JP7123897B2 - SEGMENT ASSEMBLY SUPPORT DEVICE AND SEGMENT ASSEMBLY SUPPORT METHOD - Google Patents

Description

The present invention relates to a segment assembly support device used in shield tunnel construction and a method for supporting segment assembly during shield tunnel construction.

Shield tunnels used as pipelines for water supply and sewerage, utility tunnels, roads, railroads, etc. are constructed by the shield construction method. A shield tunneling machine is used in the shield construction method. The shield machine includes, for example, a cylindrical skin plate forming the outer shell of the machine body, a cutter head provided at the front end (face side end) of the skin plate for excavating the ground, and the skin plate. and a propulsion jack provided inside.

In the shield construction method, for example, a starting vertical shaft and a reaching vertical shaft are constructed in the natural ground, and while excavating the natural ground from the starting vertical shaft to the reaching vertical shaft with a shield excavator, inside the rear part (tail part) of the skin plate A segment ring is constructed by assembling segments (segment pieces) one after another in the tunnel circumferential direction using an erector device, and a cylindrical lining body is constructed by connecting adjacent segment rings in the tunnel axial direction. In this construction method, the shield machine pushes the existing segment ring behind it rearward with a propulsion jack and moves forward while excavating the natural ground by the thrust generated as the reaction force.

In this regard, Patent Literature 1 discloses a method of grasping the roundness of the segment ring constructed by the shield construction method.

JP 2015-030994 A

However, the technique disclosed in Patent Literature 1 is to grasp the shape of the constructed segment ring after the fact. Therefore, the assembly accuracy of the segments could not be confirmed until after the segment ring was constructed.

SUMMARY OF THE INVENTION In view of such circumstances, it is an object of the present invention to enable confirmation of assembly accuracy of segments even during construction of a segment ring.

Therefore, the segment assembly support device according to the present invention is used for constructing a shield tunnel. According to the segment assembly support device according to the present invention, according to the position and attitude of the segment in the process of assembly gripped by the gripping portion of the erector device of the shield machine, the shape of the new segment ring including the segment is divided into half-assembled and unassembled shapes. A ring shape prediction unit is provided for predicting the shape of the new segment ring by changing the curvature of the circumference of the assembled portion .

A segment assembly support method according to the present invention is a method for supporting segment assembly during construction of a shield tunnel. According to the segment assembly support method according to the present invention, according to the position and attitude of a segment in the process of assembly that is gripped by a gripping portion of an erector device of a shield machine, the shape of a new segment ring including the segment is divided into half-assembled and unassembled segments. It involves predicting the shape of the new segmented ring by varying the curvature of the perimeter of the assembly .

According to the present invention, the shape of the new segment ring including the segment is predicted based on the state of the segment gripped by the gripping portion of the erector device of the shield machine. Therefore, it is possible to check the assembly accuracy of the segments even during the construction of the new segment ring.

Schematic configuration diagram of a shield machine in one embodiment of the present invention AA sectional view of FIG. BB sectional view of FIG. FIG. 4 is a diagram showing a measurement target area of the first distance sensor and an imaging target area of the imaging device; A diagram showing a schematic configuration of the second distance sensor The figure which shows the schematic structure of a segment assembly assistance apparatus. A diagram showing an example of measurement results of the amount of opening and the amount of misalignment Diagram showing the existing segment ring A diagram showing the shape of the existing segment ring displayed on the screen, corresponding to FIG. View after assembly of the third segment in the new segmented ring is completed A diagram showing the shape of the existing segment ring and the first predicted shape of the new segment ring displayed on the screen, corresponding to FIG. Diagram showing the assembly of the 4th segment in the new segmented ring A diagram showing the shape of the existing segment ring, the first predicted shape of the new segment ring, and the second predicted shape of the new segment ring displayed on the screen, corresponding to FIG. View after assembly of the 4th segment in the new segmented ring is complete A diagram showing the shape of the existing segment ring, the first predicted shape of the new segment ring, and the second predicted shape of the new segment ring displayed on the screen, corresponding to FIG. A diagram for explaining an example of processing for creating a first predicted shape of a new segment ring. A diagram for explaining an example of processing for creating a second predicted shape of a new segment ring. Diagram showing modification of screen display

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a schematic configuration of a shield machine according to one embodiment of the present invention. FIG. 2 is a cross-sectional view taken along line AA of FIG. FIG. 3 is a cross-sectional view taken along line BB of FIG. 1 and 3 are omitted in FIG. 2. As shown in FIG. Also, the frame portion 10 and the second distance sensors 16a and 16b shown in FIGS. 1 and 2 are omitted in FIG. In this embodiment, for the sake of convenience, front, back, left, and right are defined with the direction of tunnel excavation as the forward direction.

In the present embodiment, the configuration of the shield machine will be described by taking a so-called mud pressure type shield machine as an example, but the type of the shield machine is not limited to this, and may be, for example, a slurry type shield machine.

A shield machine 1 used for constructing a tunnel is provided with a cylindrical (for example, cylindrical) skin plate 2 forming its main body. The shield excavator 1 excavates the natural ground with a cutter head (not shown) provided on the front surface of the skin plate 2, takes in earth and sand, carries them out rearward, and excavates.

Inside the skin plate 2 of the shield machine 1, a plurality of propulsion jacks (not shown) are arranged along the inner surface of the skin plate 2 at intervals in the circumferential direction. The propulsion jack is a hydraulic jack composed of a cylinder (not shown) and a rod (not shown). One end of the cylinder is fixed to the skin plate 2, and the other end allows the rod to advance and retract. The shield machine 1 can obtain propulsion force by operating the propulsion jack to extend while the tip of the rod of the propulsion jack is in contact with the existing segment (segment piece) SP. In this way, the propulsion jack takes reaction force from the existing segment SP to propel the shield machine 1 .

The shield machine 1 includes an erector device 3 inside a rear portion (tail portion) 2a of the skin plate 2. As shown in FIG. The erector device 3 comprises a slewing ring 4 , a pair of lifting jacks 5 , 5 , a U-shaped arm 6 , a pair of axial jacks 7 , 7 and a gripper 8 .

