JPH07159171A - Tail clearance measuring method, and tail clearance measuring device for shield machine - Google Patents

Abstract

PURPOSE:To measure a tail clearance without prohibiting covering segment assembling work in shield excavation. CONSTITUTION:Horizontal and vertical slit laser beams Lh, Lv are radiated to horizontal and vertical irradiation planes in such a form as to draw segment radiation lines LA1, LB1, LC1, and outer shell radiation lines LA2, LB2, LC2 on an inner surface 11a of a tail part 15 of a shield excavator 10, and a front end surface 30b of a covering segment 30 assembled inside the tail part 15. Images of the segment radiation lines LA2, LB2, LC2 drawn on the inner surface of the tail part 15, and the segment radiation lines LA1, LB1, LC1 drawn on the covering segment 30 are taken at a position outside the laser beam irradiation planes onto image data DP1, DP2, DP3. Tail clearances x1, x2, x3 between the tail part 15 and a front end part 30b of the covering segment are determined based on positional relation of the radiation lines drawn on the tail part 15 and the radiation lines drawn on the front end surface 30b of the covering segment.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shield machine for excavating a tunnel in the front part and assembling a lining segment in the tail part for the purpose of grasping the posture of the shield machine. The present invention relates to a tail clearance measuring method and a tail clearance measuring device capable of suitably measuring the clearance between the tail clearance.

[0002]

2. Description of the Related Art Usually, a tail portion of a shield machine is formed in a cylindrical shape with a rear opening, and a lining segment is
Inside the tail, it is assembled into a cylinder. Then, an annular gap, and thus a tail clearance, is formed between the inner peripheral surface of the tail portion and the outer peripheral surface of the lining segment. The relative position of the shield machine with respect to the lining segment can be grasped by measuring this annular tail clearance at a plurality of points. Then, based on this, the shield machine can be controlled. Therefore, conventionally, a tail clearance meter capable of measuring the tail clearance is provided on the inner surface of the tail portion facing the outer surface of the lining segment, and the tail clearance is measured by the tail clearance meter.

[0003]

However, in the method of measuring the tail clearance by providing the tail clearance meter on the inner surface of the tail portion as in the prior art, when assembling the lining segment at the tail portion, the inner surface of the tail portion is There is a problem that the provided tail clearance meter hinders the assembling work. In view of the above circumstances, an object of the present invention is to provide a tail clearance measuring method and a tail clearance measuring device for a shield machine that can measure the tail clearance without hindering the assembly work of the lining segment.

[0004]

The first aspect of the present invention is to provide an inner surface (1) of a tail portion (15) of a shield machine (10).
1a) and the irradiation line (L) to the front end face (30b) of the lining segment (30) assembled in the tail portion (15).
A1, LA2, LB1, LB2, LC1, LC2) are drawn in the drawing plane (Ph, Lh) with the laser light (Lh, Lv).
Pv), and the inner surface (11) of the tail portion (15) is irradiated.
Irradiation lines (LA2, LB2, LC2) drawn on a) and irradiation lines (LA1, LA2 on the lining segment (30))
LB1, LC1) images (DP1, DP) from a position outside the irradiation plane (Ph, Pv) of the laser light (Lh, Lv).
2, DP3) and the images (DP1, DP2,
The radiation line (LA2, LB2, LC2) drawn on the tail part (15) and the radiation line (LA drawn on the front end part (30a) of the lining segment (30) on the DP3).
1, LB1, LC1), the tail portion (15) and the front end portion (30) of the lining segment (30) are considered.
It is configured so as to obtain the gap (x1, x2, x3) between a). A second aspect of the present invention is the tail portion (1
5) In the shield machine (10) that advances while assembling the lining segment (30), the tail portion (15)
Further, a laser light irradiating means (20) capable of irradiating the laser light (Lh, Lv) with a front end face (30b) and a tail portion (15) of the lining segment (30) assembled in the tail portion (15). On the inner surface (11a) of the irradiation line (LA1,
LA2, LB1, LB2, LC1, LC2) so that the laser light (Lh, Lv) is irradiated onto the irradiation plane (Ph, P
v) installed so that it can be irradiated onto the tail part (15)
Of the laser light (Lh, Lv) irradiation plane (Ph,
Pv) at a position that does not match the lining segment (3
0) of the front end face (30b) and the inner surface (11a) of the tail portion (15), the irradiation lines (LA1, LA2, LB1,
LB2, LC1, LC2) drawn parts (S1, S
2, S3) in a form capable of photographing (16, 17, 1)
9) is installed, and in the photographing means (16, 17, 19),
Irradiation lines (LA2, LB) drawn on the tail portion (15) photographed by the photographing means (16, 17, 19)
2, LC2) and the radiation lines (LA1, LB1, LC) drawn on the front end face (30b) of the lining segment (30).
From the positional relationship of 1), the gap (x) between the tail portion (15) and the front end portion (30a) of the lining segment (30) is determined.
1, x2, x3) are connected and connected to tail clearance detection calculation units (23d, 23e, 23f). The numbers in parentheses () indicate the corresponding elements in the drawings for convenience, and therefore the present description is not limited to the description in the drawings. The same applies to the "action" column below.

