JPH1025998A - Segment conveyor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable gripping of segments in a short time without requiring the complicated operation of an operator by automating a process, in which the segments placed in a tunnel are gripped. SOLUTION: When the gripping of segments is indicated, a controller 102 moves a segment gripper from an initial place to an image-pickup place, and the grout holes of the segments are image-picked up by a CCD camera 100 at the place. An image processor 105 finds the central places of the grout holes on the basis of the image-picking-up information, the controller 102 acquires the places of gripping on the basis of the calculated data, and the segment gripper is moved to the places of gripping and controlled so as to grip the segments.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a segment transport device for transporting a segment along a transport rail installed in a tunnel, and more particularly to a segment suitable for gripping a segment placed in a tunnel. It relates to a transport device.

[0002]

2. Description of the Related Art When a tunnel is constructed by excavating the ground with a shield machine, a plurality of segments are provided by an erector device installed at the rear of the shield body to reinforce the inner surface of the tunnel wall excavated by the shield machine. Are sequentially assembled in a ring shape. In this case, the segment to be assembled is transported from the tunnel entrance to a predetermined position in the tunnel by the transport trolley, and then the segment is transported by the segment transport device to the position of the erector device.

[0003] A conventional segment transport device is a traveling device suspended from a shield body on a transport rail extending rearward in the axial direction of a tunnel, and is supported by the travel device so as to be movable up and down. A segment gripper for gripping the placed segment, a traveling motor for traveling the traveling device along the transport rail, and an elevating jack for vertically moving the segment gripping device with respect to the traveling device; The segment gripping device is moved by driving the travel motor and the lifting jack by manually operating the switch to grip the segment placed at a predetermined position in the tunnel, and thereafter, the segment gripping device is manually operated by the operator, and the erector device. Was moved to the position.

[0004]

However, in the above-mentioned prior art, the operator manually operates the pendant switch to drive the travel motor and the lifting / lowering jack to cause the segment to be gripped by the segment gripping device. The operation of making the apparatus surely grip the device is very complicated, and it takes time to grip the segment.

[0005] It is an object of the present invention to automate a process of gripping a segment placed in a tunnel, thereby enabling a segment transfer device to grip a segment in a short time without requiring a complicated operation by an operator. Is to provide.

[0006]

[Means for Solving the Problems]

(1) In order to achieve the above object, the present invention relates to a traveling device suspended on a transport rail installed in a tunnel, and supported vertically movably by the traveling device, and placed in a tunnel. Segment having a segment gripper for gripping a segment, a first actuator for moving the traveling device along a transport rail, and a second actuator for vertically moving the segment gripping device with respect to the traveling device. An image pickup unit attached to the segment holding device, for picking up an image of a segment placed in the tunnel; a holding instruction unit for instructing the segment holding device to hold the segment; Means for grasping the segment by the means, causes the imaging means to image the segment, Based the segment gripping device is configured to have a control means for driving the first and second actuators so as to move the gripping position where it can grip the said segment.

In the segment assembling apparatus constructed as described above, when a grasping instruction is given by the grasping instruction means, the control means causes the imaging means to image the segment,
By driving the first and second actuators so that the segment gripping device moves to the gripping position based on the imaging information, the segment placed in the tunnel can be moved in a short time without requiring a complicated operation by the operator. Can be grasped.

(2) In the above (1), preferably,
The control means includes means for driving the first actuator to move the segment gripping device to an imaging position at which the imaging means can image the segment when the gripping instruction means instructs the segment to be gripped. And when the segment gripping device reaches the imaging position, causes the imaging means to image the segment.

(3) In the above (1), preferably, the image pickup means picks up an image of a visual sensing pattern provided in advance in the segment, and the control means based on the information on the pattern. The first and second actuators are driven to move the segment holding device to the holding position.

(4) Further, in the above (1), preferably, when the grasp instruction is given by the grasp instruction means, the control means takes an image of the segment in the first visual field by the imaging means. Means for driving the first actuator to move the segment gripping device to a position where the imaging center of the imaging means coincides with the center of the gripping portion of the segment based on the imaging information; When the center of imaging coincides with the center of the grip, the field of view of the imaging means is changed to a second field of view narrower than the first field of view, and the segment is imaged. Means for driving the first and second actuators to move to the gripping position.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. First, a first embodiment of the present invention will be described with reference to FIGS. 1 and 2, the segment transport device 16 of the present embodiment is movably supported by a transport rail 8 extending rearward from a shield main body 1 of a shield machine in a tunnel axial direction (tunnel front-rear direction).

