JP5476008B2 - Tail clearance measuring device - Google Patents

Description

  The present invention relates to a tail clearance measuring device.

There is a shield machine that assembles a segment tunnel by digging while assembling the segment into a cylindrical wall inside the tail part.
The clearance (tail clearance) between the inner peripheral surface of the tail part of the shield machine and the outer peripheral surface of the segment located inside the tail part is the relative positional relationship between the direction of the shield machine and the already assembled segment. Will change accordingly.
Therefore, the tail clearance is measured, and the measured value is used as data for controlling the direction of excavation of the shield machine, or is used as data for performing segment assembly.
Conventionally, tail clearance measurement is performed by an operator using a scale before or after excavation work with a shield machine, or a dedicated measuring device is positioned and fixed to a segment, and the needle that protrudes from the measuring device is attached to the skin plate. The tail clearance was measured based on the amount of protrusion of the needle (see Patent Document 1).

JP 2000-352298 A

However, in the conventional technology based on the scale described above, it is necessary to perform measurement work by an operator in a state where the excavation operation is stopped at the time of measurement, so it is difficult to obtain measurement data during excavation, and the measurement efficiency decreases. There was a disadvantage inviting. Further, when using a measuring device that measures the tail clearance based on the protruding amount of the metering, there is a disadvantage that the measuring device is likely to break down and the measurement efficiency is lowered.
In addition, if the inside of the segment has a large diameter, work at a high place is required, and if the inside of the segment has a small diameter, work in a narrow space is required, which places a heavy burden on the worker. There was a disadvantage.
The present invention has been made in view of such circumstances, and an object of the present invention is to provide a tail clearance measurement device that is advantageous in improving measurement efficiency and reducing the burden on workers. It is in.

