JPH0518196A - Automatic segment assembling device - Google Patents

Abstract

PURPOSE:To prevent the reduction of segment assembling precision and the contact breakage between segments due to the holding error (drifts of position and attitude) generated between the segment and an erector main body when the assembly segment is held in an automatic segment assembling device for shield construction. CONSTITUTION:A means detecting the holding error immediately after an assembly segment is held and a means 4 judging whether the detected holding error is within the allowable range for assembling the segment or not are provided. If the holding error is not within the allowable range as a result of judgment, a re-holding request signal is outputted to a main body control device 2 to request an erector main body 12 to re-hold the assembly segment.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic segment assembling apparatus for shield work, and more particularly to a segment assembly obstacle caused by a gripping error between the assembly segment and the erector body when the assembly segment is gripped. It relates to a means to prevent it.

[0002]

2. Description of the Related Art Conventionally, in the case of automatically assembling a segment by shield work, as a method of positioning the assembled segment at a predetermined assembly position, as described in Japanese Patent Application Laid-Open No. 1-263509, a method of abutting against an existing segment is used. While detecting the relative posture deviation between the assembled segment and the existing segment gripped by the erector body from the stroke values of the shield jacks of two or more, it is possible to detect the relative axial deviation between the assembled segment and the existing segment that are roughly positioned near the assembly position. Slit light is radiated to a spot, the light cut image created by each slit light is captured by a TV camera, and the image data is subjected to image processing. Detect relative position deviation and position of assembly segment based on these detected position / orientation deviation Way to do because correction is known.

[0003]

In the above-mentioned prior art, when the assembly segment is gripped, the influence of the gripping error generated between the assembly segment and the erector body on the segment positioning is not taken into consideration, and will be described later. As described above, depending on the gripping condition, the assembly segment and the existing segment may not be accurately aligned, and the bolts may not be fastened between the segments.In the worst case, the erector body may be numerically controlled to adjust the assembly segment roughly. During positioning, the segments may come into contact with each other and be damaged.

It is an object of the present invention to provide an automatic segment assembling apparatus capable of preventing a failure in segment assembly due to the above-mentioned grip error of the assembled segment.

[0005]

In order to achieve the above-mentioned object, the invention of claim 1 is, as shown in FIG. 1, an erector body 12 installed in a shield machine, and an erector body in the vicinity of an assembly position. Inter-segment position / posture deviation detecting means 1 for detecting relative position / posture deviation between the roughly positioned assembly segment and the existing segment, and grasping / coarse positioning of the assembled segment and the detected position / posture deviation. In a segment automatic assembly apparatus including a main body control device 2 for instructing the erector body 12 to perform positioning correction of a corresponding assembly segment, a gripping error detection means 3 for detecting a gripping error immediately after gripping an assembly segment.
And a determination means 4 for determining whether or not the detected gripping error is within the allowable range for segment assembly, and when the judgment error is determined to be outside the allowable range, the assembled segment is re-gripped. Re-holding request signal output means 5 for outputting a request signal to the main body control device 2 is provided.

According to a second aspect of the present invention, the gripping error detection means is installed in the erector body and irradiates slit light to each end of the assembly segment gripped by the erector body in the tunnel axial direction and the tunnel circumferential direction. A floodlight, a television camera installed in the erector main body, which captures a light section image generated by each of the slit lights, a camera switching device for capturing image data from these television cameras, an image input / output device, and an image memory, It is composed of end point coordinate detection means for image processing the data stored in the image memory to obtain end point coordinates of each of the light section images, and gripping error calculation means for calculating a gripping error from the detected end point coordinate values. Is.

[0007]

Immediately after the erector body 12 grips the assembly segment according to a command from the body control device 2, the gripping error detection means 3 detects a relative position / orientation deviation between the assembly segment and the erector body 12 as a gripping error and makes a determination. Means 4
It is determined whether the detected gripping error is within the allowable range for segment assembly. As a result, if the gripping error is within the allowable range, the erector body 12 performs the rough positioning operation and the positioning correction operation of the assembly segment as it is, and if the gripping error is not within the allowable range, the re-gripping request signal output means 5 outputs. The output causes the erector body 12 to re-grip the assembled segment before coarse positioning. As a result, it is possible to prevent the above-mentioned problems in segment assembly from occurring.

