JPH0734796A - Apparatus and method for automatically setting-up segment - Google Patents

Abstract

PURPOSE:To improve driving precision of an excavating machine for shield tunnelling work, by a method wherein distance-measuring sensors are installed at three places or more on an erector in the excavating machine and distances between the end surface of an existing segment ring and the sensors are operated, following which errors between operated values and specified values are respectively found and positioning is done. CONSTITUTION:Three or more distance-measuring sensors S1, S2, S3, S4, S5 are provided on an erector provided at the rear part of an excavating machine for shield tunnelling work and which are directed toward the axial direction of a tunnel. Distances d1, d2, d3, d4, d5 between the sensors and the end surface of an existing segment ring are operated and are found. In this case, intrinsic errors being due to the installation of the sensors S1 to S5 are compensated and the distances correct are found. In the case of straight or curved driving, these values of the distances each are compared with specified values, the errors between them are found and positioning, i.e., determination of a driving angle, is done. In the case of the straight driving, shield jacks are so corrected that DELTAdeltay, DELTAdeltaz, make zero, and in case of the curved driving, that DELTAdeltay, DELTAdeltaz each are equal to the specified values. In this way, the work of driving can be done precisely and effectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic segment assembly device and method for a shield ring constructed in a tunnel excavation operation.

[0002]

2. Description of the Related Art In tunnel excavation work, automatic excavation is often performed by a shield construction method. In the shield work, the tunnel shield ring that is inscribed and assembled in the cylindrical shield machine main body is used as a pillar, and the multiple tunnel axial jacks (shield jacks) attached to the shield machine are pressed against the tunnel axial end surface of the ring. Touch and use the reaction force to exert a force on the ground, and perform rotary excavation at the tip of the shield machine. After excavating a certain distance, the erector fixed to the shield machine is automatically operated to assemble a new shield ring. The shield ring is composed of a plurality of arc-shaped segments, and the automatic operation includes surveying, calculation, gripping and positioning of the assembly segment, tightening with bolts, and the like.

When the assembly segment is positioned and fixed by the erector, the shield jack arranged at the corresponding position is contracted in the tunnel axial direction and held at a position where it does not interfere with the assembly segment. The assembling of the new shield ring is completed by repeating the operation of arranging and fixing the assembled segment adjacent to the existing segment without a gap a predetermined number of times.

Important in this process is the automatic positioning of the shield ring segments. If automatic positioning is not performed while accurately correcting the deviation from the set value that occurs at the site, it may cause a gap between the shield machine and the shield ring or between adjacent segments, or cause a deviation from the planned excavation direction.

Generally, bolts and nuts are used to fix the segments. Therefore, the segment cannot be fixed without fine positioning within ± 1 mm. On the other hand, the reproducibility of the position of the electa is about ± 1 cm. Therefore, the segment cannot be fixed even if only the numerical value in the computer is used for positioning. Therefore, the assembled segment is the number of cm of the existing segment only by the numerical value stored and calculated in the computer.
Coarse positioning is performed in the foreground, and then a visual sensor is used to absorb the poor reproducibility of the position of the erector and perform fine positioning. That is, the automatic positioning of the segment includes first step of roughly positioning the segment in the vicinity of a predetermined position,
At this position, a relative position / posture deviation from the existing segment is detected, and fine positioning is performed while correcting the deviation.
And stages. Here, the rough positioning and the fine positioning will be briefly described. In a broad sense, the rough position refers to a position near the final assembly position of the assembly segment, and the assembly segment is first brought to this rough position. The operation of bringing the assembly segment to this rough position is rough positioning. After the rough positioning is completed, the final target position is determined by using a light cutting method using a TV camera (see FIG. 8). It is called fine positioning because it requires a small operating range and high positioning accuracy from the coarse position to the determined final target position. The rough position in a narrow sense will be described. Since the moving of the assembly segment is performed by the erector, the position of the erector when obtaining the rough position of the assembly segment is called a rough position in a narrow sense.

The rough positioning is usually performed by the following procedure. First, rough position calculation is performed. This is to predict and calculate the final target position of the assembly segment from the design position / posture of the assembly segment or the position / posture measurement result of the existing segment that is adjacent to the assembly segment in the tunnel circumferential direction, and then calculate the segment based on this predicted value. Calculate the assembly position and posture,
Further, these are used to calculate the position and orientation so as to leave a gap of several cm from the existing segment. This is called a rough position (and posture). The position / orientation of the erector means the position / orientation of the segment gripper of the erector body, and is the same as the position / orientation of the assembly segment being gripped. The coarse position is the turning angle θ of the erector and the erector coordinate system (x, y,
z) and rotation angles (δ _x , δ _y , about x, y, z axes).
δ _z ). Here, δ _x is a rolling angle, δ _y is a pitching angle, and δ _z is a yawing angle.

