JPH06317098A - Segment assembly locating method - Google Patents

Abstract

PURPOSE:To finely position into a position and attitude which are ideal substantially by subtracting the threshold when it is exceeded by the difference between the target position/attitude and the design position/attitude, and determining a new target position/attitude. CONSTITUTION:A corrective quantity determined on the basis of the step and gap between assembled/existing segments 41a-41c to the position/attitude of an assembly segment 42 after a rough locating made by TV cameras 45a-45c, and thereby the target position/attitude is calculated. The difference between the target position/attitude and the design position/attitude is determined, and if it does not lie within the threshold, the threshold is subtracted from the target position/attitude, and a new target position/attitude is determined which is approached to the design position/attitude by an amount corresponding to the gap between a bolt hole in the segment and a bolt for fastening. An actuator is controlled by a servo control device 53, and the assembled segment is finely positioned to this new target position/attitude. Thereby the assembled segment can undergo a fine positioning so that the section form as target is approached even in case the existing ring has been deformed by the earth pressure.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a segment assembly positioning method for automatically assembling a tunnel lining segment.

[0002]

2. Description of the Related Art When automatically assembling a segment by shield work, one of the prior arts for positioning the assembled segment along the existing segment is disclosed in JP-A-4-2136.
There is one disclosed in 99. This prior art uses a visual sensor consisting of three sets of projectors and a television camera installed on the erector, and as shown in FIG.
Assembling segment 42 and existing segments 41a to 41c in which slit light of a book is roughly positioned near a predetermined assembling position.
Of slit light images A, A ', B, B', C, C'generated by irradiating two points on the boundary along the tunnel circumferential direction and one point on the boundary along the tunnel axis direction, respectively. From the coordinate values of the end points a, a ', b, b', c, c'of each slit light image obtained by processing the image data from the TV camera and image data from these TV cameras, the three steps The gap is detected, the position / posture deviation of the assembled / existing segment is obtained based on the step / gap information, and the deviation is corrected to finely position the assembled segment at a predetermined assembly position.

FIG. 11 shows a control algorithm of a segment automatic assembly apparatus according to the prior art.

Positioning of the assembly segment is carried out in two stages. In the first stage, the target position / posture is calculated from the design position / posture of the assembly segment and the coarse position correction amount which are input in advance to the control device, The erector is moved to coarsely position the assembly segment near the predetermined assembly position. After that, switch S to the second stage,
As described above, the deviation of the relative position / posture of the assembled / existing segment is obtained by the optical cutting method, and the erector is moved so as to eliminate the deviation, and the assembled segment is finely positioned at a predetermined assembly position. A segment for one ring is assembled by repeating such positioning control a plurality of times.

[0005]

It has been found that the above-mentioned prior art has the following problems.

(1) When it is originally desired to construct a tunnel having a circular cross section, but the existing ring is crushed by earth pressure and deformed into an ellipse as shown by the chain double-dashed line in FIG. The segment ring assembled in the whole will also have a distorted shape. For this reason, not only the target tunnel cross-sectional shape cannot be obtained, but also the margin in the left-right direction between the segment and the shield body becomes small, making it difficult to assemble the next segment during curved construction and shield direction correction. There is.

(2) Due to a step / gap detection error, a steady deviation of the step / gap may remain between the assembled and existing segments even after fine positioning of the assembled segment. If such a steady deviation exists, the assembly is completed. The ring inner diameter of the segment becomes larger than the inner diameter of the existing ring, so as the digging progresses, the gap between the adjacent segments in the tunnel circumferential direction opens and water leaks from the gap. The inner diameter may be smaller than the inner diameter, and the last segment (key segment) in one ring may not be incorporated.

An object of the present invention is to provide a position close to an ideal shape in which the ring shape is a perfect circle and the ring inner diameter is a design value even when the existing ring is deformed or there is a step / gap detection error. It is an object of the present invention to provide a segment assembly positioning method capable of finely positioning an assembly segment in a posture and assembling it.

