JP2843567B2 - Segment positioning method - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of aligning (positioning) an existing segment and a carry-in segment necessary for automatically fastening segments of a shield machine. .

(Prior art)

The matching between the existing segment and the carry-in segment for fastening is performed visually and manually.

[Problem to be solved]

In assembling segments in the conventional shield method, in order to fasten the existing segment and the carry-in segment, visual matching and manual operation are performed so that the fastening portion of the existing segment and the fastening portion of the carry-in segment match. Is a dangerous operation that needs to be seen close to the segment, and is a time-consuming operation because it is a manual operation.

An object of the present invention is to solve the above problems.

[Means for Solving the Problems] In order to achieve the above object, according to the present invention, a slit light is projected onto a matching portion between an existing segment and a carry-in segment, and the slit light is taken into an imaging device. By detecting the dimensional displacement amount and performing servo control, the fastening portion of the carry-in segment is automatically aligned with the fastening portion of the existing segment.

(Operation)

Slit light is projected onto the joint between the existing segment and the carry-in segment to detect a shift in the slit light, and the position of the carry-in segment is controlled by servo control so as to eliminate the shift.

〔Example〕

FIG. 1 shows the positional relationship between the shield machine 1 and the existing assembly segment 2. FIG. 2 shows the mechanism of the shield machine segment assembling apparatus used in the present invention.

2, the first intermediate ring 23 is provided on the ring girder 21 via upper and lower pins 23a and 23b so as to be rotatable around the Y axis, and the second intermediate ring 24 is connected to the left and right pins 24a. , 24b is provided on a connecting member 25 protruding from the side of the first ring 23 so as to be rotatable around the X axis. The rotation angle θy is again determined by the cylinder 28 and the rotation angle θx
Is controlled by a cylinder 26.

A turning frame 31 is provided on the second ring 24 so as to be driven to turn by a motor 36, and the turning angle φ is controlled by the motor.

An erector 30 having an erector hand 37 driven up and down by a cylinder is attached to the revolving frame 31,
The position r in the radial direction of the erector hand 37 can be adjusted. The erector hand 37 is driven in the Z-axis direction by a cylinder (not shown). Further, the tip of the erector hand 37 segment gripping device 50 is provided as shown in FIG. 3, this gripping device 50, cylinders 16, 17 for adjusting the inclination theta _Z of the segment piece is provided .

The automatic segment assembling device (erector) is located behind the shield machine. The right hand coordinate is set when the excavation direction is the Z axis (however, the direction toward the segment side by the shield machine is positive) and the vertical axis is the Y axis.

In this coordinate system, the reference position of the shield machine (electa) and the reference position of the existing segment are constantly changing due to external pressure or reaction force from the face side. Therefore, it is not possible to set the carry-in segment to the target value (accurately align with the fastening portion of the existing segment) only by program control (numerical control).

In view of the above, the present invention projects a slit light to a matching portion between an existing segment and a carry-in segment, captures the slit light into an image pickup device, detects a three-dimensional position shift amount, and performs servo control to perform an existing segment. And a method for automatically aligning the fastening portion of the carry-in segment with respect to the fastening portion.

In the present invention, the alignment between the existing segment and the carry-in segment is performed, for example, by attaching a stroke meter (position detector) to the shield jack 40 and applying three (or more) shield jacks to the existing segment 2 by three. The position in the Z direction is determined for each of them, and θx and θy are determined by solving the equation of a plane passing through three points, and the postures θx and θy are matched using the mechanism shown in FIG.

The measuring method of the present invention will be described with reference to FIG.
The illumination device 10 and the imaging device 11 in this figure are integrated with the mechanism of FIG. 2, and the driving of the X axis and the Y axis shown below uses the r axis and φ axis of the unit, and the Z axis is This is performed using a Z-axis cylinder.

Two illumination devices 10 (slit light sources) and two imaging devices 11 are used. As shown in FIG. 4, the optical axis of the imaging device 11 is set to be parallel to the r-axis, but the illumination device 10 is arranged at an angle that is not parallel to the r-axis.

The orientation θx of the carry-in segment corresponding to the existing segment,
After combining the [theta] y, to allow light projecting over the seams slit light, X-carrying-segment, Y, is positioned closer to Z and theta _Z to the target value of the temporary.

Here, FIG. 4 (a) shows a state in which positioning in the X direction is performed, and the slit light is directed in the X direction.

