JPH07229740A - Method for measuring segment position, and device for measuring segment position using the method - Google Patents

Abstract

PURPOSE:To provide a method for measuring the segment position capable of measuring the relative position between all segments necessary for the automatic assembly by detecting means of a small number. CONSTITUTION:The method for measuring the segment position to measure the relative position of a segment 35 to be installed and an existing segment 36 in an automatic segment assembly system consists of a process to scan the parts where detecting grooves 1a, 1b, 2a, 2b are formed between the segment 35 to be installed and the existing segment 36 by a detecting means 30 by using segments provided with the detecting grooves 1a, 1b, 2a, 2b formed with prescribed angle beta relative to the side edge in the longitudinal direction of the segment, and the process to operate the relative position of both segments based on the data obtained through the scanning.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a segment position measuring method in a segment automatic assembly system of a shield machine for excavating a tunnel, and a segment position measuring device used in the method.

[0002]

2. Description of the Related Art In the case of automating segment assembly work in a shield machine, a segment that has already been assembled (hereinafter referred to as an "existing segment") in order to accurately and quickly control an automatic assembly system. , Which is being held by the erector and is about to be assembled (hereinafter, "laying segment").
Say. It is important to measure the positional relationship of). As a method of measuring the positional relationship between the existing segment and the laid segment, for example, as disclosed in JP-A-4-149398, detection grooves for position detection are formed in advance on both segments, and There is a method of measuring the relative positional relationship between both segments by detecting the detection groove by a light section method.

FIG. 6 is an explanatory view of an apparatus used in the method described in the above publication. In FIG. 6, reference numeral 30 denotes a detection means 30 for detecting the detection groove 32 formed on the surface of the segment 31, which is attached to the drive means 33 so that the surface of the segment 31 can be scanned. The basic operation of the apparatus configured as described above will be described. The detecting means 30 is rotated by a certain angle by the driving means 33, the measuring point 34 is continuously moved on the segment, and the detecting means 30 is detected.
The position detection is performed by reading the amount of angular displacement when the detection groove 32 is detected and the distance to the detected portion.

Next, a segment position measuring method when the above apparatus is used in an actual automatic segment assembly system will be described. FIG. 7 is an explanatory diagram illustrating a conventional segment position measuring method. First, the device will be described. In FIG. 7, 35 is an existing segment and 36 is a laying segment, which is gripped by a gripping mechanism 37. Three
Reference numeral 8 denotes an angular displacement driving device attached to the gripping mechanism 37. Two laser displacement meters 39,
40 are attached at a predetermined distance. Further, a rotary encoder 41 is attached to the other end of the rotary shaft of the angular displacement driving device 38, and laser displacement meters 39, 40 are provided.
The angular displacement amount of is detected. Further, detection grooves 42 and 43 are formed in the existing segment and the laid segment, respectively.

Next, a segment position measuring method using the above device will be described. The angular displacement driving device 38 is driven to rotate the laser displacement meters 39 and 40 by a certain angle θ, and the existing segments 35 and the laid segments 36 are scanned by the lasers 44 and 45 to detect the detection grooves 42 and 43. Then, the laser displacement meters 39, 4 measured by the laser displacement meters 39, 40
Laser displacement meters 39, 4 detected by the rotary encoder 41 and the distance from 0 to the respective detection grooves 42, 43
By processing the respective data of the turning angle θ of 0, the cross-sectional shapes 46 and 47 of the segments on the existing side and the laying side as shown in FIG. 8 are obtained. Next, the relative position between the existing segment 35 and the laying segment 36 is measured by reading the positional deviation amount 50 of the detection grooves 48, 49 of the cross-sectional shapes 46, 47 of the segment.

Although only the amount of positional deviation of the laying segment 36 in the circumferential direction with respect to the existing segment 35 is measured by the above method, the degree of freedom of the laying segment 36 is actually controlled in the control of the automatic segment assembly system. Is 6
Therefore, the existing segment 35 of the laying segment 36
In order to uniquely determine the relative position with respect to, the position deviation amount 50 in the circumferential direction as well as the yawing 5 as shown in FIG.
1, the posture of the laying segment 36 with respect to the existing segment 35 such as the pitching 52 and the rolling 53, and the relative positional relationship between the existing segment and the laying segment as shown in FIG. It is necessary to measure In FIG. 10, reference numeral 56 indicates the center of the laying segment 36, and 57 indicates the control target position of the center 56 of the laying segment 36. FIG. 11 is an explanatory diagram for explaining the measurement points of the amount necessary to uniquely determine the relative positional relationship between the above-described two segments. As shown in FIG. 11, in addition to the measurement of the detection groove, two points 58 extending between both segments,
At 59, it is necessary to perform the scanning indicated by the arrow in the figure. However,
Grooves for detection are not required at the measurement points 58 and 59.