[0009]

In order to achieve the above object, the present invention provides a step between an assembled / existing segment after the assembled segment is roughly positioned near a predetermined assembly position by an erector installed in a shield machine.・ A segment assembly positioning method that detects a gap, calculates the position / orientation deviation of the assembled / existing segment based on the step / gap information, and finely positions the assembly segment at a predetermined assembly position by correcting the deviation. The position / orientation of the assembled segment after positioning is calculated by adding the correction amount corresponding to the position / orientation deviation to obtain the target position / orientation, and then the difference between the target position / orientation and the design position / orientation is calculated. Is compared with the threshold value set within the gap between the bolt hole of the segment and the fastening bolt, and if the difference is within the threshold value, the assembly segment The target position / orientation obtained earlier, and if the difference is not within the threshold value, the threshold value is subtracted from the target position / orientation obtained earlier to obtain the design position / orientation accordingly. It is characterized in that a new target position / orientation approached is obtained, and the assembly segment is finely positioned at this new target position / orientation.

[0010]

[Operation] When the existing ring is deformed by earth pressure, the target position / posture is designed by adding the correction amount commensurate with the position / posture deviation of the assembly / existing segment to the position / posture of the assembly segment after rough positioning. The difference between the position and orientation may become greater than the threshold value. Even in this case, the position / posture of the assembly segment after fine positioning is bolted to the existing segment by finely positioning the assembly segment with the new target position / posture obtained by subtracting the threshold value from the target position / posture. It is possible to approach the ideal position where the design position / orientation, that is, the ring shape is a perfect circle and the ring inner diameter is the design value, to the limit that is possible. The assembled segment ring does not have a distorted shape following the existing ring.

Further, even if a large steady-state deviation remains in the position / orientation of the assembly segment after fine positioning in the conventional case due to a step / gap detection error, the position / position of the assembly segment remains
Since the posture can be brought close to the design position / posture to the extent that bolting with the existing segment is possible, the ring inner diameter of the assembled segment becomes too large and water leakage occurs, and conversely the ring inner diameter becomes too small. It is possible to avoid the problem that the key segment cannot be installed.

[0012]

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

As shown in FIGS. 2 to 6, the erector body 12 used for automatic segment assembly is installed at the rear part of the shield body 11 having a cylindrical shape. The erector body 12 is roughly classified into an erector ring 13 which is a turning mechanism.
And a turning motor 16, a suspension beam 21 and a pressing jack 22 which are pressing mechanisms, a horizontal slide frame 24 and a horizontal slide jack 25 which are left and right sliding mechanisms, a front and rear slide frame 27 and a front and rear sliding jacks 2 which are front and rear sliding mechanisms.
8. Spherical frame 29, which is a posture control mechanism for pitching, rolling, yawing, etc., and a posture control jack 3.
1, 32, 33 and a segment grip 34.

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

A suspension beam 21 supported on the 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 through 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 moved in the y-axis direction by the expansion and contraction, and along with this, the following parts supported on the horizontal slide frame 24 are also moved 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 back and forth on the horizontal slide frame 24 in the x-axis direction (shield axis direction) due to expansion and contraction of the front and rear slide jacks 28 attached to the horizontal slide frame 24, and is supported on the front and rear slide frame 27 accordingly. The following parts that have been moved 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. . When one of the jacks 31 and 32 is extended and the other is contracted, the spherical frame 29 is swiveled left and right around the z-axis including the spherical center G, and this movement causes yawing of the segment gripping portion 34. Used for control.

The segment gripping portion 34 suspended from the central axis 30 of the spherical frame 29 is tilted around the central axis 30 by the expansion and contraction of the attitude control jack 33 mounted between the spherical frame 29 and this movement. Is used for pitching control of the segment gripper 34.

The segment grip 34 includes a male threaded screw shaft 35 that matches the grout hole 43 of the assembly segment 42. Further, the segment grip portion 34 is equipped with a drive motor 36 for rotating the screw shaft 35 and an elevating jack 38 for elevating the screw shaft 35 together with the drive motor 36 and the bearing bracket 37. After aligning the screw shaft 35 with the grout hole 43 of the assembly segment 42 placed under the erector, the segment 4 is rotated while rotating the screw shaft 35.
After projecting toward 2 and screwing into the grout hole 43, the segment 42 is gripped by pulling back the screw shaft 35 until the segment 42 hits the end surface of the segment grip 34.