[0005]

With the above-described structure, the present invention provides the tail portion (15) and the front end portion (30) of the lining segment (30).
It acts so that the gap (x1, x2, x3) between a) can be obtained from a remote position in a non-contact manner.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing an embodiment of the tail clearance measuring device of the present invention mounted on a shield machine. FIG. 2 is a perspective view showing an embodiment of the tail clearance measuring device of the present invention mounted on a shield machine. Figure 3
It is a front view which shows one Example of the tail clearance measuring device of this invention mounted | worn with the shield machine. FIG. 4 is a diagram showing an image of the tail clearance on the left side of FIG. 2 taken by the first CCD camera of FIG. FIG. 5 is a diagram showing an image of the tail clearance on the right side of FIG. 2 taken by the second CCD camera of FIG. FIG. 6 is a diagram showing an image of the tail clearance in the upper part of FIG. 2 taken by the third CCD camera of FIG. FIG. 7 is a block diagram showing a control system of the tail clearance measuring device of FIG. FIG. 8 is a diagram showing the principle of calculating the tail clearance from the images taken by the first to third CCD cameras of FIG. FIG. 9 is a cross-sectional view showing the first to third tail clearances. FIG. 10 is a diagram showing the principle of calculating the distances from the first to third CCD cameras shown in FIG. 2 to the first to third inspection spots. FIG. 11 is a diagram showing a state in which the segment surface, which is the surface set as the front end surface of the lining segment, is rotated around the angle X ′ by the angle θ1.
FIG. 12 is a diagram showing a state in which the segment surface shown in FIG. 11 is further rotated about the Y axis by an angle θ2.

As shown in FIG. 1, a shield excavator 10 having a cylindrical outer shell 11 is provided in the ground 1, and the shield excavator 10 is provided at the front end of the outer shell 11 with the ground 1 It has a cutting disc 12 which can be drilled. In addition, inside the outer shell 11, a rear partition wall 13 is provided at the rear portion.
The rear partition wall 13 is provided with an erector 2 that allows the lining segment 30 to be assembled in the tail portion 15.
2 is attached. Further, the front end portion 30a of the lining segment 30 is assembled into the tail portion 15 in a cylindrical shape, and the rear lining segment 30 is formed behind the shield excavator 10 by the shield excavator 10. The tunnel 2 is lining. Also, the lining segment 30
Front end portion 30a of the tail and the inner surface 11 of the outer shell 11 of the tail portion 15
As shown in FIG. 4, FIG. 5, and FIG. 6, a first tail clearance x1, a second tail clearance x2, and
Tail clearance 3 such as 3rd tail clearance x3
Is formed in an annular shape as a whole. Further, the rear partition wall 13 has a plurality of shield jacks 21A, 21A.
B, 21C, 21D (in this embodiment, for convenience of explanation, 4
(Only one shield jack is shown), by pushing the lining segment 30 assembled in the tail portion 15 as shown in FIGS. 1, 2 and 3, the shield excavator 10
Is provided so that each of the shield jacks 21A, 21B, 21C, and 21D can detect the protrusion amounts L1, L2, L3, and L4 of the jack stroke detectors 25A, 25B, 25C, and 25D. Is provided. Also, the shield jacks 21A and 21B are
The shield jacks 21C and 21D are provided at the upper and lower ends inside the outer shell 11, and are provided at the left end and the right end inside the outer shell 11.

Further, as shown in FIG. 1, a slit laser oscillator 20 capable of oscillating the slit laser lights Lh and Lv which are flat laser lights is provided on the tail portion 15 side of the rear partition wall 13, As shown in FIG. 3, the slit laser oscillator 20 includes a cross slit 2 having a cross shape.
It has 0a. And the slit laser oscillator 2
Reference numeral 0 indicates a horizontal slit laser Lh and a vertical slit laser Lv intersecting in a cross shape from the cross slit 20a.
2, on the front end surface 30b of the lining segment 30 assembled on the tail portion 15 and on the inner surface 11a of the outer shell 11 of the tail portion 15, as shown in FIGS. First to third segment irradiation lines LA1, LB1, L
C1, first to third outer shell irradiation lines LA2, LB2, LC2
Is attached so that the laser slit lights Lh and Lv can be emitted. More specifically, the horizontal slit laser Lh, as shown in FIG.
The first and second segment irradiation lines LA on two regions including two positions on the left and right of the front end face 30b of 0 and the outer shell inner surface 11a near the respective positions, that is, the first and second inspection spots S1 and S2.
1, LB1, first and second outer shell radiation lines LA2, LB2 are depicted. Lining segment 3 of the first inspection spot S1
As shown in FIG. 4, the first segment irradiation line LA1 is drawn horizontally on the front end face 30b of 0 as viewed from the rear partition wall 13 side, and the outer shell inner face 11a of the first inspection spot S1.
In the figure, the first shell irradiation line LA2 is drawn in parallel with the shell center line CL shown in FIG. In addition, the second inspection spot S
On the front end face 30b of the second lining segment 30, as shown in FIG. 5, the second segment irradiation line LB1 is drawn horizontally when viewed from the rear partition wall 13 side, and the outer shell of the second inspection spot S1. The second outer shell irradiation line LB2 is formed on the inner surface 11a.
It is drawn parallel to the outer shell center line CL shown in FIG. The vertical slit laser light Lv is applied to the lining segment 3
A region including one portion on the front end face 30b of 0 and the outer shell inner surface 11a in the vicinity of the portion, that is, the third inspection spot S3
Irradiation lines LC1 and LC2 are drawn on. In the front end face 30b of the lining segment 30 of the third inspection spot S3, as shown in FIG.
3, the third segment irradiation line LC1 is drawn vertically when viewed from the rear partition wall 13 side, and the third outer shell irradiation line LC2 is formed on the outer shell inner surface 11a of the third inspection spot S3.
Is drawn parallel to the outer shell center line CL shown in FIG.