A bracket 1b is attached to the ring gutter portion 1a of the shield body 1, and a roller 12 is supported on the bracket 1b. The rollers 12 are arranged at a plurality of locations on the outer diameter portion of the erector ring 31 of the erector 2, and support the erector ring 31 to be able to turn. The elector ring 31 is a ring having a rectangular cross section, and a gear (not shown) is attached to the inner diameter portion. Shield body 1
A turning motor 11 is attached to the inner shell member 1d, and by the driving of the turning motor 11, the electoring ring 31 turns via the pinion 13 attached to the output shaft of the turning motor 11 and the gear (not shown).

A pair of right and left arms 32 each having a rectangular cross section are attached to the tail-side (rear side of the tunnel) end surface of the electoring ring 31. A bearing 33 is attached, and a rod guide 34 is slidably attached to the front-rear sliding linear bearing 33.
A sliding jack 35 is attached to the end surface of the rod guide 34 on the face side (front side of the tunnel).
5, the rod guide 34 is guided by the front-rear sliding linear bearing 33 and slides in the tunnel axial direction. Also,
At substantially the center of the rod guide 34, a through hole is provided in the tunnel radial direction (pressing direction).
6 is slidably penetrated in the radial direction of the tunnel, and one end of a rod 36 is attached to a suspension beam 37 having a substantially gate shape. At the tail end of the rod guide 34, a pressing jack 40 is attached.
With 0, the suspension beam 37 slides in the tunnel radial direction.

The lower surface of the suspension beam 37 is provided with a holding screw 38.
The gripping screw 38 matches a grout hole (segment gripping portion) 6 a provided in the center of the segment 6 as shown in FIG. 3, and the drive motor mounted inside the suspension beam 37. Screw 3 for gripping by 39
8 is screwed into the grout hole 6a to grip the segment 6. In addition, a steady member 41 for preventing the suspended segment 6 from swinging is attached to the lower surface of the suspended beam 37.

Further, between the deck 1e of the shield body 1 and a rear bogie (not shown) behind the shield body 1,
The transfer rails 8 of the I-section steel are attached, and the segment transfer device 16 of the present embodiment is movably supported on the transfer rails 8.

FIG. 4 and FIG.
As shown in (1), there is provided a traveling device 71 suspended to be able to travel on the transport rail 8, and a segment gripping device 72 supported by the traveling device 71 so as to be vertically movable. The traveling device 72 has an upper frame 73, on which wheels 74 that engage with the transport rail 8 are mounted. A traveling motor 76 is attached to the upper frame 73, and a gear 78 that engages with a groove 77 provided at a lower portion of the transport rail 8 is attached to an output shaft of the traveling motor 76. When the traveling motor 76 is rotated, the gear 78 rotates and moves on the groove 77, whereby the upper frame 73 is guided by the wheels 74 and travels along the transport rail 8. A sensor for detecting the displacement of the traveling device 71, for example, a tachometer (rotary encoder) 90 is attached to any one of the wheels 74. The lower frame 8 is connected to the upper frame 73 via a pin 79.
The lower frame 80 has a rectangular pipe structure having a rectangular cross section.

The segment holding device 72 includes a traveling device 71
It has a substantially L-shaped structure protruding toward the face side, and has a base portion 81 and a rod 82 provided on an upper portion of the base portion 81 and vertically penetrated into the lower frame 80. ing. The rod 82 has a rectangular pipe structure having a rectangular cross section, like the lower frame 80. An elevating jack 83 for elevating the segment gripping device 72 with respect to the traveling device 71 is attached between the lower frame 80 and the base portion 81, and the elevating jack 83 has a built-in stroke meter 83a capable of measuring a stroke. . A gripping screw 84 is attached to the lower surface of the base portion 81, and the gripping screw 84 is
8, the segment 6 is grasped by screwing a grasping screw 84 into the grout hole 6 a of the segment 6 by a drive motor 85 mounted inside the base portion 81. The end of the base 81 has a segment 6
An image pickup device (CCD camera) 100 for picking up an image of the camera is mounted.

The segment conveying device 16 is provided with a tilting support means (not shown).
2 is kept horizontal.