Next, the command value of each actuator including the swing motor is calculated on the basis of the rough position obtained as described above, and the command value is input to the servo control device to drive the servo control device to perform the above-mentioned operation. It suffices to control the actuator.

After the completion of the first step of the rough positioning, the second step of the fine positioning is started. At this time, a technique called an optical cutting method is used (JP-A-3-199599). This will be briefly described with reference to FIG.

FIG. 9 shows the relative positional relationship between the roughly positioned assembly segment 42 and the existing segments 41a to 41c and the three projectors installed on the erector (not shown) irradiating the segment boundary area with the three segments. The slit light and its enlarged view are shown.

The existing segments 41a and 41b are the segments in the existing shield ring 9 that are closest to the ring currently being assembled, and 41c is the existing segment of the shield ring that is currently being assembled. Three slit lights from the projector are two (segments 41a and 4a) at the boundary along the tunnel circumferential direction of the roughly positioned assembly segment 42.
Two (between the segments 41b and 42) and one (between the segments 41c and 42) are irradiated to the boundary portion along the tunnel axis direction. The number of slit light beams is not limited to this, and may be two or more in the tunnel circumferential direction and one or more in the tunnel axis direction.

The resulting slit light images AA ', B
-B 'and CC' are respectively imaged by the television camera,
The end point a of each light image obtained by processing the image data,
The gaps and gaps at the above three locations are detected from the coordinate values of a ', b, b', c, and c ', and the position / posture deviation of the assembled / existing segment is calculated based on that information, and the deviation is corrected. By doing so, fine positioning of the assembly segment 42 is performed. In addition, 46a, 46b and 46c are visual fields of the TV camera, and 47a, 47b and 47c are television images.

[0012]

In the above-mentioned prior art, in the course of the rough positioning which is the first step of the segment assembly of the shield ring, the excavation of the shield machine main body is temporarily stopped and the shield jack at that point is installed on the existing ring. Position the assembly segment away from the end face in the axial direction of the tunnel. In this case, the shield surface of the main body of the shield machine, which is balanced with the reaction force of the ground by the plurality of shield jacks, is often inclined due to a local change in the force before and after the application.

Further, when the tunnel excavation direction is intentionally bent, the existing shield ring surface and the excavation surface of the shield machine body (the surface on which a new ring is constructed) are obviously formed at the positions before and after the tunnel axis is bent. Relatively inclined.

Since the erector for assembling the segments is fixed to the shield machine, if the relative position / orientation of the shield machine with respect to the existing ring changes, the relative position / orientation of the erector with respect to the existing ring also changes.

In the coarse positioning which is the first step of the above-mentioned conventional technique, only the existing ring position and the existing segment position / posture are read as design data, and the rough positioning of the assembled segment is performed based on this design data. . Since the plane inclination of the shield machine is not taken into consideration, the positioning accuracy of the assembly segment with respect to the existing segment is reduced, and the end of the existing segment deviates from the view of the projector or TV camera during fine positioning using the optical cutting method. In some cases, there is a problem that automatic positioning cannot be performed. In addition, the assembled segment may partially overlap with the existing segment, and the shield ring may not be assembled correctly.

In order to prevent this, three or more distance measuring sensors are attached along the inner circumference of the shield machine in the axial direction of the tunnel, and before the new shield ring is assembled, the existing shield ring end face closest to each sensor is attached. Measure the distance to. The least squares process is applied to each measured value to obtain the optimum constant value of the plane equation of the inclined plane of the shield machine. From this plane equation, the relative position and orientation of the surface of the shield machine with the distance measuring sensor and the end surface of the existing shield ring are calculated. It is effective to add a correction value based on the calculated surface inclination to the rough position design data to determine a new rough position.

However, due to the enormous size of the tunnel excavation shield machine, the distance between the distance measuring sensors mounted at equal angles along the inner circumference also becomes long. As a result, the tip of each sensor is misaligned by a maximum of about 2 cm due to a slight distortion of the sensor mounting surface of the shield machine. That is, since the distance measuring sensors have different relative positions in advance, the distance measurement result with the existing ring is
Error of up to 2 cm in advance (also called offset error)
Will be included. Therefore, the rough positioning calculation cannot accurately correct the surface inclination. In the fine positioning step based on the obtained rough position, there is a problem that the slit optical image that should straddle the boundary with the existing segment deviates from this boundary, so that the fine positioning cannot be performed automatically.

The object of the present invention is to minimize the error of the rough position correction value caused by the unevenness of the mounting position of the distance measuring sensor, and the corrected rough position is within the allowable range of the application of the optical cutting method. It is an object of the present invention to provide an automatic segment assembly apparatus and method that enables automatic assembly of segments.