[0008]

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

As shown in FIGS. 2 to 5, the erector body 12 used for automatic segment assembly is installed at the rear part of the shield body 11 having a cylindrical shape. This Electa body 12
Are roughly classified into an eclectic ring 13 and a slewing motor 16, which are a slewing mechanism, a suspension beam 21 and a squeezing jack 22, which are a pressing mechanism, and a horizontal slide frame 2 which is a left-right sliding mechanism.
4 and a lateral slide jack 25, a front and rear slide frame 27 and a front and rear slide jack 28 which are front and rear sliding mechanisms, a spherical frame 29 and a posture control jacks 31, 32 which are posture controlling mechanisms such as pitching, rolling and yawing.
33 and a segment grip portion 34.

The elector ring 13 is a shield body 11.
It is supported by an outer peripheral guide roller 14 and side guide rollers 15 which are installed at several inner peripheral portions, and is revolvingly driven by a revolving motor 16 attached to the shield body 11 via a pinion 17 and a ring gear 18. Along with this, the following respective parts supported on the elector ring 13 are simultaneously turned to the left and right.

A suspension beam 21 supported by left and right arms 19 of the elector ring 13 via guide rods 20.
Is a pressing jack 2 mounted between the arm 19 and
It is moved in the Z-axis direction (radial direction of the elector ring 13) by expansion and contraction of 2, and accordingly, each of the following parts supported on the suspension beam 21 also moves in the same direction.

The horizontal slide frame 24 supported by the suspension beam 21 via the linear bearing 23 is a horizontal slide jack 25 mounted between the suspension beam 21 and the suspension beam 21.
The suspension beam 21 is laterally slid in the Y-axis direction by the expansion and contraction, and along with this, the following respective parts supported on the lateral slide frame 24 also move in the same direction.

A front and rear slide frame 27 supported by a horizontal slide frame 24 via a linear bearing 26.
Is slid on the horizontal slide frame 24 in the X-axis direction (axial direction of the shield body 1) due to expansion and contraction of the front-rear slide jack 28 mounted between the front-rear slide frame 27 and the front-rear slide frame 27. The following parts supported above also move in the same direction.

The spherical frame 29 incorporated in the spherical guide portion 27a of the front and rear slide frame 27 moves as follows by the expansion and contraction of the two attitude control jacks 31 and 32 mounted between the front and rear slide frame 27. do. In FIG. 4, when the two jacks 31 and 32 are simultaneously extended or contracted, the spherical frame 29 is tilted around the X axis including the spherical center G, and this movement is used for rolling control of the segment grip 34. . Further, when one of the jacks 31 and 32 is extended and the other is contracted, the spherical frame 29 is swung left and right around the Z axis including the spherical center G, and this movement is used for yawing control of the segment gripping portion 34. Used.

The segment gripping portion 34 suspended from the central axis 30 of the spherical frame 29 extends around the central axis 30 along the Y-axis due to expansion and contraction of the attitude control jack 33 mounted between the spherical frame 29 and the spherical frame 29. The movement is used for pitching control of the segment grip portion 34.

As the segment grip portion 34, a screw shaft 35 screwed into the grout hole 42a of the assembly segment 42.
Is provided with a drive motor and a lifting jack (not shown) for giving rotation and feed of the screw shaft 35.
Are built into the segment grip 34.

The erector body 12 is constructed as described above, and the assembled segment 42 that is held is assembled to the existing segment 41 by the 7-axis actuator composed of the swing motor 16 and the jacks 22, 25, 28, 31, 32 and 33. It has a function of positioning at a position and assembling it to the existing segment 41 by a bolt fastening device (not shown).

When the segments are automatically assembled, the erector body 12 is numerically controlled to roughly position the gripped assembly segment 42 near the assembly position as shown in FIG. 15 and then assemble the existing segments 41a and 41b. It is necessary to detect a relative position / orientation deviation with respect to the segment 42, and to perform positioning correction of the assembly segment 42 according to the deviation amount.