The slewing ring 4 is slewingly supported in the rear portion 2a of the skin plate 2, and can be rotated around the machine axis (central axis) MC of the shield machine 1 by being driven by a slewing motor (not shown). Elevating jacks 5 are attached to both sides of the turning ring 4 with the axis MC interposed therebetween. The lifting jack 5 is, for example, a hydraulic jack.

At each end of the pair of lifting jacks 5, 5 (the lower end in the state shown in FIGS. 1 to 3), the end of the U-shaped arm 6 (the upper end in the state shown in FIGS. 1 to 3) are connected. Front ends of a pair of axial jacks 7, 7 are attached to an intermediate portion (folded portion) 6a of the U-shaped arm 6. As shown in FIG. A gripping portion 8 is attached to the rear ends of the pair of axial jacks 7 , 7 . Axial jack 7 is, for example, a hydraulic jack. The gripping portion 8 is configured to grip a segment SP having an arcuate cross section (for example, an arcuate cross section).

By turning the turning ring 4 while the gripping portion 8 grips the segment SP, the erector device 3 can move the segment SP in the tunnel circumferential direction while gripping the segment SP with the gripping portion 8 .

By extending and retracting the pair of lifting jacks 5 and 5 while the segment SP is gripped by the gripping portion 8 , the erector device 3 grips the segment SP with the gripping portion 8 and moves the segment SP with respect to the slewing ring 4 . can be moved in and out of the tunnel (for example, radial direction of the tunnel).

By extending and contracting the pair of axial jacks 7 and 7 while the segment SP is gripped by the gripping portion 8 , the erector device 3 grips the segment SP with the gripping portion 8 and moves the segment SP to the arm 6 . can be moved in the tunnel axis direction (machine axis direction).

Therefore, the erector device 3 can appropriately move the segment SP in the tunnel axial direction, the inner and outer directions, and the circumferential direction while gripping the segment SP with the grip part 8 . The erector device 3 assembles the segments SP in the circumferential direction inside the rear portion 2a of the skin plate 2 to construct a tubular (for example, cylindrical) segment ring SR. In the assembly of the segment SP, first, the segments are moved generally in the tunnel axial direction and the circumferential direction toward the assembly position of the segment SP, and then moved in the tunnel inner and outer directions (the first step of the assembly process). Then, the segment SP that has moved and the existing segment SP are connected (including fine adjustment of the relative position) (second stage of the assembly process). Here, for example, in the case where the connecting tool used for connecting the segments SP consists of a male connecting metal fitting and a female connecting metal fitting, and the segments SP are connected to each other by fitting them together, the assembly described above is performed. In a first step of the process, the aforementioned movement can be performed until the male fitting of one segment SP is adjacent to the female fitting of the other segment SP.

A frame body 9 is provided in the gripping portion 8 so as to protrude from the gripping portion 8 in the axial direction of the tunnel and in the circumferential direction of the tunnel. A plurality of (seven in this embodiment) first distance sensors P1 to P7 and a plurality of (five in this embodiment) imaging devices Q1 to Q5 are attached to the frame body 9 . In other words, a plurality of first distance sensors P1 to P7 and a plurality of imaging devices Q1 to Q5 are provided on the grip portion 8 of the erector device 3 via the frame 9. As shown in FIG. In this embodiment, an example in which seven first distance sensors P1 to P7 and five imaging devices Q1 to Q5 are attached to the frame 9 is shown. The number of imaging devices is not limited to that described above.

In this embodiment, the first distance sensor P1 and the imaging device Q1 are integrally formed, the first distance sensor P3 and the imaging device Q2 are integrally formed, and the first distance sensor P4 and the imaging device Q3 are integrally formed. It is integrally formed, the first distance sensor P5 and the imaging device Q4 are integrally formed, and the first distance sensor P7 and the imaging device Q5 are integrally formed. As the first distance sensors P1 to P7 and imaging devices Q1 to Q5, for example, an ultra-high-speed in-line profile measuring device (LJ-V7000 series) manufactured by Keyence Corporation can be used.

FIG. 4 shows linear or band-shaped measurement target areas LP1-LP7 of the first distance sensors P1-P7 and rectangular imaging target areas IQ1-IQ5 of the imaging devices Q1-Q5. Here, the segment SPE shown in FIG. 4 indicates the segment held by the holding part 8 of the erector device 3 among the segments SP described above.

Each of the first distance sensors P1 to P7 faces the edge of the segment SPE (peripheral edge of the inner surface) with a gap therebetween. Also, the first distance sensors P1 to P7 are arranged at intervals along the edge of the segment SPE (periphery of the inner surface).

Each of the first distance sensors P1 to P7 has an irradiating section and a light receiving section (not shown). The first distance sensors P1 to P7 irradiate line lasers from their respective irradiating units toward their respective measurement target regions LP1 to LP7. Each light receiving portion of the first distance sensors P1 to P7 receives the reflected light of the line laser. When the profile measuring device described above is used as the first distance sensors P1 to P7, the cross-sectional shape of the measurement target regions LP1 to LP7 can be determined from the reflected light received by the light receiving portions of the first distance sensors P1 to P7. can be obtained instantly. Using the obtained cross-sectional shape data, it is possible to measure dimensions such as the amount of opening and the amount of misalignment between segments SP in the measurement target regions LP1 to LP7. Here, the line laser is a laser that irradiates in a line having a constant line width to form a fan-shaped two-dimensional plane optical path.

In the present embodiment, the "splitting amount" is the gap (distance) between segments SP adjacent to each other in the tunnel axial direction or circumferential direction. In this embodiment, the first distance sensors P1 to P7 can measure the opening amount between the segment SPE and the existing segment SP adjacent to the segment SPE.

In the present embodiment, the "misalignment amount" is the level difference between the segments SP adjacent in the tunnel axial direction or the circumferential direction (the amount of deviation in the tunnel inside and outside direction (in other words, the thickness direction of the segment SP)). be. In this embodiment, the first distance sensors P1-P7 can measure the amount of misalignment between the segment SPE and the existing segment SP adjacent to the segment SPE.