[0019]

DISCLOSURE OF THE INVENTION The present invention comprises three or more distance measuring sensors attached to a shield machine in the tunnel axial direction, and means for storing the mounting peculiar error amount of the distance measuring sensors. A means for taking in the relative distance between the latest existing shield ring end surface and the attachment surface of the distance measuring sensor of the shield machine, which is measured by the distance measuring sensor, and the taken relative distance is calibrated by the mounting specific error amount. And the calibrated relative distance, the relative attitude of the sensor attachment surface to the latest known shield ring end surface is obtained, and the calibrated relative distance and relative attitude are added to the design data for the segment to be assembled next to determine the target position. Means and a control means for controlling the position / posture of the segment to be assembled next so that the target position is reached. To provide a device.

Further, according to the present invention, three or more distance measuring sensors attached to the shield machine in the direction of the tunnel axis, a means for storing a mounting peculiar error amount of the distance measuring sensors, and the distance measuring sensor are provided. A means for capturing the measured relative distance between the end face of the latest existing shield ring and the attachment surface of the distance measuring sensor of the shield machine, a means for calibrating the captured relative distance with the mounting peculiar error amount, and this calibration The relative attitude of the sensor-attached surface to the latest known shield ring end surface is calculated from the relative distance, and the calibrated relative distance and relative attitude are added to the design data for the segment to be assembled next, and a means for determining the target rough position, and Control means for controlling the position / posture of the segment to be assembled next so as to reach the target coarse position, and after positioning to this target coarse position Wherein determining the target fine position of the segments to be assembled in the following, a control unit for controlling the position and orientation of the segments to be assembled in the following so that the fine position, provides a more composed segments automated assembly device.

Further, the amount of peculiar mounting error of the distance measuring sensor in the present invention means the distance d _n between the first existing shield ring end face of each sensor and the sensor mounting face of the shield machine (here, n is the sensor number), and each of the measured values is used to optimize the constant of the sinusoidal curve with respect to the sensor mounting angle of the measured value resulting from the non-parallel state of the first existing shield ring end surface and the sensor mounting surface. The value is determined, the optimum distance at each attached angle of the sensor is calculated from this sinusoidal curve, and the optimum calculated value d
The difference between _n ′ (ac) and d _n is obtained as a correction amount, and the correction amount is given as an error amount unique to the attachment of each distance measuring sensor.

Further, in the present invention, the distance between the first existing shield ring end face of each of the three or more distance measuring sensors provided on the inner circumference of the shield machine in the axial direction of the tunnel and the sensor attachment surface of the shield machine. The first step of measuring d _n (where n is the sensor number) and the non-parallel state of the first existing shield ring end surface and the sensor attachment surface by the least squares method using each of these measurement values. The second step of determining the constant optimum value of the sine wave curve for the sensor installation angle of the generated measurement value, and the optimum distance at each installation angle of the sensor is calculated from this sine wave curve, and the optimum calculation value d _{n is} calculated. Preliminary step consisting of a third step of obtaining the difference between ‘(ac) and d _n as a correction amount, and a fourth step of storing the correction amount as the mounting-specific error amount C _n of each distance measuring sensor. And d _n ′ (= d _n + C _n ) obtained by adding the individual error amount C _n to the d _n obtained by performing the first step at the time of assembling the i-th (i ≧ 2) shield ring, The optimum calculation value d _n ′ (ac) obtained by performing the second step is obtained.
Is used to calculate the relative distance and relative attitude between the shield machine and the end face of the (i-1) th existing shield ring, and this is added to the rough position obtained from the design data to determine a new rough position. A rough positioning control step employing a method, at least two boundary portions between the rough-positioned assembled segment and the existing segment of the (i-1) th existing shield ring, and the assembled segment and the i-th Image data obtained by irradiating at least one position of the boundary of the second shield ring with the existing segment with slit light from the projector installed on the erector and capturing each slit light image obtained by the television camera installed on the erector. The step / gap at the boundary is detected from the position, and the position / appearance of the assembly segment and the existing segment based on the step / gap information. A deviation consists fine positioning control stage that employs a technique for finely positioning the assembly segment assembly position by correcting the deviation,
Disclosed is an automatic method for assembling a shield ring segment, which comprises assembling a shield ring by tunneling by repeating the rough positioning control step and the fine positioning control step.

[0023]

According to the present invention, the mounting peculiar error amount of the distance measuring sensor is obtained in advance, and the relative distance measured by this peculiar error amount is calibrated so that the relative distance becomes a correct value. The position / orientation can be obtained, and the segment position control becomes easy.

Further, according to the present invention, the mounting characteristic error amount of the distance measuring sensor can be accurately obtained by using the sinusoidal curve and the least square method, and the segment can be accurately positioned. The position control is also easy.

[0025]

DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram for explaining the principle of the present invention. The tunnel mounting path is intentionally or unintentionally bent during the shield excavation, and the sensor mounting surface of the shield excavator is shown in Fig. 1.
Let us consider the case in which the shield ring is inclined with respect to the nearest end face of the existing shield ring as shown in.