On the tail portion 15 side of the rear partition wall 13, as shown in FIG. 3, the slit laser oscillator 20 is located at the upper right of FIG. 3, and therefore at a position that does not coincide with the horizontal irradiation plane Ph of the horizontal laser slit light Lh. , The first CCD camera 16 displays the first inspection spot S1 as shown in FIG.
3 is installed on the tail portion 15 side of the rear partition wall 13 on the left side of FIG. 3 of the slit laser oscillator 20 as shown in FIG.
At a position above the horizontal irradiation plane Ph of h, a second CCD camera 17 is installed so as to photograph the second inspection spot S2 as shown in FIG. Also, the rear partition wall 1
As shown in FIG. 3, the third CCD camera 19 is provided on the tail portion 15 side of No. 3 at the upper left of FIG. 3 of the slit laser oscillator 20, and therefore at a position that does not coincide with the vertical irradiation plane Pv of the vertical laser slit light Lv. 2, the third inspection spot S3 is installed so as to be photographed.

A tail clearance detecting device 23 is provided inside the shield excavator 10. The tail clearance detecting device 23 includes the first to third CCD cameras 16, 17, 19 and the jack stroke shown in FIG. The detectors 25A, 25B, 25C, 25D and the slit laser oscillator 20 shown in FIG. The tail clearance detection device 23 is provided so that the first image data DP1 obtained by photographing the first inspection spot S1 is input from the first CCD camera 16 shown in FIG. Four
The first clearance detection calculation unit 23d shown in FIG. 7 capable of detecting and calculating the first tail clearance x1 between the segment front end portion 30a and the outer shell inner surface 11a in the first inspection spot S1 shown in FIG. In addition, the tail clearance detection device 23 shown in FIG. 2 has the segment front end portion 30a and the outer shell inner surface 1 in the second inspection spot S2 shown in FIG.
It has a second clearance detection calculation unit 23e shown in FIG. 7 for detecting and calculating the second tail clearance x2 with respect to 1a, and the tail clearance detection device 23 shown in FIG.
Has a third clearance detection calculator 23f capable of detecting and calculating the third tail clearance x3 between the segment front end portion 30a and the outer shell inner surface 11a in the third inspection spot S3 shown in FIG. The tail clearance detection device 23 includes a keyboard 23a and a display 23.
b, a main control unit 23c, an excavator position detection calculation unit 23g, a keyboard 23a, a display 23b, first to third clearance detection calculation units 23d, 23e, 2
3f, excavator position detection calculation unit 23g, first to third CC
D camera 16, 17, 19, jack protrusion amount detector 25
The slit laser oscillators A, 25B, 25C, 25D are connected to the main controller 23c via a bus line 35.

First to third CCD cameras 16, 17, 1
9, the slit laser oscillator 20, the tail clearance detecting device 23, and the like have the above-described configurations, and as shown in FIG.
The measurement start signal SS is input to the main controller 23c by the keyboard 23a of No. 3. Then, the main controller 23c
The measurement start signal SS is sent to the first to third CCD cameras 16,
17, 19, jack stroke detector 25A, 25
B, 25C, 25D and output to the slit laser oscillator 20, respectively.

Then, the slit laser oscillator 20
From the cross slit 20a, a horizontal slit laser Lh and a vertical slit laser Lv intersecting in a cross shape are
As shown in FIG. 2, the front end surface 30b of the lining segment 30 assembled in the tail portion 15 and the inner surface 11a of the outer shell 11 of the tail portion 15 are irradiated. Then, the horizontal slit laser Lh, as shown in FIG.
Irradiation lines LA1, LA2, LB1, LB to two regions including the left and right two positions of the front end face 30b and the outer shell inner surface 11a near the respective positions, that is, the first and second inspection spots S1 and S2.
Draw two. That is, on the front end surface 30b of the lining segment 30 of the first inspection spot S1, as shown in FIG. 4, the first segment irradiation line LA1 is drawn horizontally as seen from the rear partition wall 13 side, and the first inspection is performed. Inner surface 11a of outer shell of spot S1
In the figure, the first shell irradiation line LA2 is drawn parallel to the shell center line CL shown in FIG. On the front end surface 30b of the lining segment 30 of the second inspection spot S2, as shown in FIG. 5, the second segment irradiation line LB1 is provided with the rear partition wall 1
A second outer shell irradiation line LB2 is drawn horizontally on the outer shell inner surface 11a of the second inspection spot S2 when viewed from the third side, and is parallel to the outer shell center line CL shown in FIG. In addition, as shown in FIG. 2, the vertical slit laser beam Lv is a region including one location on the front end face 30b of the lining segment 30 and the outer shell inner surface 11a near the location, that is, the third inspection spot S3. Illumination lines LC1 and LC2 are drawn on. That is, on the front end face 30b of the lining segment 30 of the third inspection spot S3,
As shown in FIG. 6, the third segment irradiation line LC1 is drawn vertically when viewed from the rear partition wall 13 side, and the third outer shell irradiation line LC2 is formed on the outer shell inner surface 11a of the third inspection spot S3.
Is drawn parallel to the outer shell centerline CL shown in FIG.