By the way, the assembly segment 42 is gripped by the erector body 12 by screwing the screw shaft 35 of the segment gripping portion 34 into the grout hole 42a as shown in FIGS. 2 and 3, for example. For this reason, the positional deviation between the assembly segment and the erector body during gripping, the screw shaft 35
The relative position / posture of the assembly segment 42 and the erector body 12 in the gripped state does not always have a constant relationship due to the rotational force or the like that acts at the time of screwing, and it is inevitable that some gripping error occurs. . If this gripping error is large, it will be a serious obstacle in segment assembly. For example, as shown in FIG. 6, when the center O ′ of the assembly segment 42 gripped with respect to the origin O of the reference coordinate system (X, Y, Z) on the erector body 12 is deviated by ΔY, the origin O.
When the posture correction (rolling correction) around the X axis passing through is carried out, the position of the corrected assembly segment becomes as shown by the broken line 42 ', and the segment center moves to the position of O ", so that it is shown in FIG. In some cases, the positions of the bolt holes of the assembly segment 42 and the existing segment 41a are significantly displaced, and bolt fastening becomes impossible, and the erector body 12 is operated assuming that there is no gripping error during rough positioning of the assembly segment. Therefore, when the actual gripping error is large, the segments may come into contact with each other and be damaged.

FIG. 7 shows an example of the gripping error detecting means used in the present invention in order to prevent such a trouble in the segment assembly.

In FIG. 7, it is assumed that the assembly segment 42 is gripped by the erector body 12 by the segment grip portion 34 shown in FIGS. 43a, 43
b and 43c are projectors, and 44a, 44b and 44c are television cameras, and as shown in FIG. 8, three sets of visual devices 51a and 51 in which these projectors and television cameras are integrated.
b and 51c are attached around the segment grip portion 34. Immediately after the assembly segment 42 is gripped by the erector body 12, slit light 45 from the projectors 43a and 43b is provided at two positions on the tunnel axial end of the assembly segment 42.
a, 45b are respectively applied to the slit light 45c from the light projector 43c at one position on the end of the assembly segment 42 in the tunnel circumferential direction, and the light cut image A on the assembly segment 42 which is a reflected light image of each slit light. B and C are imaged by the television cameras 44a, 44b and 44c, respectively.

The images of these television cameras are processed by the arithmetic unit 5
0 is selected by the camera switch 46 and stored as image data in the image memory 48 via the image input / output device 47, and the content of the image memory 48 is monitored via the image input / output device 47. 49 is displayed.

The arithmetic unit 50 image-processes the data stored in the image memory 48 to obtain the end point coordinates of each light section image, and calculates the grip error of the assembly segment 42 from the coordinate values. The arithmetic unit 50 is connected to the main body control unit 2 that controls each actuator of the erector main body 12, the segment gripping unit 34, the bolt fastening unit, and the like, and also detects a gripping error of an assembly segment according to a command from the main body control unit 2. Be seen.

Next, image processing, end point coordinate detection, gripping error calculation and the like in the arithmetic unit 50 will be described.

The three light-section images A, B and C on the assembly segment 42 are taken into the image memory 48 as the images shown in FIGS. 9A, 9B and 9C. By processing these image data according to a normal image processing method and performing binarization in which only the slit light portion is white and the other portions are black, scanning is performed on the image memory. End point coordinates a (Pxa, Pya) of the light section images A, B, C,
b (Pxb, Pyb) and c (Pxc, Pyc) can be easily obtained. In addition, as shown in FIG. 10, a reference coordinate system having an origin O is set to (X,
Y, Z), the end point coordinates on the image memory are converted into the light section images A, A on the assembly segment 42 by the method described later.
Reference coordinate system (X, Y, Z) of B, C end points a, b, c
It is possible to obtain the position / orientation of the assembly segment with respect to the reference coordinate system (X, Y, Z) by converting into absolute coordinates corresponding to the above.

By the way, as described above, the relative position / orientation of the assembly segment 42 and the erector body 12 in the gripped state does not always have a constant relationship, and a light section image when there is no gripping error is shown. A0, B0, C shown by the broken line 9
If it is set to 0, the actually obtained light-section image is often deviated as shown by solid lines A, B, and C in FIG. Therefore, the assembly segment gripping error is obtained from these light section images A, B, C and the end point coordinate values of A0, B0, C0.