The erector body is constructed as described above, and has a function of gripping the assembly segment 42, finally positioning it at a predetermined assembly position, and assembling it to the existing segment 41 by a bolt fastening device (not shown).

FIG. 7 shows steps used for segment positioning.
The positional relationship between the gap detecting means and the assembled / existing segment and the system configuration are shown. Reference numeral 12 schematically represents the erector body. 42 is a roughly positioned assembly segment, and 41a and 41b are assembly segments 42.
And existing segment adjacent to the tunnel axial direction with 41c
Represent existing segments adjacent to the assembly segment 42 in the tunnel circumferential direction. Three sets of projectors 44a, 44b, 44c and television cameras 45a, 4 are used to detect steps and gaps between these assembled and existing segments.
A visual sensor composed of 5b and 45c is fixed to the segment grip portion 34 of the erector body 12 via a rigid body (not shown). Therefore, the relative positions and orientations of the projectors 44a to 44c, the television cameras 45a to 45c, the grip portion 34, and the assembly segment 42 are constant during gripping regardless of the movement of the erector. The projectors 44a and 44b are provided at two positions on the boundary between the assembly segment 42 and the existing segments 41a and 41b along the tunnel circumferential direction.
Irradiates slit light to each of the boundary portions of the assembly segment 42 and the existing segment 41c along the tunnel axis direction, and the slit light image A generated on each segment,
A ', B, B', C, C'are TV cameras 45a to 45
It is imaged by c respectively. In FIG. 8, 46a-
46c is the camera view of the TV cameras 45a to 45c,
47a to 47c indicate camera images reflected on the television cameras 45a to 45c.

Image data from these television cameras is taken into the image memory 50 via the camera switch 48 and the image input device 49. Reference numeral 51 is an image processing apparatus for processing the image data stored in the image memory 50 to obtain the end point coordinates of the slit light image, and 52 is based on the end point coordinate values obtained by the image processing apparatus 51 or numerical data input in advance. Is a control device of the main body of the erector (hereinafter referred to as a main body control device) that performs positioning control calculation described later and outputs the result as a command value to the servo control device 53. The servo control device 53 follows the command. The swing motor 16 of the main body and the hydraulic jacks 22, 25, 28, 31,
It controls a 7-axis actuator including 32 and 33.

The control means for positioning the assembly segment will be described below with reference to FIGS. 1 and 8-10.

The positioning control executed by the main body control device 52 is roughly divided into two stages of coarse positioning control and fine positioning control.

First, the rough positioning control will be described.
The detailed procedure of the coarse positioning control is shown in FIG. Step 101
In the rough position calculation of, the target position where the assembly segment will be finally positioned is predicted and calculated from the design position / orientation of the assembly segment or the position / orientation measurement result of the existing segment adjacent to the assembly segment in the circumferential direction. , Based on the target position, the slit light image A on the assembly segment 42 and the existing segments 41a to 41c shown in FIG.
A ', B, B', C and C'are TV cameras 45a to 45
An erector position / posture (hereinafter referred to as a rough position) in which the assembly segment 42 and the existing segments 41a to 41c do not come into contact with each other in the camera visual field of c is calculated. The erector position / orientation means the position / orientation of the segment grip portion 34 of the erector body 12, and is the same as the position / orientation of the assembly segment being gripped. The rough position is represented by the turning angle of the erector and the erector coordinate system (x, y, z) shown in FIG.

The actuator command value calculation in step 102 calculates the command value of each actuator including the swing motor 16 from the previously obtained coarse position, and the command value is output to the servo controller 53 by the actuator control in step 103. Wait until the servo controller 53 finishes controlling the actuator. This completes the rough positioning control.