The method of measuring and calculating the position at the measuring points 58 and 59 will be specifically described. The device used for measurement is the same as that shown in FIG. 7, and the distance from the laser displacement meter to the upper surface of the existing segment and the installed segment and the position of the longitudinal side edge of each segment are measured in the same manner. Is detected, the cross-sectional shapes of both segments at the measurement points 58 and 59 are obtained as shown in FIG. In FIG. 12, reference numerals 62 and 63 denote cross-sectional shapes at the measurement points 58 and 59 in the existing segment 35, and 64 and 65 denote measured cross-sectional shapes at the measurement points 58 and 59 in the laying segment 36, respectively. .

Next, the measured cross-sectional shapes 62, 63, 6
Three parameters α, K, and L that specify the relative positional relationship between both segments from 4, 65 are obtained. Here, in defining each parameter α, K, L, three auxiliary lines E, F, G are defined. The auxiliary line E is an extension line of the upper surfaces 64a and 65a of the cross-sectional shapes 64 and 65 of the installed segment, and the auxiliary line F is the edge portions 62b and 63 of the existing segment.
b is a straight line that stands perpendicular to the upper surfaces 62a and 63a of the existing segments, and the auxiliary line G is a perpendicular line that is drawn from the edge portions 64b and 65b of the laid segment to the auxiliary line F. When each parameter α, K, L is defined using these auxiliary lines E, F, G, α is the angle between the auxiliary line E and the upper surfaces 62a, 63a of the cross-sectional shapes 62, 63 of the existing segment, and K Is the edge portions 64b, 6 of the laying segment
5b to the intersection point P of the auxiliary line F and the auxiliary line G, and L is the distance between the edge points 62b and 63b of the existing segment and the intersection point P. In FIG. 12, the subscript 1 is attached to the parameter α, K, and L relating to the measurement point 58.
Is attached, and those relating to the measurement point 59 are attached with the subscript 2.

When the values of the parameters α, K and L are obtained,
The dimensions of the segments are a and b (as shown in FIG. 13, a is half the width in the cross section of the segment, and b is half the height in the cross section of the segment).
With the straight line distance between the measurement points 58 and 59 being c, the relative positional relationship between both segments can be obtained by the following equation. In the equation below, α represents the average value of α ₁ and α ₂ . H (distance in the axial direction) = a · cos α + b · sin α−a
+ (K1 + K2) / 2 N (step) = a · sin α−b · cos α + b + (L1
+ L2) / 2 P (pitching) = α R (rolling) = tan ^-1 ((L1-L2) / c) Y (yawing) = tan ^-1 ((K1-K2) / c) In actual construction 11 is performed as a zigzag set as shown in FIG. 11, and the laying segment 36 is arranged so as to straddle the two existing segment 35, so that the assembly error of the existing segment 35 is taken into consideration. Position detection in the circumferential direction is generally performed at two measurement points 60 and 61.

[0010]

As described above, according to the conventional segment position measuring method, the number of laser displacement gauges required to specify the positional relationship between both segments necessary for automatic assembly is as shown in FIG. 4 cross-sectional shapes 62, 6 shown in
Two required to obtain 3,64 and measurement points 60,61
There are a total of 6 required for position detection in the circumferential direction at. Therefore, it is necessary to secure a considerably large space for installing the laser displacement meter. Further, since the number of laser displacement gauges is large, there is a problem that the failure rate is high and the control and data processing are complicated.

The present invention has been made to solve the above problems, and is used for a segment position measuring method and a method for measuring the relative position between all segments required for automatic assembly with a small number of detecting means. It is intended to obtain a segment position measuring device that performs

[0012]

A segment position measuring method according to the present invention is a segment for measuring a relative position of both a laid segment and an existing segment by detecting a detection groove formed in the inner circumferential surface of the segment. In the segment position measuring method in the automatic assembly system, the segment where the detection groove of the segment is formed by using a segment in which the detection groove is formed in advance at a predetermined inclination angle with respect to the side edges in the longitudinal direction of both segments, The detecting means includes a step of scanning over both the laid segment and the existing segment, and a step of calculating the relative position of both segments based on the data obtained by the scanning.

Further, the segment position measuring device according to the present invention has a detection groove which is provided in advance on the inner surfaces of the laid segment and the existing segment and which is formed at a predetermined inclination angle with respect to the side edges in the longitudinal direction of both segments, and the detection groove. A detection means for scanning the portion where the groove is formed between both the laid segment and the existing segment, and a calculation means for calculating the relative position of the two segments based on the detection data of the detection means. Is.