Here, the measurement target areas LP1 to LP7 are set so as to straddle the edge of the segment SPE (periphery of the inner surface) and the edge of the existing segment SP adjacent to this segment SPE (periphery of the inner surface). It is Therefore, the measurement target areas LP1-LP7 include the edge of the segment SPE and the edge of the existing segment SP adjacent to this segment SPE. In this embodiment, for example, from the end of the first stage to the second stage of the assembly process described above, the measurement target areas LP1 to LP7 are the edges of the segment SPE (periphery of the inner surface) and adjacent to the segment SPE. The ranges of the measurement target areas LP1 to LP7 are set in advance so that they can straddle the edges of the existing segment SP (periphery of the inner surface).

In this embodiment, the measurement target areas LP1 and LP2 overlap the edge α1 on one side in the tunnel circumferential direction of the segment SPE. The measurement target regions LP3 to LP5 overlap the edge α2 on the rear side (pithead side) of the segment SPE in the tunnel axial direction. The measurement target regions LP6 and LP7 overlap the edge α3 of the segment SPE on the other side in the tunnel circumferential direction.

The first distance sensors P1 to P7 calculate the distance from the first distance sensors P1 to P7 to the object to be measured based on the reciprocating time of the irradiated laser light to the object to be measured and the speed of light. can be done. That is, in the present embodiment, the first distance sensors P1 to P7 also measure the distance to the measurement target by irradiating the laser light toward the measurement target.

Each of the imaging devices Q1 to Q5 faces the edge of the segment SPE (peripheral edge of the inner surface) with a gap therebetween. The imaging devices Q1 to Q5 are arranged at intervals along the edge of the segment SPE (periphery of the inner surface). The imaging devices Q1-Q5 are, for example, CCD cameras or CMOS cameras.

An imaging target area IQ1, which is an area imaged by the imaging device Q1, includes the measurement target area LP1 of the first distance sensor P1. An imaging target area IQ2, which is an area imaged by the imaging device Q2, includes measurement target areas LP2 and LP3 of the first distance sensors P2 and P3. An imaging target area IQ3, which is an area imaged by the imaging device Q3, includes the measurement target area LP4 of the first distance sensor P4. An imaging target area IQ4, which is an area imaged by the imaging device Q4, includes measurement target areas LP5 and LP6 of the first distance sensors P5 and P6. An imaging target area IQ5, which is an area imaged by the imaging device Q5, includes a measurement target area LP7 of the first distance sensor P7.

The imaging target areas IQ1 to IQ5 are set so as to straddle the edge of the segment SPE (periphery of the inner surface) and the edge of the existing segment SP adjacent to this segment SPE (periphery of the inner surface). . Therefore, the imaging target areas IQ1-IQ5 include the edge of the segment SPE and the edge of the existing segment SP adjacent to this segment SPE. In the present embodiment, for example, from the end of the first stage to the second stage of the assembly process described above, the imaging target areas IQ1 to IQ5 are the edges of the segment SPE (periphery of the inner surface) and adjacent to the segment SPE. The ranges of the imaging target areas IQ1 to IQ5 are set in advance so that they can straddle the edges of the existing segments SP (peripheries of the inner surface).

In this embodiment, the imaging target region IQ1 overlaps the edge α1 on one side in the tunnel circumferential direction of the segment SPE and the edge α4 on the front side (face side) in the tunnel axial direction of the segment SPE. The imaging target region IQ2 overlaps an edge α1 on one side in the tunnel circumferential direction of the segment SPE and an edge α2 on the rear side (pithead side) of the segment SPE in the tunnel axial direction. The imaging target region IQ3 overlaps the edge α2 on the rear side (pithead side) in the tunnel axial direction of the segment SPE. The imaging target region IQ4 overlaps the edge α3 of the segment SPE on the other side in the tunnel circumferential direction and the edge α2 of the segment SPE on the rear side (pithead side) in the tunnel axial direction. The imaging target region IQ5 overlaps the edge α3 on the other side in the tunnel circumferential direction of the segment SPE and the edge α4 on the front side (face side) in the tunnel axial direction of the segment SPE.

As shown in FIGS. 1 and 2, the shield machine 1 has a frame portion 10 at its central portion. The frame portion 10 extends rearward from a shield partition wall (not shown) of the shield machine 1 along the machine axis MC. The frame portion 10 is provided at a position that does not interfere with the turning motion of the erector device 3 or the like. The frame portion 10 includes an upper frame 11 and a lower frame 12 which are substantially rectangular in plan view, a plurality of column members 13 rising from both left and right sides of the lower frame 12 and having their upper ends fixed to the upper frame 11, and is composed of a plurality of beam members 14 connected to both left and right sides of the upper frame 11 and a plurality of beam members 15 having both ends connected to both left and right sides of the lower frame 12 .

A second distance sensor 16a is arranged in the central portion of the upper surface of the frame portion 10 (for example, the central portion in the horizontal direction of the beam member 14). A second distance sensor 16b is arranged in the center portion of the lower surface of the frame portion 10 (for example, the center portion in the horizontal direction of the beam member 15).

FIG. 5 shows a schematic configuration of the second distance sensor 16a. The second distance sensor 16 a includes a main body 17 , a reflector 18 and a rotating mechanism 19 . The main body 17 of the second distance sensor 16a emits laser light along the machine axis direction. The reflector 18 reflects the laser light from the main body 17 by 90° and directs the reflected light outward in the rear portion 2a of the skin plate 2 in the radial direction. The main body 17 of the second distance sensor 16a calculates the distance from the second distance sensor 16a to the object to be measured based on the speed of light and the time it takes the reflected light from the reflector 18 to travel back and forth between the object to be measured. be able to.