The segment transport device 16 configured as described above suspends the segment 6 placed on the segment truck 300 and transports it to the position of the erector 2. The segment cart 300 carries the segment 6 from the rear of the tunnel along the rail 4 laid on the sleeper 3 attached to the existing segment ring 7. As shown in FIG. 6, the segment bogie 300 has a bogie main body 301. In this bogie main body 301, a loading platform 303 is moved via a linear bearing 302 in a tunnel lateral direction (tunnel lateral direction) orthogonal to the tunnel axis direction. Laterally movable jack 3 attached so as to be able to be attached and to cart body 301
04 moves the bed 303 in the lateral direction of the tunnel. The lateral movement jack 304 has a built-in stroke meter 304a capable of measuring a stroke. The segment truck 300 is stopped at a predetermined position by a limit switch (not shown) provided on the rail 4, and this position is set as a truck stop position here.

The CCD camera 100 provided on the segment holding device 72 of the segment transport device 16 is connected to an image processing device 105 and a control device 102 via a video signal cable 101 as shown in FIG. CCD
The camera 100 forms an image on a CCD solid-state imaging device (not shown) via a camera lens (not shown) through a grout hole 6a, which is an object to be imaged, and scans the image, thereby converting the image into an analog electric signal. Image processing device 1
Send to 05. The image processing device 105 is a CCD camera 100
The image signal is sampled, displayed on the monitor device 106, processed, and output to the control device 102.

As shown in FIG. 8, the control device 102 controls the CCD camera 100 in accordance with a signal from the pendant switch 109, and also detects signals from the tachometer 90 and the stroke meters 83a and 304a, the image processing device 105
Based on the image processing signal of the above, an operation related to segment grip control is performed, and the result is output to the actuator control device 103 as an actuator control signal. Here, the pendant switch 109 is a switch for the operator to manually instruct segment gripping, segment conveyance, and the like. The actuator control device 103 controls the traveling motor 90 of the segment transport device 16, the lifting jack 83,
The screw drive motor 85 and the laterally moving jack 304 of the segment carrier 300 are controlled.

In the above, the tachometer 90, the stroke meter 83a, the image processing device 105, the control device 102, and the actuator control device 103 transmit the segment 6 And a controller that drives the first actuator 90 and the second actuator 83 so that the segment gripping device 72 moves to a gripping position at which the segment 6 can be gripped based on the imaging information.

As shown in FIG. 9, the image processing device 105 includes an A / D converter 105a, an image memory 105b, and an arithmetic processor 105c.
The analog electric signal from the D camera 100 is converted into a digital electric signal (image data), the image memory 105b takes in the image data from the A / D converter 105a, and the arithmetic processing unit 105c reads the image data in the image memory 105b. Performs the following arithmetic processing.

That is, first, the features of the grout hole 6a are extracted using normal image processing such as noise removal, binarization, expansion, contraction, smoothing, projection, and the like. As a result, the detection screen is as shown in FIG. And the center position G of the portion of the grout hole 6a can be found. At this time, if the detection screen does not form a circle, the processing method or the shape (sharpening the edge or the like) is changed so as to form a circle, and the center position G of the shape is obtained. Subsequently, the shift amounts dx and dy in the x and y directions between the center position G of the grout hole 6a and the screen center position O corresponding to the imaging center position of the CCD camera 100 are obtained from the detection screen shown in FIG. Here, the x direction indicates the front-back direction of the tunnel, and the y direction indicates the left-right direction of the tunnel.
The method of calculating the shift amounts dx and dy between the center position G of the grout hole 6a and the screen center position O is as follows.
The reference pattern of “a” may be registered in advance, and a pattern matching method of comparing the portion of the grout hole 6a on the detection screen with the reference pattern may be used.

The details of the segment gripping control function of the controller 102 will be described with reference to the flowchart of FIG. Initially, the segment transport trolley 300 is at the trolley stop position (described above) shown in FIG. 12A with the segment 6 placed on the carrier 303, and the segment transport device 16 is shown in FIG.
It is at the initial position shown in FIG.

First, in step 200, it is determined whether or not a gripping instruction signal for causing the segment gripping device 72 to grip the segment 6 has been input from the pendant switch 109. If it is determined that the gripping instruction signal has been input, step 201 is performed. The actuator control signal of the traveling motor 76 for moving the segment gripping device 72 from the initial position to the imaging position (the position where the CCD camera 100 comes above the grout hole 6a of the segment 6) shown in FIG. Output to the actuator control device 103.