The jack stroke detectors 25A, 25B, 25C and 25D shown in FIG. 3 receive the measurement start signal SS from the main control section 23c as shown in FIG. , 21C, 21
The measurement of the jack protrusion amounts L1, L2, L3, and L4 of D is started. And each jack stroke detector 25A,
25B, 25C and 25D are jack protrusion amounts L1 and L
2, L3, L4 are output momentarily to the first to third clearance detection calculation units 23d, 23e, 23f, respectively.

Next, since the first CCD camera 16 is installed so as to photograph the first inspection spot S1 as shown in FIG. 2, as shown in FIG. 7, the main controller 23c is provided.
When the measurement start signal SS is input, the imaging of the first inspection spot S1 shown in FIG. 2 is started. At this time, the first C
Since the CD camera 16 is installed at a position outside the horizontal irradiation plane Ph of the horizontal laser slit light Lh as shown in FIG. 3, as shown in FIG.
In the first image data DP1 captured by No. 6,
Lining segment 30 by horizontal laser slit light Lh
The first segment irradiation line LA drawn on the front end face 30b of FIG.
1 and the first outer shell irradiation line LA2 drawn on the inner shell inner surface 11a by the horizontal laser slit light Lh can be copied as two independent line segments having relative angles. The first tail clearance x1 provided between the lining segment front end portion 30a and the outer shell inner surface 11a is the left end of the first segment irradiation line LA1 in FIG. 4 and the first outer portion on the image data DP1. Shell irradiation line LA2
Of the first segment irradiation line LA1 and the intersection with the extension line of the first segment irradiation line LA1. Then, the first CCD
As shown in FIG. 2, the camera 16 outputs the image data DP1 to the tail clearance detection device 23. Then,
In the tail clearance detection device 23, as shown in FIG. 7, the image data DP1 is input to the first clearance detection calculation unit 23d. In addition, the second CCD camera 17
As shown in FIG. 2, since the second inspection spot S2 is imaged, the second image inspection spot S2 is imaged when the measurement start signal SS is input.
At this time, since the second CCD camera 17 is installed at a position deviated from the horizontal irradiation plane Ph of the horizontal laser slit light Lh, as shown in FIG. In the image data DP2, the second segment irradiation line LB1 drawn on the front end face 30b of the lining segment 30a by the horizontal laser slit light Lh and the second outer line similarly drawn on the outer shell inner surface 11a by the horizontal laser slit light Lh. The shell irradiation line LB2 can be imaged as two independent line segments having a relative angle. The second tail clearance x2 provided between the front end portion 30a of the lining segment and the inner surface 11a of the outer shell is, on the image data DP2, the right end of the second segment irradiation line LB1 in FIG. Shell irradiation line LB
2 can be copied as an interval with the intersection of the extension line of the second segment irradiation line LB1. Then, the second CC
As shown in FIG. 2, the D camera 17 uses the image data DP2.
Is output to the tail clearance detection device 23. Then, in the tail clearance detection device 23, as shown in FIG. 7, the image data DP2 is input to the second clearance detection calculation unit 23e. Also, the third CCD camera 1
No. 9 is installed so as to capture the image of the third inspection spot S3. Therefore, when the measurement start signal SS is input, the third inspection spot S3 can be captured. At this time, since the third CCD camera 19 is installed at a position deviated from the vertical irradiation plane Pv of the vertical laser slit light Lv, as shown in FIG. In the image data DP3, the third segment irradiation line LC1 drawn on the front end face 30b of the lining segment front end portion 30a by the vertical laser slit light Lv and the outer shell inner surface 11a by the vertical laser slit light Lv as well.
The third outer shell irradiation line LC2 drawn in Fig. 2 can be photographed as two independent line segments having a relative angle. Then, the front end portion 30a of the lining segment and the inner surface 1 of the outer shell
The third tail clearance x provided between the 1a and
3 indicates the upper end of the third segment irradiation line LC1 in FIG. 6 and the third outer shell irradiation line LC2 on the image data DP3.
It can be photographed as an interval with the intersection with the extension line of the third segment irradiation line LC1. Then, the third CCD camera 19 outputs the image data DP3 to the tail clearance detection device 23, as shown in FIG. Then, in the tail clearance detection device 23, as shown in FIG. 7, the image data DP3 is input to the third clearance detection calculation unit 23f.

Then, the first clearance detection calculation unit 23
In d, first, the jack stroke detectors 25A, 2
5B, 25C, and 25D, the projection amounts L1, L2, L3, and L4, which are input from time to time, are used to change the time as shown in FIG.
The first inspection spot S from the first CCD camera 16 shown in FIG.
The distance 11 to 1 is detected and calculated. The principle of calculating the distance l1 will be described below. First, as shown in FIG. 2, the XYZ coordinates are plotted along the Z axis of the outer shell center line CL of the shield excavator 10.
And the origin O is set on the camera plane Pa. The camera plane Pa is the first to third C
It is a plane including the image pickup surfaces of the CD cameras 16, 17, and 19, and the camera plane Pa is perpendicular to the shell centerline CL. Next, the X'Y'Z 'coordinates are set in the form of being translated in the Z-axis direction to a position whose origin coincides with the segment plane Pb including the lining segment front end face 30b. Further, the distance between the origin O of the XYZ coordinates and the origin O'of the X'Y'Z 'coordinates, and thus the distance L between the camera plane Pa and the rotation center of the segment plane Pb, is determined by the jacks of the shield jacks 25A to 25D. Protrusion amount L1, L2, L3,
By using L4, it can be expressed as in Equation 1.