Next, the fine positioning control of the assembly segment will be described. FIG. 1 shows the detailed procedure of the fine positioning control. In the rough positioning control described above, it is assumed that the assembly segment 42 is roughly positioned at the position shown in FIG. The image coordinate system (xv, y) of the three slit light images A, A ', B, B', C, C'extracted in this state.
v) end point coordinates a (ax, ay), a '(ax',
ay '), b (bx, by), b' (bx ', b
y '), c (cx, cy), c' (cx ', cy') is used to perform the fine positioning deviation detection calculation in step 201. In step 201, the steps Δza, Δzb, Δzc and the gap Δ between the assembled / existing segments are calculated based on these end point coordinate values.
xa, Δxb, Δxc are calculated by the following equations.

[0029]

[Equation 1]

Here, kx, ky and kz are coefficients for converting the image data into numerical values in mm.

The position / orientation deviation amount between the assembly segment 42 and the existing segments 41a to 41c is calculated based on these steps and gaps. The following equation shows a simple example of the deviation amount calculation.

[0032]

[Equation 2]

Here, edx, edy, and edz are position deviations in the x-axis direction, the y-axis direction, and the z-axis direction shown in FIG. 10, and eδx, eδy, and eδz are around the x-axis, respectively.
It represents the posture deviation around the y-axis and the z-axis. Also, Lx
a, Lxc, Lya, and Lyb are as shown in FIG.
X from the gripping center o of the assembly segment 42 to each end point a, b, c of the slit light images A, B, C on the assembly segment
It represents the distance in the axial direction and the y-axis direction.

In the correction amount calculation in step 202, the position / orientation correction amounts dx, dy, dz, δx,
δy and δz are calculated by the following equations.

[0035]

[Equation 3]

In the erector target position / orientation calculation in step 203, the erector target for eliminating the position / orientation deviation from the existing segment by adding the previously calculated correction amount to the position / orientation of the assembled segment after rough positioning. Find the position and orientation. The erector target position / orientation means the target position / orientation of the segment gripper 34 of the erector body, and is the same as the target position / orientation of the assembly segment being gripped. Step 2
In 04, the design position / orientation of the assembly segment previously input to the main body control device 52 is subtracted from the calculated erector target position / orientation, and the difference is compared with a separately determined threshold value.

Here, the design position / posture of the assembly segment is the position in the x-axis direction; the position in the P1 y-axis direction; the position in the P2 z-axis direction; the position in the P3 x-axis direction; the position in the P4 y-axis direction; Posture about axis; P6 Position and posture of assembly segment after rough positioning x Position; P11 Position in y axis; P12 Position in z axis; P13 Posture about x axis; P14 Posture about y axis P15 attitude around z-axis; P16 target position / orientation in x-axis direction; P21 = P11 + dx position in y-axis direction; P22 = P12 + dy position in z-axis direction; P23 = P13 + dz attitude around x-axis; P24 = P14 + δx y-axis attitude; P25 = P15 + δy z-axis attitude; P26 = P16 + δz. At this time, the deviation between the erector target position / posture and the assembly segment design position / posture is

[0038]

[Equation 4]

It becomes The threshold values to be compared with these deviations Δx to Δδz are k1 to k6, respectively. This threshold value is set within the range of the gap between the bolt used to fasten the assembled segment and the existing segment and the bolt hole provided in the segment. For example, if the gap is ± 2 mm, the maximum threshold value in the x-axis direction, the y-axis direction, and the z-axis direction is 2 mm (in consideration of the case where the position deviation and the posture deviation overlap, the threshold value should be lower than the clearance). Set to).

In step 204, the following (5.1) to (5.
6) Evaluate the formula, and if satisfied, proceed to step 206,
If not satisfied, the procedure proceeds to step 205. In step 208, it is determined whether or not all the comparisons (5.1) to (5.6) have been completed. If not completed, steps 204 and thereafter are repeated, and if completed, the process proceeds to 206.

[0041]

[Equation 5]

In step 205, the threshold values k1 to k6 are subtracted from the erector target positions / postures P21 to P26 previously obtained only for the relevant axis to obtain new erector target positions / postures. New erector target position / posture P31
~ P36 is

[0043]

[Equation 6]

It becomes Then, the procedure goes to step 206. In the actuator command value calculation of step 206, the actuator command value is calculated from the erector target position / orientation obtained in step 203 or the new erector target position / orientation obtained in step 205, and by the actuator control of step 207,
It outputs a command value to the servo control device 53 and waits for the servo control device 53 to finish controlling the actuator. This completes the fine positioning control, and the assembly segment is finally positioned at the assembly position.