Here, when the reflector 18 is rotated around the laser reflection point 18 a by the rotation mechanism 19 , the position of the target (measurement target) irradiated with the reflected light moves along the circumferential direction of the skin plate 2 . That is, the second distance sensor 16a is configured to be able to change the irradiation direction of the laser beam. The second distance sensor 16b has the same configuration as the second distance sensor 16a, so the description thereof will be omitted.

FIG. 2 shows a distance measurable range M1 of the second distance sensor 16a and a distance measurable range M2 of the second distance sensor 16b. Therefore, by combining the distance measurable ranges M1 and M2 of the two second distance sensors 16a and 16b, most of the entire circumference of the rear portion 2a of the skin plate 2 can be covered as the distance measurable range. .

When the gripping portion 8 of the erector device 3 blocks the laser beam from each of the reflectors 18 of the second distance sensors 16a and 16b, the gripping portion 8 is moved along the circumferential direction of the skin plate 2 so that the laser light is Light can be applied to the object to be measured.

FIG. 6 is a diagram showing a schematic configuration of the segment assembly support device 20, and the relationship between the first distance sensors P1 to P7, the imaging devices Q1 to Q5, the second distance sensors 16a and 16b, the control device 22, and the output device 23. 2 is a block diagram showing .

The segment assembly support device 20 is used for constructing a shield tunnel. The segment assembly support device 20 has a function as a device that measures the state of the segment SPE gripped by the gripping portion 8 of the erector device 3 (for example, the state of the segment SPE with respect to the existing segment SP).

The segment assembly support device 20 includes first distance sensors P1-P7, imaging devices Q1-Q5, second distance sensors 16a and 16b, a control device 22, and an output device . Here, the function of the "segment state measuring device" of the present invention can be realized by the first distance sensors P1 to P7. This segment state measuring device is a device for measuring the state of the segment SPE. In this embodiment, for example, it is possible to carry out measurement by this segment condition measuring device from the first stage to the second stage of the above-described assembly process. Here, in the first stage of the assembly process described above, the segment SPE gripped by the gripping portion 8 of the erector device 3 is brought closer to the existing segment SP. Further, in this embodiment, while the segment SPE gripped by the gripping portion 8 of the erector device 3 is being brought closer to the existing segment SP (that is, during movement), the measurement by the segment state measuring device is performed. can be done.

The first distance sensors P1-P7 are connected to the controller 22 via signal lines 24. As shown in FIG. The imaging devices Q1 to Q5 are connected to the control device 22 via the signal line 25. FIG. Although the signal lines 24 and 25 are separate in this embodiment, the signal lines 24 and 25 may be integrated. The second distance sensors 16a, 16b are connected to the controller 22 via signal lines 26. FIG.

The control device 22 and the output device 23 are configured to be able to communicate wirelessly with each other. The output device 23 is, for example, a mobile terminal such as a tablet terminal. It is preferable that the output device 23 be easily carried by the operator. The output device 23 includes a display section (display screen) 23a for displaying various information processed by the control device 22 .

Signals corresponding to the aforementioned eye opening amount and misalignment amount measured by each of the first distance sensors P1 to P7 and a signal corresponding to the distance to the object to be measured are sent to the control device via the signal line 24. 22. Signals corresponding to images captured by each of imaging devices Q1-Q5 are transmitted to control device 22 via signal line 25. FIG. A signal corresponding to the distance to the object to be measured, which is measured by each of the second distance sensors 16a and 16b, is a signal corresponding to the rotation angle of the rotation mechanism 19 of each of the second distance sensors 16a and 16b at the time of the measurement. together with the signal is transmitted to the control device 22 via the signal line 26 .

The control device 22 includes a storage unit 22a, an eye opening amount and misalignment amount measuring unit 22b, an image processing unit 22c, an existing ring shape measuring unit 22d, a first new ring shape predicting unit 22e, and a second new ring. and a shape prediction unit 22f. The storage unit 22a can store various types of information transmitted to the control device 22 and various types of information including processing results in the control device 22 .

Signals corresponding to the above-described eye opening amount, misalignment amount, and image transmitted from the first distance sensors P1 to P7 and the imaging devices Q1 to Q5 to the control device 22 are measured by the eye opening amount and misalignment amount measurement unit 22b. and the image processing unit 22c appropriately perform processing, and the processing result is transmitted from the control device 22 to the output device 23 by wireless communication.

The operator can grasp the state of the segment SPE gripped by the gripping section 8 of the erector device 3 by checking the screen display of the display section 23 a of the output device 23 . In other words, by checking the screen display of the display unit 23a of the output device 23, the operator can confirm the opening between the segment SPE and the existing segment SP adjacent to the segment SPE in the measurement target regions LP1 to LP7. It is possible to grasp specific numerical values of the amount and the amount of misalignment. In addition to this, by checking the screen display of the display unit 23a of the output device 23, the operator can see the distance between the segment SPE and the existing segment SP adjacent to the segment SPE in the imaging target regions IQ1 to IQ5. It is possible to grasp the state of eye opening and the state of misalignment in the image.

Therefore, when assembling the segment, the worker minimizes the gap and misalignment between the segment SPE and the existing segment SP adjacent to the segment SPE based on the screen display of the display unit 23a of the output device 23. The operation of the erector device 3 can be modified so that the

FIG. 7 is a diagram showing an example of the measurement results of the aforementioned eye opening amount and misalignment amount that can be displayed on the screen of the output device 23 . In this example, the existing segment SP is located next to the edges α1 and α2 of the segment SPE shown in FIG. 4, while the existing segment SP does not exist next to the edges α3 and α4 of the segment SPE. is shown.

Returning to FIG. 6, the signals corresponding to the distances to the measurement object transmitted from the first distance sensors P1 to P7 and the second distance sensors 16a and 16b to the control device 22 are obtained from the existing ring shape measuring unit. 22d, the first new ring shape prediction unit 22e, and the second new ring shape prediction unit 22f perform appropriate processing, and the processing results are transmitted from the control device 22 to the output device 23 by wireless communication.