[Equation 1] I will explain the number 1. First, the jack protrusion amounts L1, L2, L3 of the respective shield jacks 25A to 25D during excavation,
L4 is not always the same. In other words, the segment plane Pb and the X'Y 'coordinate plane do not always match. Therefore, it is assumed that the segment plane Pb, and thus the segment front end face 30b, is inclined by the angle θ1 around the X ′ axis and by the angle θ2 around the Y ′ axis, as shown in FIG. Therefore, as shown in FIG. 3, the first shield jack 21A and the second shield jack 21B are provided above and below the outer shell inner surface 11a at positions facing each other with the outer shell center line CL as the center. Jack 21A
The distance between the second shield jack 21B and the second shield jack 21B is Ld. Further, the third shield jack 21C and the fourth shield jack 21D are provided on the left and right of the outer shell inner surface 11a on the outer shell center line CL.
Are provided at positions facing each other with respect to the center, and the distance between the third shield jack 21C and the fourth shield jack 21D is also Ld. Therefore, as shown in FIG. 2, the distance L from the camera plane Pa to the segment plane Pb is determined by the jack protrusion amounts L1 and L of the shield jacks 21A to 21D.
To the average value of 2, L3, L4, the shield jack 21
It can be calculated by adding the correction amount α due to the difference in the mounting positions in the Z-axis direction between A, 21B, 21C, 21D and the first CCD camera 16. In addition, the segment plane Pb shown in FIG.
If b is inclined by an angle θ1 around the X ′ axis as shown in FIG. 11 and is inclined by an angle θ2 around the Y ′ axis as shown in FIG. 12, the angles θ1, θ2 Is
The jack protrusion amounts L1, L2 and L3, L4, and Ld which is a constant can be used to express as in Equation 2.

[Equation 2] Next, in the segment plane Pb shown in FIG. 10, if the normal vector V is V = (a1, b1, c1),
Can be expressed as

[Equation 3] Assuming that the value of the normal vector V (a1, b1, c1) is rotated by the angle θ1 around the X ′ axis as in the segment plane Pb ′ shown in FIG. 11, the normal vector V ′ is obtained.
Can be shown as in Equation 4.

[Equation 4] Next, as shown in FIG. 12, the segment plane Pb ′ is
If the segment plane Pb ′ is further rotated about the Y ′ axis by an angle θ2, it means that the segment plane Pb ′ is inclined like the segment plane Pb. The Y component of the normal vector V at this time does not change even if the segment plane Pb ′ is rotated around the Y ′ axis. Therefore, b1 = sin θ1
Is. Also, the X and Z components of the normal vector V are
It can be calculated as in Equation 5.

[Equation 5] Therefore, the normal vector V can be calculated and detected as shown in Equation 6.

[Equation 6] Next, as shown in FIG. 10, the first imaging center axis CT1 of the first CCD camera 16 is located on the XYZ coordinates at the position of the first CCD camera 16 (xa, ya,
za), the direction vector Va is Va = (la, m
Since it is set to a, na), it can be shown as in Expression 7.

[Equation 7] The center CP1 of the first inspection spot S1 is the intersection of the segment plane Pb and the first imaging center axis CT1 of the first CCD camera 16, so that the first inspection spot S1.
The coordinates (X11, Y11, Z11) of the center CP1 of 1 are
By solving the simultaneous equations of Equation 3 and Equation 7, it can be shown as Equation 8.

[Equation 8] Here, a1, b1, and c1 can be expressed by the equations 6 and 2 in a form in which only the jack protrusion amounts L1, L2, L3, and L4 are variables, and L is also a jack as shown in the equation 1. It can be seen that this is a variable that depends only on the protrusion amounts L1, L2, L3, and L4. Therefore, the coordinates (X11, Y11, Z11) of the center CP1 of the first inspection spot S1 are variables that depend only on the jack protrusion amounts L1, L2, L3, and L4. Therefore, the distance l1 between the first CCD camera 16 and the center CP1 of the first inspection spot S1 is the coordinate (X11, Y11,
Z11) and the coordinates of the first CCD camera 16 (xa, ya,
By using za), it can be shown as in Expression 9.

[Equation 9] This distance l1 is equal to the first inspection spot S1 as described above.
Since the coordinates (X11, Y11, Z11) are variables that depend only on the jack protrusion amounts L1, L2, L3, and L4, they are variables that also depend only on the jack protrusion amounts L1, L2, L3, and L4. Can be said.