The coordinates of the most recent existing shield ring end surface as a reference are (Y, Z), and the coordinates of the inclined shield machine sensor mounting surface are (Y ', Z'). The X-axis has a positive direction in the rear direction of the shield machine. The inclination of the inclined surface with respect to the reference surface is rotation (yawing) Δδ about the ZZ ′ axis.
_It is shown in FIG. 1 with _z and rotation (pitching) Δδ _y about the YY ′ axis.

At this time, the coordinate value x'of the X coordinate indicating the rough position of the inclined surface is expressed as x '= x + Δx using the design value x of the X coordinate before the inclination and the displacement Δx of the X coordinate due to the inclination.

Five distance measuring sensors S _{1 to} S ₅ are provided along the inner circumference of the shield machine at each apex of the regular pentagon shown in the drawing, and a sensor mounting plane measured by each sensor and an existing shield ring end surface are provided. Are set to d ₁ to d ₅ . d _n ≡d _n (x _n , y _n , z _n ) (n = 1 to 5).

The d _n includes an error because the sensor mounting position is slightly different due to a small distortion of the shield machine mounting surface. Therefore, in _order to know the true value of d _n , the tip of each sensor must be on one plane. In order to align the sensor mounting positions with the smallest error, in the present invention, first, preliminary measurement (first measurement), that is, the first shield ring that is the basis of tunnel construction is assembled and then shield excavation is performed. The least square error processing of the data d _n of the sensor distance measurement is performed.

When the distance between two planes in the non-parallel state is measured at several points along the circumference, each measured value is represented by a sinusoidal function of the angle of the circumference.

Now, the plane equation representing the end face of the existing shield ring is

[Equation 1] And Here, a to d are constants. Assuming that the inside diameter of the tunnel is essentially unchanged by the tunnel excavation, the y ', z'values on the inclined sensor mounting plane are the same as the y, z values on the end face of the existing shield ring.
The slope will cause only the x value to change as described above. Therefore, it can be considered that the error included in d _n is caused by the error in the x value.

The sine wave function described above is given by the following equation, _where the mounting angle of d _n is ψ:

[Equation 2] However, L and M are constants, and the attachment angle of L ₁ is set to ψ = 0 for simplicity. The least squares method is applied to determine the constants L and M in (Equation 2) so that the error included in d _n is minimized.

The residual v _{n in the} method of least squares is

[Equation 3] It can be expressed as. The total value V of v ² _n is given by the following equation.

[Equation 4] When this partial differential is set to 0, the following equation is obtained.

[Equation 5] (Equation 5) is a binary simultaneous equation regarding constants M and L.
This equation is solved for M and L, and each measured value is d _n , sin
The optimum values of the constants M and L can be obtained by inserting and calculating ψ _n . That is, (Equation 2) is determined. This is d
_{This is} the least square error processing of _n .

Next, the value d _n on the obtained optimum sine wave curve is obtained.
When obtaining a difference (ac) and the measured value d _n, the optimal value C _n of the error due to the mounting position of each distance measuring sensor can be obtained.

[0035] When adding the measured values of each sensor the C _n to d _n, the correction of the mounting position error of d _n is completed. In other words, the correction value d _n of d _n 'is

[Equation 6] Given in. Since the mounting position of the sensor does not change while the shield is being dug, the C _n obtained as described above is stored.

Then, a corrected value d _n ′ is first obtained by adding C _n to the distance measurement value d _n using the second and subsequent sensors, and this value is obtained in the above (Equation 2) to (Equation 5). It will be used instead of d _n .

In the rough positioning calculation of the assembly segment,
(Equation 2) through (5) obtains the "most probable value d _n of '(ac) d _n from the sine wave curve determined using the coordinate values _{(x n', y n,} z n) (the number The constants a to d of the plane equation are determined by substituting in 1) and solving the simultaneous equations.

From this plane equation, the rough position correction amount Δx,
The posture deviation amounts Δδ _z and Δδ _y can be determined. In addition,
The amount of posture deviation is

[Equation 7] Given in.

The rough positioning calculation is completed by adding these correction values and deviation amounts to the design data.

The present invention will be described in detail below based on examples. 2 to 7 are views showing the structures of the shield machine and the shield ring. The structure and operation of the shield machine will be described below with reference to these drawings.

The erector body 12 used for segment assembly is a cylindrical rear portion 12 of the shield machine body 11.
Is installed in. About 10 to 40 shield jacks 100 are attached to the outer peripheral portion of the shield machine main body 11. As shown by 100a in FIG. 4, the shield jack 100 extends in the tunnel axial direction and presses the existing cylindrical segment end surface of the existing segment 41 of the nearest existing ring 9 with a uniform force, and the reaction force is utilized to shield the main body 11 of the shield machine. It is used for excavating while keeping the ground against the ground.