[0014]

In the present invention constructed as described above, the detection grooves provided in the laid segment and the existing segment are formed with a predetermined inclination with respect to the longitudinal side edges of each segment. The position of the detection groove can be detected by scanning the detection groove over both segments with a single detection means. Then, the relative position in the circumferential direction of both segments can be measured based on the position of the detection groove.
Further, since the detection groove is detected by scanning between both segments, the detection groove and the position of the edge portion of the long side of both segments can be simultaneously detected by a single detecting means.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an explanatory view for explaining the outline of an embodiment of the present invention, and an explanatory view of an apparatus in the prior art.
Alternatively, the same parts as those of the conventional segment position measuring method shown in FIGS. 7 and 11 are designated by the same reference numerals and the description thereof will be omitted. In the figure, 1a and 1b are detection grooves provided in the existing segment 35, which form a predetermined inclination angle β with respect to the longitudinal side edge of the segment and are directed from the longitudinal side edge of the segment to the inside of the segment width direction. Is formed into a predetermined length. Reference numerals 2a and 2b are detection grooves provided in the laying segment 36, and their shapes and the like are similar to those of the detection grooves 1a and 1b. It is necessary to form at least two detection grooves on each segment, and when the laying segment 36 reaches the assembly target position with respect to the existing segment 35, the detection grooves on both segments must be formed. If the detection groove is formed so that the positions of 1 and 2 match, the subsequent data processing becomes easy. Here, the fact that the positions of the detection grooves on both segments match means that the tip of the existing segment 35 on the side of the segment side edge of the detection groove 1b and the detection groove 2a of the laid segment 36.
It means that the straight line connecting the tip of the segment to the center side is perpendicular to the longitudinal side edge of each segment.

Next, the measuring method will be described. First,
By scanning the detection grooves 1b and 2a with the detection means 30, the cross-sectional shape 3 of the existing segment 35 and the cross-sectional shape 4 of the laid segment 36 shown in FIG. 2 are obtained. With the cross-sectional shapes 3 and 4, the distances m and n from the longitudinal side edges of the existing segment 35 and the laying segment 36 to the detection grooves 5 and 6 are measured, and compared with each other to determine the position in the circumferential direction. Find the amount of deviation. In addition, the detection groove 1
The larger the angle β of b and 2a with respect to the side edge in the longitudinal direction of each segment, the higher the measurement accuracy. However, the maximum measurable position deviation amount is determined by r · cos β when the groove length is r, so the measurement range is increased. Since the smaller the angle β is, the more advantageous it is, it is necessary to set it according to the measurement accuracy and the necessity of the measurement range. In addition, regarding the method of measuring the amount of positional deviation between segments other than in the circumferential direction, see
4 and the cross-sectional shape obtained by the scanning of the detection means 30 at the measurement point 58, exactly the same as shown in FIG.

FIG. 3 is an explanatory view for explaining the present embodiment more specifically. 6 to 1 showing a conventional example in the drawings.
3 and FIG. 1, which is an explanatory view of the outline of the present embodiment, are assigned the same reference numerals and explanations thereof will be omitted. Drive devices 7 and 8 are attached to the gripping mechanism 37 so as to be separated from each other by a predetermined distance, and drive shafts 7a and 8a of the drive devices 7 and 8 are configured to be extendable / contractible in the tunnel advancing direction. And the drive shaft 7
Laser displacement gauges 9 and 10 are attached to the tips of a and 8a. In this embodiment, the angle β formed by the detection grooves 1b and 2a with respect to the side edges in the longitudinal direction of each segment is 45 degrees. However, this angle β does not necessarily have to be 45 degrees, and in consideration of structural restrictions of the segment in forming the groove, when the measurement accuracy is desired to be increased, β should be increased to increase the measurement range. Sometimes β should be reduced.

Next, a segment position measuring method using the above apparatus will be described. The driving devices 7 and 8 are driven to extend and retract the laser displacement gauges 9 and 10 by a predetermined distance in the tunnel excavation direction, and the existing segments 35 and the laying segments 36 are scanned to detect grooves 1b, 2a and 1a, 2b. To detect. Then, from the laser displacement meters 9 and 10 measured by the laser displacement meters 9 and 10, the detection grooves 1b and 2a and 1a and 2 are detected.
By processing the data of the distance to b,
The cross-sectional shapes 11, 12, 13, 14 of the existing side and the laying side segments as shown in FIG. 4 are obtained. Next, the shift amount J of the relative position in the circumferential direction between the existing segment 35 and the laying segment 36 is measured from the positions of the detection grooves 15, 16, 17, 18 in the cross-sectional shapes 11, 12, 13, 14 of the segments. That is, when the cross-sectional shape 11 of the existing segment 35 and the cross-sectional shape 13 of the laid segment are taken as examples, the distance from the edge portion 11a of the cross-sectional shape 11 to the detection groove 15 is m1, and the edge portion 13a of the cross-sectional shape 13 is described.
Assuming that the distance from the detection groove 17 to the detection groove 17 is n1, the deviation amount J is calculated by the following equation, where r is the length of the detection grooves 1b and 2a (see FIG. 5). J = rcosβ-M1 /
tanβ-N1 / tanβ where M1 and N1 are values obtained by converting the measured values m1 and n1 in the cross-sectional shape into actual dimensions.