Further, the first clearance detection calculation unit 23d shown in FIG. 7 calculates the first segment irradiation line LA1 on the image data DP1 from the input image data DP1.
4 and the number of pixels n1 in the interval between the intersection of the first outer shell irradiation line LA2 and the extension of the first segment irradiation line LA1 are detected. Then, the first clearance detection calculation unit 23d, the interval l1 between the detected first CCD camera 16 and the center CP1 of the first inspection spot S1, and the first segment irradiation line LA1 on the first image data DP1.
4 on the left end of FIG. 4 and the number n1 of pixels existing in the interval (first tail clearance x1) between the intersection of the first outer shell irradiation line LA2 and the extension line of the first segment irradiation line LA1. The tail clearance x1 is calculated and detected. The calculation detection principle is as follows. First, two things can be said. One is the first tail clearance x1
Is the number of pixels in the interval between the left end of the first segment irradiation line LA1 in FIG. 4 in the first image data DP1 and the intersection of the first outer shell irradiation line LA2 and the extension line of the first segment irradiation line LA1. In other words, the size of the tail clearance x1 on the first image data DP1 is inversely proportional to the distance l1 between the first CCD camera 16 and the first inspection spot S1. Is. Therefore, as shown in FIG.
When the predetermined length Aa such as the first tail clearance x1 is photographed in the first image data DP1 with the predetermined distance La set between the first inspection spot S1 and the first inspection spot S1, the number of pixels Na existing in the length Aa is Na. Is detected. Then, based on the predetermined interval La, the length Aa, and the number of pixels Na, the first C
When the unit length is the interval between the CD camera 16 and the first inspection spot S1, it is possible to calculate and detect the actual size q1 captured in the length of one pixel on the first image data DP1.
Therefore, the first clearance detection calculation unit 23d shown in FIG.
Can detect the first tail clearance x1 from moment to moment by the equation 10 using q1 as a coefficient.

[Equation 10] Then, the first clearance detection unit 23d uses the detected first tail clearance x1 as the excavator position detection calculation unit 2
Output to 3g. In addition, the second clearance detection calculation unit 2
In 3e, each jack protrusion amount detector 25A, 25B, 2
Each protrusion amount L1, which is input momentarily from 5C and 25D,
Based on L2, L3, and L4, the distance l2 from the second CCD camera 17 to the second inspection spot S2 is changed every second.
The detection calculation is performed in the same manner as the first clearance detection calculation unit 23e. Then, the second clearance detection calculation unit 23e calculates the image data DP from the input second image data DP2.
5, the number of pixels n2 in the interval between the right end of the second segment irradiation line LB1 in FIG. 5 and the intersection of the second outer shell irradiation line LB2 and the extension of the second segment irradiation line LB1.
To detect. Then, the second clearance detection calculation unit 23
e is the interval 12 between the detected second CCD camera 17 and the center CP2 of the second inspection spot S2, and the second image data DP
2 on the right side of FIG. 5 of the second segment irradiation line LB1 and the intersection of the second outer shell irradiation line LB2 and the extension line of the second segment irradiation line LB1 (second tail clearance x2). Based on the number of pixels n2, the second tail clearance x2 is detected similarly to the first clearance detection calculation unit 23d. That is, when the distance between the second CCD camera 17 and the second inspection spot S2 is set to a predetermined distance Lb and a predetermined length Ab such as the second tail clearance x2 is photographed in the second image data DP2, the length is obtained. The number of pixels Nb existing in Ab is detected. Then, the second clearance detection unit 23e determines the interval between the second CCD camera 17 and the second inspection spot S2 as a unit length based on the predetermined interval Lb, the length Ab, and the number of pixels Nb. Two actual dimensions q captured in the length of one pixel on the image data DP2
The second tail clearance x2 by the number 11 using 2
Can be detected moment by moment.

[Equation 11] Then, the second clearance detection calculation unit 23e outputs the detected second tail clearance x2 to the excavator position detection calculation unit 23g. Further, in the third clearance detection calculation unit 23f, the jack protrusion amount detectors 25A, 25A
B, 25C, and 25D input momentarily, based on the protrusion amounts L1, L2, L3, L4, the third C
Distance l from the CD camera 19 to the third inspection spot S3
3 is detected and calculated in the same manner as the first clearance detection calculation unit 23d. Then, the third clearance detection calculation unit 23f
Is an extension line of the third segment irradiation line LC1 from the input third image data DP3 on the image data DP3, the upper end of the third segment irradiation line LC1 in FIG. 6 and the third outer shell irradiation line LC2. The number of pixels n3 existing in the interval from the intersection with is detected. The third clearance detection calculation unit 23f then detects the distance l3 between the detected third CCD camera 19 and the center CP3 of the third inspection spot S3 and the upper end of the third segment irradiation line LC1 in FIG. 6 on the third image data DP3. And the number n3 of pixels in the interval (third tail clearance x3) between the intersection of the third outer shell irradiation line LC2 and the extension line of the third segment irradiation line LC1
The third tail clearance x3 is detected similarly to the first clearance detection calculation unit 23d. That is, the distance between the third CCD camera 19 and the third inspection spot S3 is set to a predetermined distance Lc.
And a predetermined length A such as the third tail clearance x3
The length A when c is photographed in the third image data DP3
The number of pixels Nc existing in c is detected. Then, the third clearance detection calculation unit 23f determines the third CCD camera 1 based on the predetermined interval Lc, the length Ac, and the number of pixels Nc.
When the interval between 9 and the third inspection spot S3 is set as a unit length, the third tail clearance x3 is calculated by the formula 12 using the actual size q3 captured in the length of one pixel on the third image data DP3. It can be detected moment by moment.

[Equation 12] Then, the third clearance detection unit 23f uses the detected third tail clearance x3 as the excavator position detection calculation unit 2
Output to 3g.

Here, in the excavator position detecting / calculating section 23g, the tail portion 15 of the outer shell 11, which is previously formed in a perfect circle with a radius of the perfect circular lining segment front end 30a.
The radius of the inner surface 11a is input. Therefore, the excavator position detection calculation unit 23g receives the first, second, and third tail clearances x1, x2, and x3 that are input momentarily, and the radius of the lining segment front end portion 30a that has been input in advance and the outer shell 11. Based on the radius of the inner surface 11a of the tail portion 15 of the lining segment 30, as shown in FIG.
Center line CL of the outer shell 11 of the shield excavator 10 with respect to T
The relative position of can be detected and calculated. Then, the excavator position detection calculation unit 23g outputs the relative position of the center line CL of the outer shell 11 of the shield excavator 10 to the detected central axis CT of the lining segment 30 on the display 23b shown in FIG. 7.