By checking the screen display of the display section 23 a of the output device 23 , the operator can grasp the assembly accuracy of the segment SPE gripped by the grip section 8 of the erector device 3 . For grasping the assembly accuracy, for example, a screen display of a shape 31 of the existing segment ring 30 and a first predicted shape 41 and a second predicted shape 42 of the new segment ring 40, which will be described later, can be used. Details of this point will be described later with reference to FIGS.

Therefore, when assembling the segment, the operator can correct the operation of the erector device 3 so as to improve the assembly accuracy of the segment SPE based on the screen display of the display section 23a of the output device 23 and the like.

Next, the construction method (segment assembly method) of the new segment ring 40 using the segment assembly support device 20 will be described with reference to FIGS. 8 to 15. FIG. FIG. 8 is a diagram showing the existing segment ring 30. As shown in FIG. FIG. 9 is a diagram showing the shape 31 of the existing segment ring 30 displayed on the screen of the display section 23a, corresponding to FIG. FIG. 10 is a diagram showing the state after the assembly of the third segment SP3 in the new segment ring 40 is completed. FIG. 11 is a diagram showing the shape 31 of the existing segment ring 30 and the first predicted shape 41 of the new segment ring 40 displayed on the screen of the display unit 23a, corresponding to FIG. FIG. 12 is a diagram showing the assembly of the fourth segment SP4 in the new segment ring 40 during assembly. 13 shows the shape 31 of the existing segment ring 30, the first predicted shape 41 of the new segment ring 40, and the second predicted shape 42 of the new segment ring 40 displayed on the display unit 23a, corresponding to FIG. It is a figure which shows. FIG. 14 is a diagram showing the state after the assembly of the fourth segment SP4 in the new segment ring 40 is completed. 15 shows the shape 31 of the existing segment ring 30, the first predicted shape 41 of the new segment ring 40, and the second predicted shape 42 of the new segment ring 40 displayed on the screen of the display unit 23a, corresponding to FIG. It is a figure which shows.

In this embodiment, the new segment ring 40 is constructed adjacent to the face side of the existing segment ring 30 . Here, the existing segment ring 30 is the (N-1)th segment ring SR constructed, and the new segment ring 40 is the Nth segment ring SR (N is an integer equal to or greater than 2).

In the method for constructing the new segment ring 40, first, as shown in FIG. 8, the shape (inner hollow shape) 31 of the existing segment ring 30 is measured using the second distance sensors 16a and 16b. In this process, based on the measurement results of the second distance sensors 16a and 16b, the existing ring shape measuring unit 22d of the control device 22 performs appropriate processing, and the results are sent to the output device 23. The shape 31 of the existing segment ring 30 is displayed on the display section 23a (see FIG. 9).

In this embodiment, the existing ring shape measuring section 22d can correspond to the "ring shape measuring section" of the present invention. Also, the shape 31 of the existing segment ring 30 can be the "shape of the reference segment ring" of the present invention.

Next, the propulsion jack of the shield machine 1 is extended. As a result, the existing segment ring 30 is pushed out behind the rear portion 2 a of the skin plate 2 . The reaction force propels the shield machine 1 forward.

Next, the erector device 3 is used to assemble a predetermined number of segments SP that constitute the new segment ring 40 . Here, the predetermined number mentioned above is the number necessary for creating the first predicted shape 41 of the new segment ring 40 to be described later, and is set in advance. In this embodiment, the predetermined number is set to three, and three segments SP (first segment SP1 to third segment SP3) are assembled (see FIG. 10). However, it goes without saying that the above predetermined number is not limited to three. Also, the propulsion jack can be appropriately shortened so as not to interfere with segment assembly.

In the assembly work of the segments SP1 to SP3, the operator operates the erector device 3 so as to minimize the eye opening and misalignment between the segments based on the screen display of the display unit 23a of the output device 23. can be fixed.

When the assembly up to the segment SP3 is completed, the shape (inner hollow shape) of the segments SP1 to SP3 connected to the existing segment ring 30 is measured by the second distance sensor 16b (and the second distance sensor 16a if necessary). ). Then, based on the measurement result, the first new ring shape prediction unit 22e of the control device 22 performs appropriate processing to create the first predicted shape 41 of the new segment ring 40. FIG. This result is sent to the output device 23, and the first predicted shape 41 of the new segment ring 40 is displayed together with the shape 31 of the existing segment ring 30 on the display section 23a of the output device 23 (see FIG. 11). Here, the first predicted shape 41 of the new segment ring 40 is the shape (inner hollow shape) of the new segment ring 40 predicted from the segments SP1 to SP3 connected to the existing segment ring 30 . The first predicted shape 41 of the new segmented ring 40 can be the "reference segmented ring shape" of the present invention.

An example of processing for creating the first predicted shape 41 of the new segment ring 40 performed by the first new ring shape prediction unit 22e will now be described with reference to FIG.
16A and 16B are diagrams for explaining an example of processing for creating the first predicted shape 41 of the new segment ring 40. FIG. FIG. 16 shows a case in which the segments SP1 to SP3 of the plurality of segments SP forming the new segment ring 40 have been assembled, and the remaining segments SP have not yet been assembled.

In this case, of the first predicted shape 41 of the new segment ring 40, the assembly completed portion (the portion corresponding to the segments SP1 to SP3) 41a is detected by the second distance sensor 16b (and, if necessary, the second distance sensor 16b). 2 Determined by the measurement result of the distance sensor 16a). On the other hand, of the first predicted shape 41 of the new segment ring 40, the unassembled portion 41b corresponds to the remaining segment SP, so the circumferential length (extension) (in other words, arc length) L1 is constant. This is a prerequisite for this processing. By changing (varying) the curvature (diameter) R1 of the circumference (extension) L1 of the unassembled portion 41b, the ends 41bt1 and 41bt2 of the unassembled portion 41b are aligned with the ends of the assembled portion 41a. Match the parts 41at1 and 41at2. By performing shape prediction for the unassembled portion 41b in this manner, the first predicted shape 41 of the new segment ring 40 can be created.