In the shield jack 100, five distance measuring sensors S _{1 to} S ₅ are built-in and occupy the vertices of a regular pentagon. And the S ₁ to S ₅ for monitoring and distance measurement movement amount of the left and right self jack. As an example of S _{1 to} S ₅ , a magnetic material and a non-magnetic material are alternately attached to the corresponding jack in the longitudinal direction of the jack, and the movement amount of the jack is detected by monitoring this with a detection head. There is a non-contact type of magnetic type to detect. Besides this, there is also a contact type. There is also an example of a laser distance measuring sensor that measures a distance without installing it on a shield jack. It is the premise of the embodiment the accuracy of the mounting position of the sensor S ₁ to S ₅ In any case is not accurate.

FIG. 14 shows an example of the magnetic sensor.
A magnetic material 101 is provided on the surface or inside of the shield jack 100.
And the non-magnetic material 102 are installed at a pitch P.
On the other hand, two primary excitation coils 103 and 104 are provided close to each other, and two secondary induction coils 105 and 106 are provided on the detection head 110 side so as to correspond to the coils 103 and 104. When triangular waves having a 90 ° phase difference of a sin ωt and bcos ωt are applied to the primary excitation coils 103 and 104, respectively, the magnetic resistance changes every pitch due to the movement of the jack 100 in the direction of the arrow. On the output side of the secondary induction coils 105 and 106, an output of E = K sin (ωt−2πx / p) appears.
That is, the movement amount x is reflected in the phase component 2πx / p, and the phase component 2πx / p can be obtained, and x can be obtained from this.

As described above, at the time of positioning and attaching the assembly segment 42, the shield jack 1 at the relevant portion is placed.
00 shrinks like 100b of FIG. 4 and secures a space.
When the tunnel excavation direction is intentionally bent, the jack in the predetermined direction is contracted to break the pressure balance.

The erector body 12 is roughly classified into an erector ring 13 and a slewing motor 16 which are swing mechanisms, a hanging beam 21 and a push jack 22 which are push mechanisms, a horizontal slide frame 24 and a horizontal slide jack 25 which are left and right slide mechanisms. , Front-rear slide frame 27 and front-rear slide jack 28 which are front-rear sliding mechanisms, pitching, rolling,
It comprises a spherical frame 29 which is a posture control mechanism for yawing and the like, posture control jacks 31, 32 and 33 and a segment grip portion 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 places on the inner periphery thereof, and is driven to rotate 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.

The suspension beam 21 supported by the left and right arms 19 of the elector ring 13 via the guide rod 20 is
The pressing jack 22 mounted between the arm 19 and the arm 19 is expanded and contracted to move in the Z-axis direction (radial direction of the elector ring 13), and accordingly, the following respective parts supported on the suspension beam 21 also move in the same direction. To do.

The horizontal slide frame 24 supported by the suspension beam 21 via the linear bearing 23 is a horizontal slide jack 25 mounted between the suspension beam 21 and the suspension beam 21.
The suspension beam 21 is moved in the y-axis direction by the expansion and contraction, and along with this, the following respective parts supported above by 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 gripping portion 34. . When one of the jacks 31 and 32 is extended and the other is contracted, the spherical frame 29 is swung left and right around the z-axis including the spherical center G, and this movement 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 the spherical frame 29. Is used for pitching control of the segment gripper 34.

As shown in FIG. 7, the segment gripping portion 34 has a threaded shaft 35 having a male screw thread which 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 screw shaft 35 is rotated to project toward the segment 42,
After the screwing is completed, the segment 42 is gripped by pulling back the screw shaft 35 until the segment 42 hits the end surface of the segment grip portion 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. 8 shows the positional relationship between the step / gap detecting means used for fine positioning of the segment and the assembled / existing segment, and the position control system configuration. Reference numeral 12 schematically represents the erector body. 42 is a roughly positioned assembly segment, and 41a and 41b are the nearest existing ring 9 adjacent to the assembly segment 42 in the tunnel axial direction.
, 41c represents the existing segment of the current assembly ring which is adjacent to the assembly segment 42 in the tunnel circumferential direction. In order to detect steps and gaps between these assembled / existing segments, three sets of projectors 44 are used.
a, 44b, 44c and TV cameras 45a, 45b, 4
5c 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 despite the movement of the erector.
The light projectors 44a and 44b are located at two boundary portions along the tunnel circumferential direction between the assembly segment 42 and the existing segments 41a and 41b, and the light projector 44c is located at one boundary portion along the tunnel axial direction between the assembly segment 42 and the existing segment 41c.
Slit light is applied to each of the positions (see FIG. 9), and slit light images A, A ′, B, B ′, and
C and C'are imaged by the television cameras 45a to 45c, respectively. FIG. 9 is a diagram showing in more detail the elements used in the optical cutting method as described in the conventional example.