Subsequently, at step 202, the tachometer 9
0, it is determined whether or not the segment gripping device 72 has reached the imaging position.
Is determined to have reached the imaging position, step 203
To output an imaging instruction signal for causing the CCD camera 100 to image the grout hole 6a of the segment 6.

Subsequently, in step 204, the image processing data obtained by the image processing device 105, that is, the x direction and the y direction of the imaging center position O of the CCD camera 100 and the center position G of the grout hole 6a as shown in FIG. The segment gripping device 72 is moved from the imaging position to the gripping position shown in FIG. 12C (the position where the gripping screw 84 matches the grout hole 6a and the segment 6 can be gripped) based on the deviation amounts dx and dy of the segment 6. Command values for the traveling motor 76, the lifting jack 83, and the laterally moving jack 304 for causing this to occur are obtained.
At this time, the command values of the traveling motor 76 and the lateral movement jack 304 are the movement amounts of the segment gripping device 72 in the tunnel axial direction and the tunnel lateral direction, that is, the deviation amounts dx and d.
It is obtained according to a value obtained by correcting the deviation amounts dx and dy to the basic movement amount when y is 0. The command value of the lifting jack 83 is stored in the memory of the control device 102 as a value corresponding to the amount of movement of the segment gripping device 72 in the radial direction of the tunnel.

Subsequently, at step 205, the command values of the traveling motor 76 and the lateral movement jack 304 are used as actuator control signals as the actuator control device 103.
Output to Subsequently, at step 206, the tachometer 9
It is determined whether or not the segment gripping device 72 has reached the gripping position based on 0 and the detection signals of the stroke meters 83a and 304a. When it is determined that the segment gripping device 72 has reached the gripping position, the process proceeds to step 207.

In step 207, the gripping screws 8
By screwing the screw 4 into the grout hole 6a, the actuator control signal of the screw drive motor 85 for causing the segment holding device 72 to hold the segment 6 is output to the actuator control device 103. The operation of the segment assembling apparatus of the present embodiment configured as described above will be described. First,
The operator instructs activation of the segment grip by using the pendant switch 109. Then, the control device 102
Outputs an actuator control signal such that the segment gripping device 72 moves from the initial position shown in FIG. 12A to the imaging position shown in FIG. 12B, and the actuator control device 103 responds to the actuator control signal. The traveling motor 76 of the segment transport device 16 is controlled.

When the segment gripping device 72 reaches the imaging position, the control device 102 outputs an imaging instruction signal for causing the CCD camera 100 to image the grout hole 6a of the segment 6. Then, the CCD camera 100 captures an image of the grout hole 6a, the image processing device 105 collects an image of the CCD camera 100 and performs image processing, and the image capturing center position O of the CCD camera 100 and the central position G of the grout hole 6a.
And dx and dy are calculated. And the control device 10
2 obtains an actuator command value such that the segment gripping device 72 moves from the imaging position to the gripping position shown in FIG. 12C based on the shift amounts dx and dy, and outputs this command value as an actuator control signal; The actuator control device 103 controls the traveling motor 76 of the segment transport device 16, the lifting jack 83, and the lateral movement jack 304 of the segment transport vehicle 300 according to the actuator control signal.

When the segment gripping device 72 reaches the gripping position, the control device 102 outputs an actuator control signal for causing the segment gripping device 72 to grip the segment 6, and the actuator control device 103 responds to the segment control signal in accordance with the actuator control signal. The screw drive motor 85 of the transfer device 16 is controlled. Thereby, the grasping of the segment 6 is completed.

Thereafter, when the operator instructs the start of the segment conveyance by the pendant switch 109, the segment conveying device 16 moves to the position of the erector 2 after the segment gripping device 72 moves upward.

According to the present embodiment configured as described above, when the operator instructs to grip the segment 6, the segment gripping device 72 moves from the initial position to the imaging position, and the CCD camera 100 moves the segment 6 at the imaging position. Of the grout hole 6a, the gripping position is obtained based on the image information of the grout hole 6a, and the segment gripping device 72 moves from the imaging position to the gripping position to grip the segment 6, so that the segment 6 is complicated by the operator. It can be gripped in a short time without requiring a complicated operation.

In this embodiment, the CCD camera 100 captures an image of the grout hole 6a of the segment 6, and the center position G of the grout hole 6a is determined based on the captured information. However, the present invention is not limited to this. , Grout hole 6a
Box 6 at point symmetrical position with respect to the center position of
The center position G of the grout hole 6a may be obtained based on the imaging information of the b and the corner 6c (see FIG. 3) by the CCD camera 100. In this case, if the pattern matching method is used as the image processing, not only the center position G of the grout hole 6a but also the mounting posture of the segment 6 can be obtained.