Next, the erector device 3 is used to assemble the fourth segment SP4 that constitutes the new segment ring 40 (see FIGS. 12 and 14). In the assembly work of the segment SP4, the operator corrects the operation of the erector device 3 so as to minimize the above-mentioned eye opening and misalignment between the segments based on the screen display of the display unit 23a of the output device 23. be able to.

As shown in FIG. 12, during assembly of the segment SP4 (that is, while the segment SP4 is being gripped by the gripping portion 8 of the erector device 3), the second new ring shape prediction portion 22f of the control device 22 performs the above-described Based on the measurement results of the shapes (inner hollow shapes) of the segments SP1 to SP3 by the second distance sensors 16a and 16b and the measurement results of the distances from the sensors to the inner surface of the segment SP4 by the first distance sensors P1 to P7 , appropriate processing is performed to create the second predicted shape 42 of the new segment ring 40 . This result is sent to the output device 23, and on the display unit 23a of the output device 23, the second predicted shape 42 of the new segment ring 40 is displayed as the shape 31 of the existing segment ring 30 and the first predicted shape of the new segment ring 40. 41 (see FIG. 13). In this embodiment, the second newly installed ring shape prediction unit 22f can correspond to the "ring shape prediction unit" of the present invention.

An example of processing for creating the second predicted shape 42 of the new segment ring 40 performed by the second new ring shape prediction unit 22f will now be described with reference to FIG.
FIG. 17 is a diagram for explaining an example of processing for creating the second predicted shape 42 of the new segment ring 40. As shown in FIG. FIG. 17 shows that the segments SP1 to SP3 of the plurality of segments SP constituting the new segment ring 40 have been assembled, and the segment SP4 is in the process of being assembled (segment SP4 is being gripped by the gripping portion 8 of the erector device 3). ) and the remaining segment SP is unassembled.

In this case, of the second predicted shape 42 of the new segment ring 40, the assembly completed portion (the portion corresponding to the segments SP1 to SP3) 42a is detected by the second distance sensor 16b (and, if necessary, the second distance sensor 16b). 2 Determined by the measurement result of the distance sensor 16a). On the other hand, of the second predicted shape 42 of the new segment ring 40, the intermediate and unassembled portion 42b corresponds to the segment SP4 and the remaining segment SP, so the circumference (extension) (in other words, arc length) L2 It is a premise of this process that is constant. By changing (fluctuating) the curvature (diameter) R2 of the perimeter (extension) L2 of the assembled and unassembled portion 42b while considering the measurement results of the first distance sensors P1 to P7, The ends 42at1 and 42at2 of the assembled portion 42a are aligned with the ends 42bt1 and 42bt2 of the half-assembled and unassembled portions 42b. In this way, the second predicted shape 42 of the new segment ring 40 can be created by performing shape prediction for the part 42b during assembly and for the unassembled portion 42b.

In addition, in the creation of the second predicted shape 42 of the new segment ring 40 in the second new ring shape prediction unit 22f, further, based on the measurement results of the above-described eye opening amount and misalignment amount by the first distance sensors P1 to P7 good too. Moreover, the creation of the second predicted shape 42 need not be based on the measurement results of the shapes of the segments SP1 to SP3 by the second distance sensors 16a and 16b. In other words, in creating the second predicted shape 42, at least the measurement results of the first distance sensors P1 to P7 are used. Here, the second predicted shape 42 of the new segment ring 40 is at least the shape (inner hollow shape) of the new segment ring 40 predicted from the measurement results of the first distance sensors P1 to P7.

In this embodiment, the measurement results of the distances from the first distance sensors P1 to P7 to the inner surface of the segment SP4, the measurement results of the above-described mesh opening amount and misalignment amount, and the turning of the turning ring 4 of the erector device 3 The position and orientation of the segment SP4 during assembly can be grasped based on the angle, the amount of expansion and contraction of the lifting jack 5, and the amount of expansion and contraction of the axial jack 7. FIG. In other words, the segment state measuring device described above can be configured to measure the position and orientation of the segment SP4 during assembly as the state of the segment SP4 during assembly. The second predicted shape 42 of the new segment ring 40 may be created by the second new ring shape prediction unit 22f based on the measured position and orientation of the segment SP4 during assembly. Further, when creating the second predicted shape 42 of the new segment ring 40, measuring means other than the first distance sensors P1 to P7 may be used to measure the position and orientation of the segment SP4 during assembly.

The second predicted shape 42 of the newly installed segment ring 40 displayed on the display unit 23a of the output device 23 corresponds to changes in the state of the segment SP4 during assembly (for example, changes in the position and posture of the segment SP4 during assembly). change). That is, the screen display of the second predicted shape 42 of the new segment ring 40 can change in real time according to changes in the position, attitude, etc. of the segment SP4 during assembly.

The operator selects the second predicted shape 42 of the new segment ring 40 displayed on the display unit 23 a of the output device 23 as at least the shape 31 of the existing segment ring 30 and the first predicted shape 41 of the new segment ring 40 . The operation of the erector device 3 is modified in order to change the position and attitude of the segment SP4 during assembly so as to bring it closer to one side (see FIGS. 12 to 15). In this manner, the segment assembly assistance device 20 can assist assembly of the segment SP4.

When the assembly up to the segment SP4 is completed, the shapes (inner hollow shapes) of the segments SP1 to SP4 connected to the existing segment ring 30 are measured using the second distance sensors 16a and 16b. Based on the measurement results of the second distance sensors 16a and 16b, the first new ring shape prediction unit 22e of the control device 22 performs appropriate processing to update the first predicted shape 41 of the new segment ring 40. . This result is sent to the output device 23, and on the display unit 23a of the output device 23, the first predicted shape 41 of the new segment ring 40 is displayed as the shape 31 of the existing segment ring 30 and the second predicted shape of the new segment ring 40. 42.

The fifth and subsequent segments SP constituting the new segment ring 40 are also assembled in the same manner as the above-described fourth segment SP4. In this regard, it goes without saying that the segment assembly support device 20 can assist in the assembly of the fifth and subsequent segments SP. Thus, the new segment ring 40 is constructed.