Therefore, according to the above embodiment, non-contact,
1st to 3rd tail clearance x1 from a remote location,
Since x2 and x3 can be detected, conventionally, when measuring the tail clearances x1, x2, and x3, a tail clearance meter must be provided on the inner surface 11a of the tail portion 15, so that the lining of the tail portion 15 cannot be covered. It is possible to solve the problem of hindering the assembly work of the segment 30. Further, according to the above-described embodiment, the tail clearances x1, x2 during the excavation of the shield excavator 10,
Since x3 can be detected moment by moment, the shield excavator 1 with respect to the central axis CT of the lining segment 30 is based on the detected tail clearances x1, x2, x3.
The relative position of the center line CL of the outer shell 0 of 0 can be detected and calculated moment by moment. Therefore, based on this, the shield excavator 10 can be controlled in real time.

In the above embodiment, the excavator position detecting / calculating section 23g is provided with the lining segment 30 based on the three tail clearances of the first, second and third tail clearances x1, x2 and x3. The relative position of the center line CL of the outer shell 11 of the shield excavator 10 with respect to the central axis CT of the excavator position detection calculator 2 is provided.
3 g may be provided so as to calculate and detect the relative position of the center line CL of the outer shell 11 of the shield excavator 10 with respect to the central axis CT of the lining segment 30 from the tail clearances at two or four or more locations. Of course.

[0020]

As described above, according to the present invention,
The inner surface such as the inner surface 11a of the tail portion such as the tail portion 15 of the shield machine such as the shield excavator 10 and the front end surface such as the front end surface 30b of the lining segment such as the lining segment 30 assembled in the tail portion. First segment irradiation line LA
1, first shell irradiation line LA2, second segment irradiation line LB
1, second shell irradiation line LB2, third segment irradiation line LC
1, horizontal slit laser light Lh, vertical slit laser light Lv in the form of drawing the irradiation line such as the third outer shell irradiation line LC2
Laser light such as horizontal irradiation plane Ph, vertical irradiation plane Pv
And the like of the first outer shell irradiation line LA2, the second outer shell irradiation line LB2, and the third outer shell irradiation line LC2, which are drawn on the inner surface of the tail portion, and the lining segment. The irradiation lines such as the first segment irradiation line LA1, the second segment irradiation line LB1, the third segment irradiation line LC1 and the like drawn in FIG. 1 are drawn from positions outside the irradiation plane of the laser light to the first image data DP1 and the second image data DP2. , The third image data DP3
Photographed on an image such as, from the positional relationship of the irradiation line drawn on the tail portion and the irradiation line drawn on the front end face of the lining segment on the image, the tail portion and the lining segment Since the gaps such as the first tail clearance x1, the second tail clearance x2, and the third tail clearance x3 between the front end portions such as the front end portion 30a are obtained, the space between the tail portion and the front end portions of the lining segments is The gap can be obtained from a remote position without contact. Therefore, conventionally, when measuring the tail clearances x1, x2, and x3, it is necessary to provide a tail clearance meter on the inner surface 11a of the tail portion 15.
It is possible to solve the problem of hindering the assembly work of the lining segment 30 of FIG. The second invention of the present invention is a shield machine such as a shield excavator 10 that advances while assembling a lining segment such as a lining segment 30 with a tail portion such as a tail portion 15 in a horizontal slit laser. Light Lh, vertical slit laser light L
A laser beam irradiation means such as a slit laser oscillator 20 capable of irradiating a laser beam such as v is provided with a front end portion of the lining segment assembled at the tail portion and an inner surface 1 of the tail portion.
The first segment irradiation line LA1, the second segment irradiation line LB1, the third segment irradiation line LC1, the first outer shell irradiation line LA2, the second outer shell irradiation line LB2, the third outer shell irradiation line LC2, etc. The laser light is installed so that it can be irradiated onto an irradiation plane such as a horizontal irradiation plane Ph and a vertical irradiation plane Pv so that the irradiation line of the laser light is drawn. A front end surface such as the front end surface 30b of the lining segment and the inner surface 11a of the tail portion.
First inspection spot S on the inner surface of which the radiation line is drawn
The first CCD camera 16 and the second CC in a form capable of photographing the portions such as 1, the second inspection spot S2, the third inspection spot S3, etc.
A photographing means such as a D camera 17 and a third CCD camera 19 is installed, and the photographing means has a first outer shell irradiation line LA2 and a second outer shell irradiation line drawn on the tail portion photographed by the photographing means. LB2, the irradiation lines such as the third outer shell irradiation line LC2 and the irradiation lines such as the first segment irradiation line LA1, the second segment irradiation line LB1 and the third segment irradiation line LC1 drawn on the front end face of the lining segment. A first tail capable of detecting and calculating a gap such as a first tail clearance x1, a second tail clearance x2, and a third tail clearance x3 between the tail portion and the front end portion such as the front end portion 30a of the lining segment from the positional relationship. Clearance detection calculation unit 23d,
Since the tail clearance detection calculation units such as the second tail clearance detection calculation unit 23e and the third tail clearance detection calculation unit 23f are connected, the laser light irradiation means assembles the laser light at the tail unit. The laser beam may be irradiated onto the irradiation plane so as to draw the irradiation line on the front end surface of the lining segment and the inner surface of the tail portion. Further, the photographing means photographs the portion of the front end surface of the lining segment and the inner surface of the tail portion on which the irradiation line is drawn, from a position of the tail portion that does not coincide with the irradiation plane of the laser light. You can Therefore, the irradiation line drawn on the front end surface of the lining segment and the inner surface of the tail portion,
It is possible to photograph not as collinear irradiation lines but as two independent line segments relatively having an angle.
Then, the tail clearance detection calculation unit determines, based on the positional relationship between the irradiation line drawn on the inner surface of the tail part and the irradiation line drawn on the front end face of the lining segment, the front end of the tail part and the lining segment. The gap between the parts can be detected and calculated. Therefore, the gap between the tail portion and the front end portion of the lining segment can be obtained from a remote position in a non-contact manner.
Solved the problem that a tail clearance meter had to be provided on the inner surface 11a of the tail portion 15 when measuring 1, x2, and x3, which hindered the assembly work of the lining segment 30 of the tail portion 15. You can do it.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a tail clearance measuring device of the present invention mounted on a shield machine.