The positional relationship between the slit light projector 43 and the television camera 44 used for detecting the gripping error, and the image forming lens 52 of the television camera 44 and the solid-state image pickup device 53 is shown in FIG.
As shown in. As shown in the figure, when the intersection between the gripped assembly segment 42 and the slit light irradiation central axis from the projector 43 is P ′, the reflected light from this point passes through the imaging lens 52 and is reflected by the solid-state image sensor 53. An image is formed at point D. Now, as shown in FIG. 11B, a coordinate system having an origin O ′ at the center of the solid-state imaging device 53 is set to (u, v).
Then, the coordinate system (Px, Px,
The following relationship holds between Py) and the coordinate system (u, v).

[0028]

[Equation 1]

Here, Pymax and Pxmax represent the maximum number of pixels in the vertical and horizontal directions in the image memory, and h and w represent the vertical and horizontal lengths of the solid-state image pickup device 53.

On the other hand, the above-mentioned reference coordinate system (X, Y, Z)
And the coordinate system (u, v) on the solid-state image sensor 53, the following equation holds.

[0031]

[Equation 2]

Here, ξ is the slit light irradiation angle with respect to the television camera 44, and L1 is the imaging lens 52 from the intersection point P between the central axis of the solid-state image pickup device 53 and the slit light irradiation central axis.
, L2 is the distance from the imaging lens 52 to the solid-state image sensor 53, and Lx, LY, and LZ are X, Y, and Z from the origin O of the reference coordinate system (X, Y, Z) to the intersection point P. The distance in each axial direction is shown.

Therefore, by using the equations 1 and 2, the coordinate values of the coordinate system (Px, Py) can be converted into the coordinate values of the coordinate system (X, Y, Z).

From the above, the end point coordinates a (Pxa, Pya), b (Pxb, Pxb, C) of the light section images A, B, C on the image memory are obtained.
Pyb), c (Pxc, Pyc) from the reference coordinate system (X, Y,
The absolute coordinate value of Z) is a (Xa, Ya, Za), b (Xb
, Yb, Zb) and c (Xc, Yc, Zc). By using this absolute coordinate value, the positional deviation Δx in the X-axis direction with respect to the reference coordinate system (X, Y, Z) of the assembly segment 42, the positional deviation Δy in the Y-axis direction, and the positional deviation Δz in the Z-axis direction are respectively calculated as follows. Produced by the ceremony.

[0035]

[Equation 3]

Further, each end point a of the light section images A, B and C,
When the absolute coordinate values of b and c are obtained, as shown in FIG. 12A, for example, vectors Va and Vc connecting b, a and b and c with the end point b on the assembly segment 42 as a base point are obtained. After the vectors Va and Vc are unitized, the outer product is obtained to obtain a unit vector Vd1 which is orthogonal to both the vectors Va and Vc. Next, the vector Va
When the cross product of the unit vector Va1 and the unit vector Vd1 is calculated, the unit vectors Va1 and V1 are obtained as shown in FIG.
A unit vector Ve1 orthogonal to both d1 is obtained. These three unit vectors Va1, Vd1, V that are orthogonal to each other
The coordinate system created by e1 is shown in (c) of the figure (x, y, z).
Then, the following equation holds with the reference coordinate system (X, Y, Z).

[0037]

[Equation 4]

Here, l1 to n3 are direction cosines, which are calculated in the process of obtaining three orthogonal unit vectors Va1, Vd1, and Ve1.

On the other hand, when the amount of rotation around each axis between the two coordinate systems is small, the following equation holds.

[0040]

[Equation 5]

From the above equations 4 and 5, the coordinate system (x, y,
z) rotation amounts Δθ, Δφ, and Δψ about each axis with respect to the reference coordinate system (X, Y, Z) are Δθ = n2 and Δφ =, respectively.
-N1 and Δψ = m1 are obtained. This value represents the posture deviation of the assembly segment 42 with respect to the reference coordinate system (X, Y, Z).

On the other hand, the light section images A0, B0, shown in FIG.
The end point coordinates of C0 on the image memory are a0 (Pxa0, Pya
0), b0 (Pxb0, Pyb0), c0 (Pxc0, Pyc0
), These coordinate values can be calculated from the design data if there are no camera mounting errors, etc., but in reality there will be some differences from the calculated values due to the reasons described above. These coordinate values are empirically obtained, and the reference coordinate system (X, X,
The position / orientation deviation for Y, Z) is obtained. This position / orientation deviation is calculated as Δx0, Δy0, Δz0, Δθ0, Δφ0.
, Δψ 0, the relative position / orientation deviation between the assembly segment 42 and the erector body 12 shown by the light-section images A, B, and C obtained in the actual gripping state is: X-axis position deviation ΔX = Δx 0 −Δx Y-axis position deviation ΔY = Δy0 −Δy Z-axis position deviation ΔZ = Δz0 −Δz X-axis attitude deviation δX = Δθ0 −Δθ Y-axis attitude deviation δY = Δφ0 −Δφ Z-axis attitude deviation The posture deviation δZ = Δψ 0 −Δψ is obtained.