FIG. 18 is a diagram showing a modified example of screen display on the display section 23a of the output device 23. As shown in FIG. FIG. 18 shows the shape (inner hollow shape) of the segment ring SR in addition to the shape 31 of the existing segment ring 30 and the first predicted shape 41 and second predicted shape 42 of the new segment ring 40 shown in FIG. A design value of 50 is shown. This design value 50 can be the "reference segment ring shape" of the present invention.

The operator compares the second predicted shape 42 of the new segment ring 40 displayed on the display unit 23a of the output device 23 with the shape 31 of the existing segment ring 30, the first predicted shape 41 of the new segment ring 40, and the design value. 50, the actuation of the erector device 3 can be modified to change the position, orientation, etc. of the segment SPE (segment SP4 in FIG. 18).

18, in addition to the screen display shown in FIG. 15, the segments SP (segments SP1 to SP3 in FIG. 18) connected to the existing segment ring 30 and gripped by the gripping portion 8 of the erector device 3 A screen display with segment SPE (segment SP4 in FIG. 18) is added. As for the screen display of the segment SPE gripped by the gripping unit 8 of the erector device 3, it is preferable that the screen display of the segment SPE changes in accordance with changes in the position and posture of the segment SPE.

15 and 18, screen displays of at least one of the lifting jack 5, the arm 6, and the gripper 8 of the erector device 3 may be added. Also for these, it is preferable that the screen display changes according to changes in position and posture.

According to this embodiment, the segment assembly support device 20 is used for constructing a shield tunnel. The segment assembly support device 20 predicts the shape (second predicted shape 42) of the new segment ring 40 including the segment SPE based on the state of the segment SPE gripped by the gripping portion 8 of the erector device 3 of the shield machine 1. A ring shape prediction unit (second newly installed ring shape prediction unit 22f) is provided. Therefore, even during the construction of the new segment ring 40, it is possible to check the assembly accuracy of the segments SP forming the new segment ring 40. FIG.

Further, according to the present embodiment, the segment assembly support device 20 further includes the display section 23a that displays the predicted shape of the new segment ring 40 (second predicted shape 42). Therefore, the worker can easily check the assembly accuracy of the segments SP forming the new segment ring 40 by checking the display portion 23a even during the construction of the new segment ring 40 .

Further, according to this embodiment, the display section 23a further displays the shape of the reference segment ring. The shape of this reference segment ring includes at least one of the shape 31 of the existing segment ring 30, the first predicted shape 41 of the new segment ring 40, and the design value 50, for example. As a result, the operator can change the position and posture of the segment SPE so that the second predicted shape 42 of the new segment ring 40 displayed on the display unit 23a approaches the shape of the aforementioned reference segment ring. , the operation of the erector device 3 can be modified. The display section 23a preferably displays the second predicted shape 42 of the new segment ring 40 displayed on the display section 23a and the shape of the aforementioned reference segment ring in a superimposed state.

Further, according to the present embodiment, the segment assembly support device 20 further includes a ring shape measuring section (existing ring shape measuring section 22d) that measures the shape of the existing segment ring 30. FIG. The shape of the reference segment ring described above includes the shape 31 of the existing segment ring 30 measured by the ring shape measuring section (existing ring shape measuring section 22d). As a result, the operator can change the position and attitude of the segment SPE so that the second predicted shape 42 of the new segment ring 40 displayed on the display unit 23a is closer to the shape 31 of the existing segment ring 30. , the operation of the erector device 3 can be modified.

Further, according to the present embodiment, the segment assembly support device 20 includes the segments SP that form the new segment ring 40 and that are connected to the existing segment ring 30 (for example, segments SP1 to SP3 in FIGS. 10 and 12). and another ring shape prediction for predicting the shape (first predicted shape 41) of the new segment ring 40 based on the measurement result of the shape measuring unit (second distance sensors 16a, 16b). section (first newly installed ring shape prediction section 22e). The shape of the reference segment ring described above includes the shape (first predicted shape 41) of the new segment ring 40 predicted by the another ring shape prediction unit (first new ring shape prediction unit 22e). As a result, the operator adjusts the position and attitude of the segment SPE so that the second predicted shape 42 of the new segment ring 40 displayed on the display unit 23a approaches the first predicted shape 41 of the new segment ring 40. To change, the operation of the erector device 3 can be modified.

Further, according to this embodiment, the segment assembly support device 20 further includes a segment state measuring device that measures the state of the segment SPE gripped by the gripping portion 8 of the erector device 3 . This segment state measuring device includes distance sensors (first distance sensors P1 to P7) provided in the erector device 3 . The distance sensors (first distance sensors P1 to P7) preferably include an irradiating section that irradiates a line laser toward the measurement target areas LP1 to LP7, and a light receiving section that receives the reflected light of the line laser.

Further, according to this embodiment, the segment assembly support method is a method for supporting the assembly of the segments SP during construction of the shield tunnel. This segment assembly support method predicts the shape (second predicted shape 42) of the new segment ring 40 including the segment SPE based on the state of the segment SPE gripped by the gripping portion 8 of the erector device 3 of the shield machine 1. including doing Therefore, even during the construction of the new segment ring 40, it is possible to check the assembly accuracy of the segments SP forming the new segment ring 40. FIG.

Further, according to the present embodiment, the segment assembly support method described above further includes displaying the predicted shape of the new segment ring 40 (second predicted shape 42) on the display unit 23a or the like. Therefore, by checking the screen display, the operator can easily check the accuracy of assembling the segments SP forming the new segment ring 40 even during construction of the new segment ring 40 .

Further, according to the present embodiment, the segment assembly method corrects the operation of the erector device 3 based on the shape (second predicted shape 42) of the new segment ring 40 predicted by the segment assembly support method described above. including. Therefore, since the position, attitude, etc. of the segment SPE can be corrected during construction of the new segment ring 40, the new segment ring 40 can be constructed with high accuracy.

Further, according to the present embodiment, the segment assembly method includes correcting the operation of the erector device 3 based on the display on the display section 23a of the output device 23 of the segment assembly support device 20. FIG. Therefore, by confirming the display on the display section 23 a of the output device 23 , the operator can grasp the assembly accuracy of the segment SPE, and can utilize it in operating the erector device 3 .