FIGS. 13 to 15 show a second embodiment of the present invention.
This will be described below. In the present embodiment, a pattern for visual sensing is provided in the segment 6, and the center position G of the grout hole 6a is obtained based on the imaging information of the pattern. In the figure, the same members as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

In FIG. 13, the segment 6 used in the present embodiment is provided with a visual sensing pattern including a colored portion 6g drawn in red so as to be circular around the center position G of the grout hole 6a. I have. Here, the color of the circle drawn on the segment 6 is set to be red in contrast to the gray segment 6 so that features can be easily extracted by the image processing device 105X (described later). Any color can be used in contrast to red as long as it is a contrasting color. The colored portion 6g is sized so that the image processing device 105 can easily extract features.

Referring to FIG. 14, the image processing apparatus 105X of this embodiment includes an image memory 105b * and an arithmetic processing unit 10
5c *, and a reference image in which a pattern of the same color and size as the pattern 150 for visual sensing is registered in the image memory 105b * in advance. Arithmetic processing unit 1
05c * inputs image data from the image memory 105b * and extracts features of the colored portion 6g using normal image processing such as noise removal, binarization, expansion, contraction, smoothing, and projection. As a result, the detection screen becomes as shown in FIG. 15, and only the colored portion 6g is displayed on the monitor 106. Then, the pattern registered in the image memory 105b * is searched in order from the end on the detection screen, and the matching rate between the pattern on the detection screen and the pattern registered in the image memory 105b * is a predetermined ratio (for example, 90% Above), it is determined that they match, a position O * corresponding to the center position G of the grout hole 6a of the segment 6 is determined, and this position O * and the screen center position O corresponding to the center position of the CCD camera 100 are determined. And dx and dy in the x and y directions with respect to
Ask for.

In this embodiment configured as described above, similarly to the first embodiment, the segment 6 can be gripped in a short time without requiring a complicated operation by the operator.

Further, since only the red information is extracted by the image processing device 105, it becomes stable against disturbances such as noises, so that the features of the pattern 150 become clear and the grout hole 6a Center position G can be easily obtained.

In the present embodiment, the segment 6 is provided with a pattern for visual sensing consisting of a colored portion 6g drawn in red so as to be circular around the center position G of the grout hole 6a. The figures to be drawn are not limited to this, and may be quadrangular or triangular, or a plurality of these figures may be drawn. Alternatively, a colored detachable member may be fitted into the bolt box 6b of the segment 6, or may be attached to the corner 6c. In this case, it is not necessary to directly draw a figure that forms a pattern for visual sensing on all the segments 6, so that it is easy to create a pattern for visual sensing.

FIGS. 16 to 20 show a third embodiment of the present invention.
This will be described below. This embodiment is different from the first embodiment in that a segment 6 is formed by two CCD cameras having different fields of view.
And the segment gripping device 72 is moved to a gripping position based on the imaging information. In the figure, the same members as those in the first embodiment are denoted by the same reference numerals, and the description thereof will be omitted.

In FIG. 16, the image pickup apparatus 100 includes two types of CCD cameras 100A and 100B,
The CD camera 100A and the CCD camera 100B are arranged such that the center line interval between them is L. CCD camera 1
00A is a first imaging position (the CCD camera 100A is connected to the grout hole 6 of the segment 6) as shown in FIG.
a), grout hole 6a is inserted into SA
The image is taken in the field of view of FIG.
A second imaging position (CCD camera 10) as shown in FIG.
0B is located above the grout hole 6a of the segment 6), the grout hole 6a is inserted into the CCD camera 100A.
Is configured to capture an image in the SB field of view narrower than the field of view SA.

The image signals of the CCD cameras 100A and 100B are sent to an image processing device 105Y as shown in FIG.
A, 100B image signals are collected and are
06 to display an image and perform arithmetic processing on the control device 1
Output to 02Y. The control device 102Y responds to a signal from the pendant switch 109 to
A, 100B and the image processing device 105Y are controlled, and a calculation relating to the segment grip control is performed based on the detection signals of the tachometer 90 and the stroke meters 83a and 304a, and the image processing signal of the image processing device 105Y. The signal is output to the actuator control device 103 as a signal.