FIG. 4B shows a state in which the positioning in the Z direction is performed, and the direction of the slit light is different from that in FIG. The outline of the slit image at this time is as shown in FIG.

In the state shown in FIG. 4C, if the scanning lines on the imaging device 11 are arranged so as to be in the X direction, the image is formed as shown in FIG.

In FIG. 5, the brightest point address on one horizontal scan (in the X direction) is obtained by using, for example, an apparatus described in JP-A-59-202006. Since there is a gap (FIG. 4 (C)) at the Z position between the existing segment 3 and the carry-in segment 4, an image in which the brightest points are continuous as shown in FIG. 5 is not obtained. That Z _n1 from Carrara Z _n2 up and Z _n3 to Z _n4 is X _n value becomes the brightest point address, it is impossible to obtain the brightest spot image from Z _{n2 + 1} to Z _n3-1 . So close the carry segment contiguous the brightest point image until it is obtained is appeared (from Z ₁ the brightest spot image to Z ₃₎ as shown in FIG. 6 in the Z axis direction. Thus, the Z axis is aligned.

The brightest point address image in FIG. 6 has been able to be continuously from Z ₁ to Z _3, the brightest point address is not a straight line. That is, from Z ₁ to Z ₂ is X ₂ value, Z from Z _{n2 + 1}
Up to ₃ becomes the value of X _1. The reason why the image is not a straight slit image is that the Y-axis position of the existing segment and the import segment do not match, that is, because there is a step,
As shown in FIG. 7, Y is obtained until a straight slit image is obtained.
Adjust the axis position.

As described above, even if the Y- and Z-axis positions are adjusted, the existing segment 3 and the carry-in segment 4 are not exactly aligned. The positional relationship is as shown in FIG. That is, the Y position is adjusted for only one slit light (point A), and the irradiation position (point B) of the other slit light on the carry-in segment is changed to the irradiation position (point C) on the existing segment. Must match.

Combined way is the same as the method described above for the Y-axis alignment, the shaft for driving by this time the image is perfect straight line is theta _Z axis, ra in mechanism as shown in FIG. 3 (1
6) Use the rb (17) axis.

Y-axis direction by the above, it was possible to match for the Z-axis direction and theta _Z axis. The remaining alignment in the X-axis direction will be described.

FIG. 4A shows a state in which the alignment in the X direction is performed, and the slit light is directed in the X direction.

In this case, in the diagram corresponding to FIG. 5 in which the shift in the Z direction is obtained, an image in which X and Z are shifted by 90 ° is obtained. Therefore, the positioning in the X-axis direction is performed so that a continuous image in the X direction is obtained. Thus, the position in the X-axis direction is also adjusted.

〔The invention's effect〕

According to the present invention as described above, the position of the carry-in segment can be adjusted with respect to the existing segment.

[Brief description of the drawings]

FIG. 1 is an explanatory view of a positional relationship between a shield machine and an existing segment, FIG. 2 is a side view showing an example of an apparatus for implementing the method of the present invention, and FIG. FIGS. 4 (a), 4 (b), and 4 (c) are explanatory diagrams of measurement conditions, device arrangements and images, FIGS. 5 to 7 are explanatory diagrams showing alignment procedures, and FIG. 8 is a segment. It is an explanatory view of a state where a piece is inclined.

────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Hiroshi Nakura 2-5-8 Kitaaoyama, Minato-ku, Tokyo Intra-company group (72) Inventor Takaaki Kato 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan stock In-house (72) Inventor Kenichi Murano 1-1-2 Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan Co., Ltd. (72) Inventor Toshiyuki Matsushita 1-2-1, Marunouchi, Chiyoda-ku, Tokyo Nippon Kokan Co., Ltd. (56 References JP-A-62-50599 (JP, A) JP-A-60-126500 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) G01B 11/00-11/30 E21D 10/00-19/04 E21D 23/00-23/26 G01C 15/00-15/14

Claims (2)

(57) [Claims] 1. A slit light is projected to a joint portion between an existing segment and a carry-in segment, and the slit light is taken into an image pickup device to detect a three-dimensional displacement amount, and servo control is performed to apply the slit light to the existing segment. A segment positioning method, which automatically aligns a fastening portion of a carry-in segment with respect to a fastening portion. 2. A slit light is projected onto the matching portion at an angle not parallel to the r-axis, and the optical axis of the imaging device is set so as to be parallel to the r-axis to detect a displacement of the matching portion. The method according to claim 1, wherein the segment is positioned.