The above ΔX, ΔY, ΔZ, δX, δY, δ
By determining the value of Z as a gripping error immediately after gripping the assembled segment, it is possible to accurately determine whether the gripping error is within the allowable range for segment assembly.

FIG. 13 shows a series of procedures of gripping error detection and judgment processing in the arithmetic unit 50. In step 101 shown in FIG. 13, the images from the television cameras 44a, 44b, and 44c immediately after gripping the assembly segment are captured in the image memory 48 as image data, and the procedure 10 is performed.
In step 2, image processing of the captured data is performed. Step 103
Then, it is judged from the result of the image processing whether or not there is an image in the light section image, and if the light section image is not detected, it is considered that the assembly segment is abnormally misaligned and gripped, or that the TV camera or the projector is out of order. An abnormality occurrence signal is output to the main body control device 2 to stop the positioning control. When the light section image is detected, the end point coordinate detection in step 105 and the grip error calculation in step 106 are performed. In step 107, ΔX, ΔY, ΔZ, δX, δY, δZ obtained as the calculation result are obtained.
Judge whether the value of is within the preset allowable range,
If it is within the allowable range, the process is ended, and if it is outside the allowable range, in step 108, a re-gripping request signal is output to the main body control device 2. In this case, since the grip error is not so large that the optical section image cannot be detected, the assembly segment and the erector body are repositioned and gripped again, and the grip error detection described above is performed until the grip error falls within the allowable range. And the judgment process is repeated.

Positioning correction after rough positioning of the assembled segment can be performed by the procedure shown in FIG. 14 using the projectors 43a, 43b and 43c and the television cameras 44a, 44b and 44c.

In step 201, as shown in FIG. 15, the projectors 4 are provided at three positions on the boundary between the assembly segment 42 roughly positioned near the assembly position and the existing segments 41a and 41b.
Slit light is emitted from 3a, 43b, and 43c, and light-section images A, A ', B, B', C, and
The image data obtained by picking up the image of C'with the television cameras 44a, 44b, 44c is loaded into the image memory 48. In step 202, the acquired data is image-processed, and step 203
After obtaining the end point coordinates of the light section image in step 2, in step 204, the step / gap between the segments is calculated from the coordinate values, and step 2
At 05, the relative position / orientation deviation between the assembly segment 42 and the existing segments 41a and 41b is calculated from the step / gap. If it is determined in step 206 that the deviation amount is outside the allowable range, in step 207, the target stroke value of the actuator for making the deviation amount zero is calculated, and the step 208 is executed.
Then, the position / orientation of the assembly segment is corrected by controlling the actuator using the calculation result as a command value. Then, these series of controls are repeated until the deviation amount falls within the allowable range.

The above embodiment is an example in which the optical cutting method is used as the gripping error detecting means, but it is also possible to detect the gripping error using another contact type or non-contact type distance sensor.

[0048]

According to the first aspect of the invention, the grip error is detected immediately after the erector body grips the assembly segment, and if the detected value is not within the allowable range, the grip is restarted. The effect of gripping errors on assembly accuracy can be suppressed to a more precise position between the assembled segment and the existing segment, and during rough positioning of the assembled segment, the gripping error may cause the segments to come into contact with each other and be damaged. The effect is that it can be prevented.

According to the second aspect of the present invention, the image input device such as the projector for detecting the gripping error and the television camera can be used as the position / orientation deviation detecting means between the assembly segment and the existing segment. Target.

[Brief description of drawings]

FIG. 1 is a functional block diagram of the present invention.

FIG. 2 is a partially cutaway front view of an erector body used for automatic segment assembly.

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

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

5 is a sectional view taken along line VV of FIG.

FIG. 6 is an explanatory diagram of a gripping error.

FIG. 7 is a schematic diagram showing an example of a gripping error detection means used in the present invention.