As shown in FIG. 18, the image processing device 105Y has a camera image selection unit 105d. The camera image selection unit 105d outputs a camera switching signal from the control device 102Y among the image signals of the CCD cameras 100A and 100B. And selects the image signal according to the A / D conversion unit 105
Send to a. Others are the same as the first embodiment.

The details of the segment gripping control function in the controller 102Y will be described with reference to the flowchart of FIG. First, in step 250, it is determined whether or not a gripping instruction signal for causing the segment gripping device 72 to grip the segment 6 has been input from the pendant switch 109. When it is determined that the gripping instruction signal has been input, the process proceeds to step 251. The actuator control signal of the traveling motor 76 for moving the segment gripping device 72 from the initial position to the first imaging position shown in FIG.

Subsequently, at step 252, the tachometer 9
0, it is determined whether or not the segment gripping device 72 has reached the first imaging position. If it is determined that the segment gripping device 72 has reached the first imaging position, the process proceeds to step 253, where the CCD The camera 100A outputs an imaging instruction signal for imaging the grout hole 6a of the segment 6, and the image processing device 105Y sends the CCD camera 1
A selection signal for inputting the 00A image signal is output.

Subsequently, at step 254, based on the image processing data obtained by the image processing device 105Y, the segment gripping device 72 is moved from the first imaging position to the second imaging position shown in FIG. Traveling motor 76
And the command value of the lateral movement jack 304 is obtained, and subsequently, in step 255, the command value is output to the actuator control device 103 as an actuator control signal.

Subsequently, at step 256, the tachometer 9
It is determined whether or not the segment gripping device 72 has reached the second imaging position based on 0 and the detection signal of the stroke meter 304a. If it is determined that the segment gripping device 72 has reached the second imaging position, step 257 is performed. Proceed to CCD
The camera 100B outputs an imaging instruction signal for imaging the grout hole 6a of the segment 6, and outputs a selection signal for inputting the image signal of the CCD camera 100B to the image processing device 105Y.

Subsequently, in step 258, based on the image processing data obtained by the image processing device 105Y, the traveling motor 76 for moving the segment gripping device 72 from the second imaging position to the gripping position, the lifting jack 83, and the lateral movement The command value of the jack 304 is obtained, and then, step 2
At 59, these command values are output to the actuator control device 103 as actuator control signals.

Subsequently, at step 260, the tachometer 9
It is determined whether or not the segment gripping device 72 has reached the gripping position based on 0 and the detection signals of the stroke meters 83a and 304a. If it is determined that the segment gripping device 72 has reached the gripping position, the process proceeds to step 261 and the gripping is performed. By screwing the screw 84 into the grout hole 6a, an actuator control signal of a screw drive motor 85 for causing the segment gripping device 72 to grip the segment 6 is output to the actuator control device 103.

In the above, the pendant switch 109
When the segment gripping device 72 is instructed to start, the segment gripping device 72 is controlled to move from the initial position to the first imaging position. When the segment gripping device 72 reaches the first imaging position, the CCD camera 100A imaging a grout hole 6a in field SA, the image processing apparatus 105Y performs image processing by taking an image of the CCD camera 100A, 20 image pickup center position O ₁ and grout of the CCD camera 100A as shown in (a) The deviation amounts dx ₁ and dy ₁ from the center position G ₁ of the hole 6a are obtained. Then, the control device 102Y
Calculates a command value such that the segment gripping device 72 moves from the first imaging position to the second imaging position based on the shift amounts dx ₁ and dy ₁ , and the actuator control device 103 determines the segment value in accordance with the command value. The traveling motor 76 of the transport device 16 and the laterally moving jack 304 of the segment transport vehicle 300 are controlled.

When the segment gripping device 72 reaches the second imaging position, the CCD camera 100B captures an image of the grout hole 6a in the field of view SB, and the image processing device 105Y transmits the CCD image to the grout hole 6a.
The image of the camera 100B is collected and subjected to image processing, and FIG.
The shift amount dx between the center position O ₂ of the imaging of the CCD camera 100B and the center position G ₂ of the grout hole 6a as shown in FIG.
₂ and dy ₂ are obtained. Then, the control device 102Y obtains a command value such that the segment gripping device 72 moves from the second imaging position to the gripping position based on the shift amounts dx ₂ and dy ₂ , and the actuator control device 103 responds to the command value. Thus, the traveling motor 76 of the segment conveying device 16, the lifting jack 83, and the lateral moving jack 304 of the segment conveying truck 300 are controlled. When the segment holding device 72 reaches the holding position, the screw drive motor 85 of the segment transfer device 16 is driven, and the holding of the segment 6 is completed.

