in real time while 10 excavations are made.

As described above, according to the present embodiment, the inner peripheral surface 2204 of the segment 22 and the virtual plane orthogonal to the axis O of the shield machine 10 intersect each other along the ring-shaped intersection line K. The laser light P emitted from the distance detector 28 so as to be emitted by the laser light P is rotationally scanned around the first axis G1 extending along the axis O of the shield machine 10 and is rotationally scanned. The reflected laser beam S reflected by the inner peripheral surface 2204 of the segment 22 is guided to the distance detecting section 28 through the same optical path as the optical path of the laser beam P, and the distance L detected by the distance detecting section 28 is , The ellipse formed by the annular crossing line K is specified based on the rotation angle θ of the laser beam P that is rotationally scanned around the first axis G1, and the true circle of the inner peripheral surface 2204 is specified based on the specified ellipse The degree is calculated.
Therefore, the measurement work by the worker becomes unnecessary, which is advantageous in improving the measurement efficiency of the roundness α and reducing the physical burden on the worker.

Further, in the present embodiment, since the distance detection unit 28 and the scanning unit 30 are arranged radially inside the segment 22 tunnel portion immediately after the segment 22 is assembled by being assembled into a cylindrical wall shape, Since the distance L of the inner peripheral surface 2204 of the segment 22 in which the position immediately after being assembled by the shield machine 10 is likely to be displaced by the distance detection unit 28 can be measured early, and therefore the roundness α can be measured early. It is more advantageous to use the circularity α as the data for controlling the excavation direction of the shield machine 10 or the data for controlling the assembling of the segment 22.

In addition, in the present embodiment, since the distance detection unit 28 and the scanning unit 30 are provided in the shield machine 10, the distance detection unit 28 and the scanning unit 30 move forward as the shield machine 10 moves in the forward direction. Move in the direction.
Therefore, it is not necessary to manually dispose the distance detection unit 28 and the scanning unit 30 inside the segment 22 every time the segment 22 is assembled, and thus the shield machine 10 does not stop the excavation operation and does not stop during the excavation. Since the roundness α can be continuously obtained, it is more advantageous in improving the measurement efficiency of the roundness α.

Further, in the present embodiment, the distance detection unit 28 is arranged so as to emit the laser light P along the first axis G1, and the scanning unit 30 is located on the first axis G1 and the distance detection unit. A mirror 38 that reflects the laser light P emitted from 28 to the outside in the radial direction of the axis O of the shield machine 10 and a rotating unit 42 that rotates the mirror 38 around the first axis G1.
Therefore, it is advantageous in performing the rotational scanning of the laser light P with a simple configuration.

In addition, in the present embodiment, the mirror 38 that is located on the first axis G1 and that reflects the laser light P emitted from the distance detection unit 28 to the outer side in the radial direction of the axis O of the shield machine 10 has the first axis. The mirror 38 is swingably supported about a second axis G2 orthogonal to G1, the swing angle φ of the mirror 38 about the second axis G2 is adjusted, and the mirror 38 is rotated about the first axis G1. did.
Therefore, the laser light P can be accurately emitted along the annular intersection line K formed by the inner peripheral surface 2204 of the segment 22 and the virtual plane orthogonal to the axis O of the shield machine 10. This is advantageous in ensuring the measurement accuracy of the roundness α.

Further, in the present embodiment, the swing angle adjusting section 40 is controlled based on the setting data in which the rotation angle θ and the swing angle φ sufficient to scan the laser beam P along the intersection line K are associated with each other. Since this is done, it is more advantageous in accurately irradiating the laser light P along the annular crossing line K, and more advantageous in ensuring the measurement accuracy of the roundness α.