FIG. 8 is a perspective view showing an arrangement example of a floodlight and a television camera.

FIG. 9 is a diagram showing a camera image when a gripping error is detected,
(A) is an image of the camera 44a, (b) is an image of the camera 44b, and (c) is an image of the camera 44c.

FIG. 10 is a diagram showing a positional relationship between a light section image on an assembly segment and a reference coordinate system.

FIG. 11 is an explanatory diagram of a coordinate value conversion method from an image coordinate system to a reference coordinate system, FIG. 11A is a diagram showing a positional relationship between a projector and a TV camera, a television camera imaging lens, and a solid-state image sensor; 8] is a diagram showing a coordinate system of the solid-state imaging device.

FIG. 12 is an explanatory diagram of a posture deviation calculation with respect to a reference coordinate system of an assembly segment.

FIG. 13 is a diagram illustrating a procedure of gripping error detection and determination processing.

FIG. 14 is a diagram showing a procedure for positioning correction of an assembly segment.

FIG. 15 is an explanatory diagram of positioning correction of an assembly segment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Inter-segment position / posture deviation detection means, 2 ... Main body control device, 3 ... Gripping error detection means, 4 ... Judgment means, 5 ... Re-gripping request output means, 12 ... Elector main body, 34 ... Segment gripping part, 41a , 41b ... Existing segment, 4
2 ... Assembly segment, 43a, 43b, 43c ... Projector, 44a, 44b, 44c ... Television camera, 45a,
45b, 45c ... slit light, 46 ... camera switching device, 4
Reference numeral 7 ... Image input / output device, 48 ... Image memory, 50 ... Arithmetic device, 102, 105 ... Procedure corresponding to end point coordinate detecting means, 106 ... Procedure corresponding to gripping error computing means, 107
... Procedure corresponding to determination means 4, 108 ... Procedure corresponding to re-gripping request signal output means 5, 201-205 ... Procedure for inter-segment position / posture detection means 1.

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Shinsaku Tsutsui             Hitachi Construction Machinery Co., Ltd.             Ceremony Company Tsuchiura Factory (72) Inventor Yasuo Mori             Hitachi Construction Machinery Co., Ltd.             Ceremony Company Tsuchiura Factory (72) Inventor Hajime Ozawa             Hitachi Construction Machinery Co., Ltd.             Ceremony Company Tsuchiura Factory (72) Inventor Yoshio Nakajima             502 Kintatemachi, Tsuchiura City, Ibaraki Japan             Tate Seisakusho Mechanical Research Center (72) Inventor Masakatsu Fujie             502 Kintatemachi, Tsuchiura City, Ibaraki Japan             Tate Seisakusho Mechanical Research Center (72) Inventor Hiroshi Watanabe             Hitachi Construction Machinery Co., Ltd.             Ceremony Company Tsuchiura Factory

Claims (2)

[Claims] 1. An erector body installed in a shield machine, and an inter-segment position / posture for detecting relative position / posture deviation between an assembly segment and an existing segment roughly positioned near the assembly position by the erector body. An automatic segment assembly apparatus comprising deviation detection means, grip / coarse positioning of an assembly segment, and a main body control device for instructing an erector main body to perform positioning correction of an assembly segment corresponding to the detected position / orientation deviation, Grasping error detecting means for detecting relative position / orientation deviation (hereinafter referred to as a grasping error) between the assembled segment and the erector body immediately after grasping the segment, and the detected grasping error within the allowable range for segment assembly. If the gripping error is judged to be outside the allowable range by the judging means for judging whether or not it is In this case, the automatic segment reassembling apparatus is provided with re-gripping request signal output means for outputting a signal requesting re-gripping of the assembled segment from the main body control device. 2. The gripping error detection means is installed in the erector body, and a projector that irradiates slit light to each end of the assembly segment gripped by the erector body in the tunnel axis direction and the tunnel circumferential direction, and the erector body. Installed,
A television camera that captures a light-section image generated by each of the slit lights, a camera switcher for capturing image data from these television cameras, an image input / output device and an image memory, and an image of the data stored in the image memory. 2. An end point coordinate detecting means for processing to obtain end point coordinates of each of the light section images, and a gripping error calculating means for calculating a gripping error from the detected end point coordinate values.
The automatic segment assembly device described.