FIG. 2 is a perspective view showing an embodiment of a tail clearance measuring device of the present invention mounted on a shield machine.

FIG. 3 is a front view showing an embodiment of the tail clearance measuring device of the present invention mounted on a shield machine.

FIG. 4 is a diagram showing an image of the tail clearance on the left side of FIG. 2 taken by the first CCD camera of FIG.

5 is a diagram showing an image of the tail clearance on the right side of FIG. 2 taken by the second CCD camera of FIG. 2;

6 is a diagram showing an image of the tail clearance shown in the upper part of FIG. 2 taken by the third CCD camera shown in FIG. 2;

7 is a block diagram showing a control system of the tail clearance measuring device of FIG.

FIG. 8 is a diagram showing a principle of calculating tail clearance from an image taken by the first to third CCD cameras of FIG.

FIG. 9 is a cross-sectional view showing first to third tail clearances.

10 is a diagram showing the principle of calculating the distances from the first to third CCD cameras shown in FIG. 2 to the first to third inspection spots.

FIG. 11 is a diagram showing a state in which a segment surface, which is a surface set as a front end surface of a lining segment, is rotated around an angle X ′ by an angle θ1.

FIG. 12 is a diagram showing a state in which the segment surface shown in FIG. 11 is further rotated about the Y axis by an angle θ2.

[Explanation of symbols]

10 ... Shield machine (shield excavator) 11a ... Inner surface (inner surface) 15 ... Tail part (tail part) 16 ... Laser light irradiation means (first CCD camera) 17 ... Laser light irradiation means (second CCD) Camera) 19 ... Laser light irradiation means (third CCD camera) 23d ... Tail clearance detection calculation unit (first tail clearance detection calculation unit) 23e ... Tail clearance detection calculation unit (second tail clearance detection calculation unit) 23f …… Tail clearance detection calculation unit (third tail clearance detection calculation unit) 30 …… lining segment (lining segment) 30a …… front end (front end) 30b …… front end face (front end face) LA1 …… irradiation line (First segment irradiation line) LA2 ... Irradiation line (first outer shell irradiation line) LB1 ... Irradiation line (second segment irradiation line) LB ... Irradiation line (second outer shell irradiation line) LC1 ... Irradiation line (third segment irradiation line) LC2 ... Irradiation line (third outer shell irradiation line) Lh ... Laser light (horizontal slit laser light) Lv ... ... laser light (vertical slit laser light) Ph ... irradiation plane (horizontal irradiation plane) Pv ... irradiation plane (vertical irradiation plane) DP1 ... one image (first image data) DP2 ... one image (second image data) ) DP3 ... One image (third image data) x1 ... Gap (first tail clearance) x2 ... Gap (second tail clearance) x3 ... Gap (third tail clearance)

Claims (2)

[Claims] Claim: What is claimed is: 1. A laser beam is irradiated onto an irradiation plane in a form of drawing an irradiation line on the inner surface of the tail portion of the shield machine and the front end surface of the lining segment assembled in the tail portion, The irradiation line drawn on the inner surface and the irradiation line drawn on the lining segment are photographed on an image from a position outside the irradiation plane of the laser light, and on the image, the irradiation line drawn on the tail portion and A tail clearance measuring method for a shield machine configured to obtain a gap between the tail portion and the front end of the lining segment from a positional relationship of irradiation lines drawn on the front end of the lining segment. 2. A shield machine for advancing while assembling a lining segment with a tail portion, wherein a laser light irradiating means capable of irradiating the tail portion with laser light is provided at a front end portion of the lining segment assembled with the tail portion. And installed so that the laser beam can be irradiated on the irradiation plane so as to draw an irradiation line on the inner surface of the tail portion, and at the position of the tail portion that does not match the irradiation plane of the laser light, the lining segment Of the front end surface and the inner surface of the tail portion of the tail portion of the tail portion photographed by the photographing means. Tail clearance detection capable of detecting and calculating a gap between the tail portion and the front end portion of the lining segment from the positional relationship between the line and the irradiation line drawn on the front end surface of the lining segment. Tail clearance measurement system of the shielded machine constituted by connecting an operation unit.