Although the case where the distance detection unit 28 and the scanning unit 30 are provided in the shield machine 10 has been described in the present embodiment, the distance detection is performed in the support frame constructed inside the segment 22 separately from the shield machine 10. The unit 28 and the scanning unit 30 may be attached, and the support frame may be manually refilled each time the shield machine 10 moves.
However, according to the present embodiment, it is possible to continuously obtain the roundness α during the excavation without stopping the excavation operation of the shield machine 10, and to omit the work of refilling the support frame. This is more advantageous in improving the measurement efficiency of the roundness α.
Further, although the case where the distance detecting unit 28 and the scanning unit 30 are provided in the partition wall 13 has been described in the present embodiment, the location where the distance detecting unit 28 and the scanning unit 30 are provided is not limited.
Further, in the present embodiment, the case where the roundness calculation unit 36A, the setting data acquisition unit 36B, and the swing angle control unit 36C are configured by one computer 36 has been described, but such a computer 36 is a personal computer. It is arbitrary such as using a computer or a programmable logic controller (sequencer). Further, the roundness calculation unit 36A, the setting data acquisition unit 36B, and the swing angle control unit 36C may be configured by one computer or may be configured by different computers.

10 shield machine 13 partition wall 20 tunnel 2002 inner wall 22 segment 2204 inner peripheral surface 24 roundness measuring device 28 distance detecting unit 30 scanning unit 32 rotation angle detecting unit 34 swing angle detecting unit 36 computer 36A roundness calculating unit 36B setting data Acquisition unit 36C Swing angle control unit 38 Mirror 40 Swing angle adjustment unit 42 Rotating unit O Axis of shield machine G1 First axis G2 Second axis K Cross line P Laser light S Reflected light

Claims (6)

A roundness measuring device for measuring the roundness of the inner peripheral surface of a segment assembled into a cylindrical wall shape by a shield machine,
A distance detection unit that detects the distance to the object by receiving reflected light reflected by the object by irradiating laser light,
Irradiated from the distance detection unit so that the laser light is irradiated along an annular intersection line formed by intersecting an inner peripheral surface of the segment and an imaginary plane orthogonal to the axis of the shield machine. The laser light is rotationally scanned around a first axis extending along the axis of the shield machine, and the rotationally scanned laser light is reflected by the inner peripheral surface of the segment. A scanning unit that guides light to the distance detection unit through the same optical path as the optical path of the laser light,
A rotation angle detection unit that detects a rotation angle of the laser beam that is rotationally scanned around the first axis;
Based on the distance detected by the distance detection unit and the rotation angle detected by the rotation angle detection unit, an ellipse formed by the annular intersection line is specified, and the inner peripheral surface is based on the specified ellipse. And a roundness calculation unit that calculates the roundness of
A roundness measuring device comprising: The distance detection unit and the scanning unit are arranged radially inside the segment tunnel portion immediately after the segments are assembled by being assembled into a cylindrical wall shape,
The roundness measuring device according to claim 1, wherein The distance detection unit and the scanning unit are provided in the shield machine,
The roundness measuring device according to claim 1 or 2, characterized in that. The distance detection unit is arranged so as to irradiate the laser light along the first axis,
The scanning unit is
A mirror that is located on the first axis and that reflects the laser light emitted from the distance detector to the outside in the radial direction of the axis of the shield machine;
A rotation unit that rotates the mirror about the first axis;
The roundness measuring device according to any one of claims 1 to 3, further comprising: The scanning unit is
Further comprising a swing angle adjusting section for supporting the mirror so as to be swingable about a second axis orthogonal to the first axis and adjusting a swing angle of the mirror about the second axis.
The roundness measuring device according to claim 4, wherein A swing angle detection unit that detects the swing angle,
Based on the rotation angle detected by the rotation angle detection unit and the swing angle detected by the swing angle detection unit, the rotation angle sufficient to scan the laser beam along the intersection line and the rotation angle. A setting data acquisition unit that acquires setting data in which swing angles are associated with each other,
Further comprising a swing angle control unit that controls the swing angle adjustment unit according to the swing angle specified from the setting data based on the rotation angle detected by the rotation angle detection unit,
The roundness measuring device according to claim 5, wherein

Images