In this embodiment configured as described above, similarly to the first embodiment, the segment 6 can be gripped in a short time without requiring a complicated operation by the operator.

In general, a CCD camera has a relationship that the position resolution is low when the field of view is wide, and the position resolution is high when the field of view is narrow. Therefore, when only the CCD camera 100A is provided in the segment conveying device 16, the CCD camera 100A has a wide field of view but low positional resolution, so that the center position of the grout hole 6a cannot be obtained with high accuracy. The segment gripping device 72 cannot be accurately positioned at the gripping position. On the other hand, when only the CCD camera 100B is provided in the segment transport device 16, since the CCD camera 100B has a high positional resolution but a narrow field of view, when the segment gripping device 72 is moved to a position where the CCD camera 100B can capture an image, If the segment 6 is mounted on the carrier 303 of the segment carrier 300 with a deviation from a predetermined mounting position, the grout hole 6
a may not be in the field of view of the CCD camera 100B. However, in this embodiment, since the segment holding device 72 is provided with the CCD cameras 100A and 100B as described above, the segment 6 is
The grout hole 6a can be imaged even if the loading platform 303 is placed at a position slightly shifted from the predetermined loading position, and the segment gripping device 72 can be accurately positioned at the gripping position.

In this embodiment, two CCD cameras 100 having different fields of view are attached to the segment gripping device 72.
A and 100B are provided, but the present invention is not limited to this, and one CCD camera with a zoom function that can change the field of view may be provided.

In some of the above-described embodiments, when the segment gripping device 72 is moved to the gripping position, the traveling motor 76 of the segment transport device 16, the lifting jack 83, and the laterally moving jack 304 of the segment transport truck 300 are moved. It is configured to be driven, but the segment 6
If the laterally moving jack 304 is not provided on the assumption that the vehicle is accurately placed at a predetermined mounting position on the carrier 303 of the segment transport vehicle 300, the traveling motor 76 of the segment transport device 16 Jack 83
Drive.

When a segment grip is instructed by the pendant switch 109, the CCD camera 10
0; the segment gripping device 72 is moved to a position where the segment 6 can be imaged at 100A.
If the segment 6 is in a position where the segment 6 can be imaged at 0A, and the pendant switch 109 instructs the segment to be grasped, the CCD camera 100;
May be imaged.

Further, the segment gripping device is of a type in which the segment 6 is gripped by screwing a gripping screw 84 attached to the lower surface of the segment gripping device 72 into the grout 6a. The present invention can be applied to any segment gripping device that includes a traveling device movably suspended on the traveling device 8 and a segment gripping device that is vertically movably supported by the traveling device and grips the segment 6. One example is shown in FIG. 21 and FIG.

The segment conveying device 400 includes a traveling device 401 and a segment gripping device 402. The structure of the upper portion of the frame 403 of the traveling device 401 has the same configuration as that of the segment conveying device 16 described above. Frame 403
A hoisting motor 404 is attached to a lower portion of the motor, and a hoisting machine 406 for winding up a wire 405 is attached to an output shaft of the hoisting motor 404. The segment gripping device 402 has a base portion 408 to which a wire 405 is connected, and a gripping member 409 having a claw 409a at a tip is supported on both ends of the base portion 408 on the tunnel axial side so as to be movable in the tunnel axial direction. The gripping member 409 is moved in the tunnel axial direction by the gripping jack 410. When the segment 6 * with a brim is gripped by such a segment conveying device 400, the traveling motor 76 and the hoist motor 404 are driven based on the imaging information of the CCD camera 100, and the segment gripping device 402 is gripped by the segment gripping device 402. Move to a possible position and then hold the jack 41
0 is driven to move the holding member 409 to the inside of the base portion 408, and the claw 409a is hooked on the collar to sandwich the segment 6 *. Note that, when gripping a segment that does not catch the claw 409a as in the segment 6 described above, the claw 409a is hooked to the lower portion of the segment.

[0061]

According to the present invention, the step of causing the segment holding device to hold the segment carried in the tunnel is automated, so that the segment can be held in a short time and the segment can be reliably held. The burden on the operator for performing this operation can be greatly reduced.

[Brief description of the drawings]

FIG. 1 is an overall view of a shield machine equipped with a segment transport device according to a first embodiment of the present invention.