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

Next, the positioning control will be described. As the positioning control, the coarse positioning control 150 of the first stage and the fine positioning control 200 of the second stage are continuously performed.

FIG. 10 is a chart showing the process of the rough positioning control 150. Coarse positioning control is the procedure 15
1 to 154.

Step 151 is a rough position calculation. When the shield machine body 11 tries to assemble the second shield ring at a position where the shield machine body 11 has tunneled a certain distance from the first existing ring, as shown in FIG.
By the operation of 00, the pressure balance with the natural ground is intentionally or unintentionally collapsed and the entire surface of the shield machine body is inclined. Therefore, in the rough position calculation, it is necessary to correct the most recent existing ring, that is, the design data based on the information obtained when the first ring is assembled. The correction needs to be performed for both the displacement based on the surface inclination and the sensor mounting position error. First, as a preliminary positioning step, the sensor mounting error is calculated and stored.

As shown in FIG. 1, the shield machine main body 11
The distance measuring sensors S _{1 to} S ₅ incorporated in _{five of} the shield jacks 100 attached to
Then, the distances d _{1 to} d ₅ from the nearest existing ring are measured. When the shield machine main body is inclined with respect to the existing ring, d ₁ to d ₅ are generally represented by a sine wave function of the sensor mounting angle ψ. The mounting position of the sensor that measures d ₁ is ψ = 0, and 7
D ₂ to d ₅ will be measured every two times.

Since these d _{1 to} d ₅ include an error due to the deviation of the mounting position of the distance measuring sensor from the plane, applying the above (Formula 2) to (Formula ₅ ) to the obtained measured value. Least square error processing is performed. The optimum sinusoidal curve obtained as a result is shown in FIG.

Since the optimum value c _n of the mounting position error of each measuring sensor can be obtained from this figure, this will be described. The distance measurement value d _n ′ of each sensor in which the error in the mounting position is corrected is
It is given by (Equation 6).

Next, this correction value is subjected to the constant determination of (Equation 1) by a plane equation using d _n ′. In the case of the second assembly ring, since d _n ′ has already been subjected to the least square error correction as described above, it becomes the most probable value d _n ′ (ac). That is, the coordinate values _{(x n, y n, z} n) with, to d,
It suffices to solve the five-element simultaneous equations regarding Δx.

[0063] On the other hand, in the case of the third and subsequent assembly ring, 'since d _n of d _n and c _n constituting the includes a displacement based on the surface inclination, d _n' correction value d _n Minimum own to The multiplication is applied to recalculate d _n ′ (ac). afterwards,
Using the coordinate values of d _n ′ (ac), each value is determined from a five-dimensional simultaneous equation regarding a to d and Δx.

From the plane equations thus obtained, the inclinations Δpitch and Δyaw with respect to the end face of the existing shield ring 9 of the shield machine main body 11 can be obtained by using (Equation 7).

Coarse position x (n), y of the nth shield ring segment obtained from the design data in advance.
(N), z (n), δ _x (n), δ _y (n), δ _z (n)
Also, the eclectic turning amount θ (n) is corrected as follows to perform rough position calculation.

[Equation 8]

The rough positioning calculation procedure 151 of the assembly segment of the present invention including the correction of the mounting position error of the distance measuring sensor and the displacement correction due to the inclination of the shield machine surface has been described above.

In the above example, the case where the relative position / orientation of the shield machine is measured by the distance measuring sensor incorporated in the shield jack has been described. However, the distance measuring sensor of the present invention is not limited to this method. For example, it is possible to provide a distance measuring cylinder separately from the shield jack, and it is more preferable to attach a non-contact type distance sensor such as an optical system to the shield machine in order to perform high-speed distance measurement.

Based on the position / orientation measurement calculation result of the surface (or existing segment) on which the n-th shield ring is to be installed, the target position where the assembly segment will be finally positioned will be. Is calculated and the collector position / orientation is calculated by giving the target position. This is procedure 152. At this time, the assembly segment 42 and the existing segments 41a to 41c shown in FIG.
The upper slit light images A, A ', B, B', C, C'are in the camera field of view of the television cameras 45a to 45c, and the assembled segment 42 and the existing segments 41a to 41c are prevented from overlapping contact with each other. The position / attitude must be designed.

Next, the command value of each actuator including the swing motor 16 is calculated from the rough position previously obtained by the actuator command value calculation in step 153, and the command value is sent to the servo controller 53 by the actuator control in step 154. Output,
Wait for the servo controller 53 to control the actuator. This completes the rough positioning control.

Next, the fine positioning control 200 for the assembly segment, which is the second stage of positioning, will be described. The detailed procedure is shown in FIG. The deviation detection calculation for fine positioning in step 201 is performed as follows.