[0045]

According to the segment assembly / positioning method of the present invention, after the target position / orientation is obtained by adding the correction amount commensurate with the position / orientation deviation of the assembled / existing segment to the position / orientation of the assembled segment after rough positioning. , The difference between the target position / posture and the design position / posture is compared with a threshold value, and if the difference is not within the threshold value, the threshold value is subtracted from the previously obtained target position / posture, A new target position / orientation that is closer to the design position / orientation is obtained, and this new target position / orientation
Since the assembly segment is finely positioned in the posture, even if the existing ring is deformed by earth pressure, the assembly segment should be positioned so that the ring shape is close to the target circular tunnel cross-sectional shape without following it. Can be finely positioned and assembled.

Further, even if a large steady-state deviation remains after fine positioning in the conventional case due to a step / gap detection error,
It is possible to eliminate the problem that the ring inner diameter of the assembled segment becomes too large to cause water leakage, and conversely the ring inner diameter becomes too small to assemble the key segment.

[Brief description of drawings]

FIG. 1 is a flowchart showing a procedure of a fine positioning control which is a main part of the present invention.

FIG. 2 is a partially cutaway front view of an erector installed in a shield machine.

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.

6 is a detailed cross-sectional view of the segment gripping portion 34 of FIG.

FIG. 7 is a diagram showing an example of a positional relationship between a floodlight used for segment positioning, a television camera, an assembled / existing segment, and a system configuration.

FIG. 8 is a diagram showing a positional relationship between an assembled / existing segment and a slit light image and a camera image in a state where rough positioning is completed.

FIG. 9 is a diagram showing a procedure of rough positioning control.

10 is an explanatory diagram of deviation detection calculation for fine positioning in FIG.

FIG. 11 is an explanatory diagram of a control algorithm of the automatic segment assembly apparatus according to the prior art.

FIG. 12 is an explanatory diagram of problems in the prior art.

[Explanation of symbols]

11 ... Shield body, 12 ... Electa body, 41a-4
1c ... Existing segment, 42 ... Assembly segment, 44a
~ 44c ... floodlights, 45a ~ 45c ... TV camera, 4
6a to 46c ... Camera field of view, 47a to 47c ... Camera image, 48 ... Camera switching device, 49 ... Image input device, 50 ...
Image memory, 51 ... Image processing device, 52 ... Main body control device, 53 ... Servo control device.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Choji Kawasaki 650 Jinrachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory (72) Inventor Yasuo Mori 650 Jin-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Company Tsuchiura factory (72) Inventor Hajime Ozawa 650 Jinrachi-cho, Tsuchiura-shi, Ibaraki Hitachi Construction Machinery Co., Ltd. Tsuchiura factory

Claims (1)

[Claims] 1. A rough positioning of an assembly segment near a predetermined assembly position by an erector installed in a shield machine, a step / gap between the assembled / existing segment is detected, and assembly is performed based on the step / gap information.・ In the segment assembly positioning method, in which the position / orientation deviation of the existing segment is calculated and the assembly segment is finely positioned at the predetermined assembly position by correcting the deviation, the position / orientation deviation is added to the position / orientation of the assembly segment after rough positioning. After calculating the target position / orientation by adding the correction amount commensurate with, the segment assembly position / orientation (the following: , Design position / orientation) and set the difference within the gap between the bolt holes of the segment and the fastening bolts. If the difference is within the threshold value compared to the threshold value, the assembly segment is finely positioned at the target position / posture previously obtained, and if the difference is not within the threshold value, the previously obtained target position is obtained. The above-mentioned threshold value is subtracted from the position / orientation to obtain a new target position / orientation that is closer to the design position / orientation correspondingly, and the assembly segment is finely positioned at this new target position / orientation. Segment assembly positioning method.