FIG. 2 is a sectional view taken along line II-II of FIG. 1 (excluding a segment conveying device).

FIG. 3 is a top view of the segment shown in FIG. 1;

FIG. 4 is a side view of the segment transport device and the segment transport cart shown in FIG. 1;

FIG. 5 is a rear view of the segment transport device shown in FIG. 4;

FIG. 6 is a rear view of the segment transport vehicle shown in FIG. 4;

FIG. 7 is a schematic configuration diagram of a control system of the segment transport device shown in FIG.

8 is an overall configuration diagram of segment gripping control of the segment transport device shown in FIG.

FIG. 9 is a detailed configuration diagram of the image processing apparatus shown in FIG.

FIG. 10 is a diagram illustrating an example of a detection screen of the image processing apparatus illustrated in FIG. 8;

11 is a flowchart showing details of a segment gripping control function of the control device shown in FIG. 8;

FIG. 12 is an operation explanatory view of the segment transport device shown in FIG. 4;

FIG. 13 is a top view of a segment used in the second embodiment of the present invention.

FIG. 14 is a detailed configuration diagram of an image processing device according to a second embodiment of the present invention.

15 is a diagram illustrating an example of a detection screen of the image processing apparatus illustrated in FIG.

FIG. 16 is a diagram illustrating an imaging position and a field of view of a CCD camera of a segment transport device according to a third embodiment of the present invention.

17 is an overall configuration diagram of segment gripping control of the segment transport device shown in FIG.

18 is a detailed configuration diagram of the image processing device shown in FIG.

19 is a flowchart showing details of a segment gripping control function of the control device shown in FIG.

20 is a diagram showing an example of a detection screen of the image processing device shown in FIG.

FIG. 21 is a side view of another segment transport device.

FIG. 22 is a rear view of the segment transport device shown in FIG. 21;

[Explanation of symbols]

 6 segment 8 transfer rail 16 segment transfer device 71 running device 72 segment holding device 76 running motor 83 elevating jack 83a stroke meter 85 screw drive motor 90 tachometer 100 CCD camera 100A, 100B CCD camera 102 control device 102Y control device 103 actuator control device Reference Signs List 105 Image processing device 105X Image processing device 105Y Image processing device 109 Pendant switch 150 Pattern for visual sensing

 ──────────────────────────────────────────────────の Continuing on the front page (72) Inventor Takami Kusaki 650, Kandamachi, Tsuchiura-shi, Ibaraki Prefecture Inside the Tsuchiura Plant of Hitachi Construction Machinery Co., Ltd. Inside Tsuchiura Factory

Claims (4)

[Claims] 1. A traveling device suspended on a transport rail installed in a tunnel, a segment gripping device supported by the traveling device so as to be vertically movable, and gripping a segment placed in the tunnel. A segment actuator having a first actuator for moving the traveling device along a transport rail, and a second actuator for vertically moving the segment gripping device with respect to the traveling device; Imaging means for imaging a segment placed in the tunnel; grip instruction means for instructing the segment grip device to grip the segment; gripping of the segment being instructed by the grip instruction means And causing the imaging means to image the segment, and holding the segment based on the imaging information. Control means for driving the first and second actuators so that the apparatus moves to a gripping position where the apparatus can grip the segment. 2. The segment conveying device according to claim 1, wherein the control unit, when instructed to grip the segment by the grip instructing unit, places the segment in an imaging position where the imaging unit can image the segment. A segment transport device, comprising: means for driving the first actuator so that the device moves; and when the segment gripping device reaches the image capturing position, the image capturing means captures an image of the segment. 3. The segment conveying device according to claim 1, wherein the image pickup unit picks up an image of a pattern for visual sensing provided in advance in the segment, and the control unit holds the segment based on information of the pattern. A segment transport device, wherein the first and second actuators are driven so that the device moves to the grip position. 4. The segment transport device according to claim 1, wherein the control unit causes the imaging unit to image the segment in a first field of view when the grasp instruction of the segment is instructed by the grasp instruction unit. Means for driving the first actuator to move the segment gripping device to a position where the imaging center of the imaging means coincides with the center of the grip of the segment based on the imaging information; and the imaging center of the imaging means. Coincides with the center of the gripper,
The field of view of the imaging unit is changed to a second field of view narrower than the first field of view, the segment is imaged, and the first and second segments are moved to the gripping position based on the imaging information. Means for driving a second actuator.