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, of the three slit light images A, A ', B, B', C, C'extracted in this state)
end point coordinates a (ax, ay), a '(a
x ', ay'), b (bx, by), b '(bx', b
y '), c (cx, cy), c' (cx ', cy') are used to perform the fine positioning deviation detection calculation in step 201. In step 201, gaps Δxa, Δxb, and Δxc between the assembled / existing segments and the steps Δza, Δzb, and Δzc are calculated from these end point coordinate values by the following equations.

[Equation 9] Here, kx, ky, and kz are coefficients for converting the image data into numerical values in units of 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.

[Equation 10] 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.
δ _x , e δ _y , and e δ _z are respectively around the x axis and around the y axis,
It represents the posture deviation around the z-axis. Also, Lxa, Lxc, Ly
a and Lyb are assembly segments 4 as shown in FIG.
2 represents the distances in the x-axis direction and the y-axis direction from the gripping center O of 2 to the respective end points a, b, c of the slit light images A, B, C on the assembly segment.

Then, the procedure proceeds to step 202. First, the correction amount is calculated. Position / orientation correction amount d from the above-mentioned deviation amount
x, dy, dz, δ _x , δ _y , δ _z are _calculated by the following equations.

[Equation 11] These correction amounts are compared with threshold values separately set for the respective correction amounts. K1 for each corresponding threshold
~ K6

[Equation 12] When all are satisfied, the process moves to “Y” and the control ends. However, if even one of the equations of (Equation 12) is not satisfied, the process proceeds to “N” and steps 203 to 205 are executed.

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. The position / orientation of the assembly segment after rough positioning is the position in the x-axis direction; the position in the P11 y-axis direction; the position in the z-axis direction in P12; the position in the z-axis direction in P13; the attitude in the x-axis direction at P13; the attitude in the y-axis direction at P14; orientation; P16 Elekta target position and posture of the x-axis direction position; P21 = P11 + dx y-axis position; P22 = P12 + dy z-axis position; of P23 = P13 + dz x-axis orientation; P24 = P14 + δ _x y-axis around This calculation may be performed with the posture: P25 = P15 + δ _y z-axis posture; P26 = P16 + δ _z .

Next, the procedure proceeds to step 204. In the actuator command value calculation of step 204, the actuator command value is calculated from the erector target position / orientation obtained in step 203, and the command value is output to the servo control device 53 by the actuator control of step 205. Wait for the actuator to finish controlling. Step 201 again
If the procedure returns to "Y" in step 202, the fine positioning control ends, and the assembly segment is finally positioned at the assembly position.

The fine positioning may be other than the above-mentioned embodiment, and the rough positioning may be the final fine positioning.

[0077]

As described above with reference to the embodiments, according to the present invention, even if the shield machine body intentionally or unintentionally changes its course during the tunnel excavation, it does not affect the latest shield ring. The relative attitude deviation is detected by the distance measuring sensor attached to the shield machine, the distance measuring error is corrected, and then the rough position is corrected, so that the projector and the television camera field of view of the optical cutting method used at the time of the fine positioning in the second stage. It is possible to automatically perform fine positioning subsequent to rough positioning without deviating from the deviation detection optical image. As a result, it is possible to contribute to speeding up of tunnel excavation work, labor saving, and cost reduction.

[Brief description of drawings]

FIG. 1 is a diagram illustrating the principle of the present invention.

FIG. 2 is a partially cutaway perspective view showing the configuration of a shield machine.

FIG. 3 is a partially cut front view showing a structure of an erector installed in a shield machine.

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

5 is a cross-sectional view taken along the line IV-IV of FIG.

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

FIG. 7 is a detailed cross-sectional view of a grip portion.

FIG. 8 is a diagram showing an example of a positional relationship and a system configuration between a projector used for positioning a segment by a light cutting method, a television camera, and an assembled / existing segment.

FIG. 9 is a diagram showing a positional relationship between an assembled / existing segment in a roughly positioned state and a slit light image by a light cutting method, and a camera image.

FIG. 10 is a diagram showing a procedure of coarse positioning control which is the first step of positioning the assembly segment in the embodiment.

FIG. 11 is a diagram showing a procedure of a fine positioning control which is a second stage of positioning the assembly segment in the embodiment.

FIG. 12 is a sine wave curve showing the most probable value c _n of the mounting position error of the distance measuring sensor in the example.

FIG. 13 is a diagram for explaining a fine positioning deviation detection calculation in FIG. 11.

FIG. 14 is a diagram showing an installation example of the distance measuring sensor of the present invention.