The second distance sensors 16a and 16b described above may serve as distance sensors used in the tail clearance measuring method for a shield machine disclosed in Patent Document 1. In other words, the second distance sensors 16a and 16b are used not only to confirm the assembly accuracy of the segments SP and to grasp the shape of the segment ring SR (for example, to grasp the roundness), but also to measure the tail clearance of the shield machine. may

In the present embodiment, laser distance sensors using line lasers have been described as the first distance sensors P1 to P7, but the configuration of the first distance sensors P1 to P7 is not limited to this. For example, as the first distance sensors P1 to P7, an imaging device such as a CCD camera or a CMOS camera is adopted, and various distance measurements (dimensions measurement) may be performed.

In the present embodiment, laser distance sensors have been described as the second distance sensors 16a and 16b, but the configuration of the second distance sensors 16a and 16b is not limited to this. For example, as the second distance sensors 16a and 16b, an imaging device (for example, a CCD camera, a CMOS camera, etc.) capable of moving a predetermined imaging target area at least in the tunnel circumferential direction is adopted, and the image data acquired by this imaging device is Based on this, distance measurement may be performed.

Although the skin plate 2 and the segment ring SR have circular cross-sectional shapes in this embodiment, the cross-sectional shapes of the skin plate 2 and the segment ring SR are not limited to circular. The cross-sectional shapes of the skin plate 2 and the segment ring SR may be oval or rectangular, for example.

The illustrated embodiments are merely illustrative of the present invention, and the present invention includes various improvements and modifications made by those skilled in the art within the scope of the claims in addition to those directly indicated by the described embodiments. It goes without saying that it is inclusive.
The claims as originally filed were as follows.
[Claim 1]
A segment assembly support device used for construction of a shield tunnel,
A segment assembly support device comprising a ring shape predicting unit that predicts the shape of a new segment ring including a segment gripped by a gripping unit of an erector device of a shield machine, based on the state of the segment.
[Claim 2]
2. The segment assembly support device according to claim 1, further comprising a display unit for displaying the predicted shape of the new segment ring.
[Claim 3]
3. The segment assembly support device according to claim 2, wherein said display further displays the shape of the reference segment ring.
[Claim 4]
further comprising a segment state measuring device for measuring the state of the gripped segment;
The segment assembly support device according to any one of claims 1 to 3, wherein said segment state measuring device includes a distance sensor provided in said erector device.
[Claim 5]
A method of assisting assembly of segments during construction of a shield tunnel, comprising:
A segment assembly support method, comprising predicting the shape of a new segment ring including a segment gripped by a gripper of an erector device of a shield machine, based on the state of the segment.
[Claim 6]
6. The segment assembly support method according to claim 5, further comprising displaying the predicted shape of the new segment ring on the screen.

DESCRIPTION OF SYMBOLS 1... Shield machine, 2... Skin plate, 2a... Rear part, 3... Erector device, 4... Revolving ring, 5... Elevating jack, 6... Arm, 6a... Intermediate part, 7... Axial jack, 8... Grasping part, DESCRIPTION OF SYMBOLS 9... Frame 10... Frame part 11... Upper frame 12... Lower frame 13... Column member 14, 15... Beam member 16a, 16b... Second distance sensor 17... Body part 18... Reflector , 18a... Laser reflection point 19... Rotating mechanism 20... Segment assembly support device 22... Control device 22a... Storage unit 22b... Eye opening amount and misalignment amount measuring unit 22c... Image processing unit 22d... Existing Ring shape measurement unit 22e First new ring shape prediction unit 22f Second new ring shape prediction unit 23 Output device 23a Display unit 30 Existing segment ring 31 Shape 40 New segment ring , 41 First predicted shape 41a Assembled portion 41at1, 41at2 End portion 41b Unassembled portion 41bt1, 41bt2 End portion 42 Second predicted shape 42a Assembled portion 42at1, 42at2 ... end 42b ... intermediate and unassembled portion 42bt1, 42bt2 ... end 50 ... design value IQ1 to IQ5 ... imaging target area L1, L2 ... circumference (extension) LP1 to LP7 ... measurement target area , M1, M2... distance measurable range, MC... axis, P1 to P7... first distance sensor, Q1 to Q5... imaging device, R1, R2... curvature (diameter), SP, SPE, SP1 to SP4... segment, SR ... segment ring, α1 to α4 ... edge

Claims (6)

A segment assembly support device used for construction of a shield tunnel,
To change the curvature of the circumference of the partially assembled and unassembled portions of the shape of the new segment ring including the segment in accordance with the position and orientation of the segment gripped by the gripping portion of the erector device of the shield machine. A segment assembly support device comprising a ring shape predicting unit that predicts the shape of a newly installed segment ring . 2. The segment assembly support device according to claim 1, further comprising a display unit for displaying the predicted shape of the new segment ring. 3. The segment assembly support device according to claim 2, wherein said display further displays the shape of the reference segment ring. further comprising a segment condition measuring device for measuring the position and orientation of the gripped segment during assembly ;
The segment state measuring device includes a plurality of distance sensors provided on the erector device ,
The distance sensor measures the gap amount and misalignment amount between the edge of the gripped segment in the process of assembly and the edge of the existing segment adjacent to the segment,
4. The segment state measuring device according to any one of claims 1 to 3, wherein the segment state measuring device measures the position and posture of the gripped segment in the process of assembly based on the eye opening amount and the misalignment amount. segment assembly support device. A method of assisting assembly of segments during construction of a shield tunnel, comprising:
To change the curvature of the circumference of the partially assembled and unassembled portions of the shape of the new segment ring including the segment in accordance with the position and orientation of the segment gripped by the gripping portion of the erector device of the shield machine. A segment assembly support method, including predicting the shape of a newly installed segment ring . 6. The segment assembly support method according to claim 5, further comprising displaying the predicted shape of the new segment ring on the screen.

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