Further, another amount necessary for obtaining the relative positional relationship between the two segments, that is, the axial distance H,
The step N, the pitching P, the rolling R, and the yawing Y can be obtained by the following equations in exactly the same manner as described in the conventional example based on the sectional shapes 11, 12, 13, and 14. H = a · cos α + b · sin α−a + (K1 + K2)
/ 2 N = a · sin α−b · cos α + b + (L1 + L2)
/ 2 P = α R = tan ^-1 ((L1-L2) / c) Y = tan ^-1 ((K1-K2) / c) However, in the above formula, α is the average value of α ₁ and α _2. Shows.

In the above embodiment, the laser displacement meters 9 and 1
An example in which 0 is expanded and contracted in the tunnel advancing direction for scanning has been shown, but the present invention is not limited to this, and the angular displacement driving device shown in the conventional example may be used. In this case,
The laser displacement gauges 9 and 10 may be arranged between the existing segment 35 and the laid segment 36 for measurement.

[0021]

As described above, according to the present invention, the detection grooves formed on the inner peripheral surfaces of both segments at a predetermined inclination angle with respect to the side edges in the longitudinal direction of each segment are scanned over both segments. Since the relative positions of both segments are calculated based on the data obtained by scanning, it is possible to simultaneously detect the detection groove and the position of the long side edge portion of both segments by a single detecting means. It is possible to measure the relative position between all the segments required for automatic assembly with a small number of detection means. As a result, it becomes possible to measure all the positional relationships of existing segments and laying segments required for automatic segment assembly with a simple device configuration, and to build a cheaper and space-saving measurement system. In addition to the above, it is possible to reduce the occurrence rate of failures and facilitate control and data processing.

[Brief description of drawings]

FIG. 1 is an explanatory diagram illustrating an outline of an embodiment of the present invention.

FIG. 2 is an explanatory diagram illustrating a segment cross-sectional shape.

FIG. 3 is an explanatory diagram for more specifically explaining the embodiment of FIG.

4 is an explanatory view of a cross-sectional shape obtained by the device of FIG.

FIG. 5 is an explanatory diagram illustrating a method of calculating a shift amount in the circumferential direction according to the embodiment of this invention.

FIG. 6 is an explanatory diagram of an apparatus used in a conventional segment position measuring method.

FIG. 7 is an explanatory diagram illustrating a conventional segment position measuring method.

8 is an explanatory diagram of a segment cross-sectional shape measured by the method of FIG.

FIG. 9 is an explanatory diagram illustrating an amount required to specify a posture of a segment.

FIG. 10 is an explanatory diagram illustrating an amount required to specify a relative position between an existing segment and a laid segment.

FIG. 11 is an explanatory diagram illustrating measurement points of an amount necessary to uniquely determine the relative positional relationship between the existing segment and the laid segment.

FIG. 12 is an explanatory diagram of a segment cross-sectional shape measured by a conventional method.

FIG. 13 is an explanatory diagram illustrating a segment size and an arrangement of detection grooves.

[Explanation of symbols]

 1a, 1b, 2a, 2b Detection groove 7,8 Driving device 9,10 Laser displacement meter 30 Detection means 35 Existing segment 36 Laying segment 58,59 Detection location

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Junichi Shibano 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nihon Kokan Co., Ltd. (72) Inventor Taketsugu Yanagisawa 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nippon Steel Tube Co., Ltd.

Claims (2)

[Claims] 1. A segment position measuring method in a segment automatic assembly system for measuring the relative position of both the segments by detecting the detection grooves formed on the inner peripheral surfaces of the laid segment and the existing segment. By using a segment formed in advance with a predetermined inclination angle with respect to the side edges in the longitudinal direction of both the segments, the portion of the segment where the detection groove is formed is detected by the detection means between the laying segment and the existing segment. A segment position measuring method comprising: a step of scanning over; and a step of calculating a relative position of both segments based on data obtained by scanning. 2. A detection groove which is previously provided on the inner surfaces of the installed segment and the existing segment and which is formed at a predetermined inclination angle with respect to the side edges in the longitudinal direction of both segments, and a portion where the detection groove is formed is the installed segment. A segment position measuring device comprising: a detection unit that scans between both segments of an existing segment; and a calculation unit that calculates a relative position of the both segments based on detection data of the detection unit.