[Explanation of symbols]

8, 9 Existing shield ring 11 Shield (machine) main body 12 Electa main body 13 Electa ring 16 Swing motor 21 Suspended beam 22 Pushing jack 25 Horizontal slide jack 28 Front and rear slide jack 29 Spherical frame 31, 32, 33 Posture control jack 34 Segment gripping part 41, 41a, 41b Existing segment 41c of the latest existing ring 9c Existing segment of the current assembly ring 42 Assembly segment of the current assembly ring 44a, 44b, 44c Projector 45a, 45b, 45c Television camera 46a, 46b, 46c Field of view of the television camera 47a, 47b, 47c Television image A-A ', BB', C-C 'Slit light image 100 Shield jack

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Naokazu Oda 650 Jinrachicho, Tsuchiura City, Ibaraki Prefecture Hitachi Construction Machinery Co., Ltd. Tsuchiura Factory

Claims (4)

[Claims] 1. A shield excavator equipped with three or more distance measuring sensors attached in the tunnel axial direction, a means for storing the amount of error peculiar to the attachment of the distance measuring sensors, and the latest measured by the distance measuring sensor. From the calibrated relative distance, a means for taking in the relative distance between the end face of the existing shield ring and the attached surface of the distance measuring sensor of the shield machine, a means for calibrating the taken relative distance with the amount of the mounting peculiar error, A means for determining the relative position of the sensor mounting surface with respect to the latest known shield ring end face, adding the calibrated relative distance and relative position to the design data for the segment to be assembled next, and determining the target position, and the means for determining the target position. An automatic segment assembly device comprising: a control means for controlling the position and orientation of the segment to be assembled next. 2. A shield excavator equipped with three or more distance measuring sensors mounted in the tunnel axial direction, a means for storing the mounting peculiar error amount of the distance measuring sensors, and the latest measured by the distance measuring sensor. From the calibrated relative distance, a means for taking in the relative distance between the end face of the existing shield ring and the attached surface of the distance measuring sensor of the shield machine, a means for calibrating the taken relative distance with the amount of the mounting peculiar error, A means for determining the relative position of the sensor mounting surface with respect to the latest known shield ring end surface, adding the calibrated relative distance and relative position to the design data for the segment to be assembled next, and determining the target coarse position, and the target coarse position Control means for controlling the position and orientation of the segment to be assembled next, and the next assembly after the positioning to the target coarse position is completed. A segment automatic assembling apparatus comprising: a control means for determining a target fine position of a segment to be assembled, and controlling the position / posture of the segment to be assembled next so as to be at this fine position. 3. The amount of peculiar mounting error of the distance measuring sensor means a distance d _n between an end face of an existing shield ring of each sensor and the sensor mounting face of the shield machine.
(Where n is the sensor number), and using each of the measured values, a sine wave with respect to the sensor mounting angle of the measured value resulting from the non-parallel state of the first existing shield ring end surface and the sensor mounting surface. The constant optimum value of the curve is determined, and the optimum distance at each attached angle of the sensor is calculated from this sine wave curve to obtain the optimum calculated value d _n ′ (ac).
3. The segment automatic assembling apparatus according to claim 1, wherein the difference between d _n and d _n is obtained as a correction amount, and the correction amount is given as a mounting-specific error amount of each of the distance measuring sensors. 4. The distance d _n (here) between the first existing shield ring end face of each of the three or more distance measuring sensors attached to the shield machine in the axial direction of the tunnel and the sensor-attached surface of the shield machine. , N is the sensor number)
And a sinusoidal curve of the measured value with respect to the sensor installation angle resulting from the non-parallel state of the first existing shield ring end surface and the sensor installation surface by the least squares method using each of the measurement values. And a second step of determining the optimum constant value of the constant and the optimum distance at each attached angle of the sensor is calculated from this sinusoidal curve to obtain the optimum calculated value d.
Preliminary step consisting of a third step of obtaining the difference between _n '(ac) and d _n as a correction amount, and a fourth step of storing the correction amount as the mounting-specific error amount C _n of each distance measuring sensor. And d _n ′ (= d _n + C _n ) obtained by adding the individual error amount C _n to the d _n obtained by performing the first step at the time of assembling the i-th (i ≧ 2) shield ring Then, the second step is performed to calculate the relative distance and the relative attitude between the shield machine and the (i-1) th existing shield ring end face using the obtained optimum calculated value d _n ′ (ac). Then, this is added to the rough position obtained from the design data to determine a new rough position, and the rough positioning control stage is adopted, and the rough position of the assembly segment and the (i-1) th At least two places on the boundary between the existing shield ring and the existing segment And at least one of the boundaries between the assembled segment and the existing segment of the i-th shield ring
Slit light is radiated from the projector on the erector, and each slit light image obtained is imaged by the TV camera on the erector to detect the step / gap at the boundary from the image data obtained. A fine positioning control step that employs a method of finely positioning the assembly segment at the assembly position by obtaining a position / orientation deviation between the assembly segment and the existing segment based on the gap information and correcting the deviation. A method for automatically assembling a shield ring segment, wherein the shield ring is assembled by tunneling by repeating the rough positioning control step and the fine positioning control step.