In order to achieve the above object, the present invention is a tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail part of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface, A part of the tail part inner peripheral surface which is a part of the inner peripheral surface of the tail part, a segment outer peripheral part of the outer peripheral surface of the segment facing the tail part inner peripheral part, and the segment outer peripheral face in the radial direction of the segment An image obtained by photographing a segment inner peripheral surface location of the inner peripheral surface of the segment located inside the location, and a segment end surface location of the end surface of the segment connecting the segment outer peripheral surface location and the segment inner peripheral surface location A camera unit that generates a signal, and a first arc that is provided in the tail unit and intersects the segment end surface part and the segment outer peripheral surface part Or detection light having a linear first linear portion extending across at least one of the second arc portions where the segment end surface portion and the segment inner peripheral surface portion intersect each other. And a clearance derivation unit for deriving a clearance between the inner peripheral surface of the tail unit and the outer peripheral surface of the segment based on image data generated from the video signal, and the shield machine Has a front body part and a tail part, and the front body part has an excavation part in which a cutter is arranged, and a rear chamber located behind the excavation part, and the rear chamber and the tail part A wall is provided between the camera body, the camera body including an image sensor that captures a subject image, an optical fiber that guides the subject image to the image sensor, and a front end of the optical fiber. The camera body is disposed at a location away from the wall portion in the rear chamber, and the photographing optical system is attached to the wall portion in the rear chamber. The captured images of the tail portion inner peripheral surface portion, the segment outer peripheral surface portion, the segment inner peripheral surface portion, and the segment end surface portion are guided to the imaging element via the optical fiber .
The present invention also provides a tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail portion of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface, the inner peripheral surface of the tail portion. The outer peripheral surface portion of the segment that is part of the inner peripheral surface portion of the tail portion, the outer peripheral surface portion of the segment facing the inner peripheral surface portion of the tail portion, and the inner portion of the outer peripheral surface portion of the segment in the radial direction of the segment. A camera unit that shoots a segment inner peripheral surface part of the inner peripheral surface of the segment and a segment end surface part of the end surface of the segment connecting the segment outer peripheral surface part and the segment inner peripheral surface part; , A first arc portion provided in the tail portion, where the segment end surface portion and the segment outer peripheral surface portion intersect, or the segment Detection light for projecting detection light having a linear first straight line portion extending at least one of the second arc portions where the end surface portion of the segment intersects with the segment inner peripheral surface portion to the segment end surface portion A projection unit; and a clearance deriving unit for deriving a clearance between the inner peripheral surface of the tail unit and the outer peripheral surface of the segment based on image data generated from the video signal. And the front body portion includes a digging portion in which a cutter is disposed and a rear chamber located behind the digging portion, and a wall portion between the rear chamber and the tail portion. A rear carriage is provided in a segment tunnel assembled at the rear of the shield machine, and the camera unit includes a camera body including an image sensor that captures a subject image; and An optical fiber led to an image element; and a photographing optical system attached to a tip of the optical fiber, the photographing optical system is attached to the wall portion in the rear chamber, and the camera body is disposed on the rear carriage. And images of the tail inner peripheral surface portion, the segment outer peripheral surface portion, the segment inner peripheral surface portion, and the segment end surface portion taken by the photographing optical system are guided to the image sensor through the optical fiber. It is characterized by being.
The present invention also provides a tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail portion of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface, the inner peripheral surface of the tail portion. The outer peripheral surface portion of the segment that is part of the inner peripheral surface portion of the tail portion, the outer peripheral surface portion of the segment facing the inner peripheral surface portion of the tail portion, and the inner portion of the outer peripheral surface portion of the segment in the radial direction of the segment. A camera unit that shoots a segment inner peripheral surface part of the inner peripheral surface of the segment and a segment end surface part of the end surface of the segment connecting the segment outer peripheral surface part and the segment inner peripheral surface part; , A first arc portion provided in the tail portion, where the segment end surface portion and the segment outer peripheral surface portion intersect, or the segment Detection light for projecting detection light having a linear first straight line portion extending at least one of the second arc portions where the end surface portion of the segment intersects with the segment inner peripheral surface portion to the segment end surface portion A projection unit; and a clearance deriving unit for deriving a clearance between the inner peripheral surface of the tail unit and the outer peripheral surface of the segment based on image data generated from the video signal. A tail portion, and the front body portion has a drilling portion in which a cutter is disposed, and a rear chamber positioned behind the drilling portion, and the segment is placed in the rear chamber in a direction opposite to the direction of excavation. A plurality of jack devices to be pressed are provided, a wall portion is provided between the rear chamber and the tail portion, and the camera portion extends over the inner peripheral surface of the tail portion and the entire circumference of the segment in the circumferential direction. The camera unit is mounted in the rear chamber, and the stroke amount when at least two jack devices of the plurality of jack devices press the segment in the direction opposite to the digging direction. And a distance detector that supplies the measurement data to the image analyzer, and the clearance is derived by the image analyzer by correcting the image data based on the measurement data of the stroke amount. It is characterized by that.
The present invention also provides a tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail portion of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface, the inner peripheral surface of the tail portion. The outer peripheral surface portion of the segment that is part of the inner peripheral surface portion of the tail portion, the outer peripheral surface portion of the segment facing the inner peripheral surface portion of the tail portion, and the inner portion of the outer peripheral surface portion of the segment in the radial direction of the segment. A camera unit that shoots a segment inner peripheral surface part of the inner peripheral surface of the segment and a segment end surface part of the end surface of the segment connecting the segment outer peripheral surface part and the segment inner peripheral surface part; , A first arc portion provided in the tail portion, where the segment end surface portion and the segment outer peripheral surface portion intersect, or the segment Detection light for projecting detection light having a linear first straight line portion extending at least one of the second arc portions where the end surface portion of the segment intersects with the segment inner peripheral surface portion to the segment end surface portion A projection unit; and a clearance deriving unit for deriving a clearance between the inner peripheral surface of the tail unit and the outer peripheral surface of the segment based on image data generated from the video signal. A tail portion, and the front body portion has a drilling portion in which a cutter is disposed, and a rear chamber positioned behind the drilling portion, and the segment is placed in the rear chamber in a direction opposite to the direction of excavation. A plurality of jack devices to be pressed are provided, a wall portion is provided between the rear chamber and the tail portion, and the camera portion includes one camera body including an image pickup device for picking up a subject image; Copy A bundle of optical fibers for guiding an image to the image sensor, and a photographing optical system attached to the tip of the optical fiber, wherein the camera body is disposed at a location away from the wall in the rear chamber, The photographing optical system is attached to a location near the tail portion in the rear chamber, and is provided so as to photograph over the entire circumference in the circumferential direction of the inner peripheral surface of the tail portion and the outer peripheral surface of the segment. Images of the inner peripheral surface of the tail portion and the outer peripheral surface of the segment taken in the circumferential direction are guided to the imaging device via the optical fiber, and at least two jack devices of the plurality of jack devices Measuring a stroke amount when pressing the segment in the direction opposite to the digging direction, and providing a distance detection unit for supplying the measurement data to the clearance deriving unit, The clearance is derived by the lance deriving unit by correcting the image data based on the measurement data of the stroke amount.
The present invention also provides a tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail portion of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface, the inner peripheral surface of the tail portion. The outer peripheral surface portion of the segment that is part of the inner peripheral surface portion of the tail portion, the outer peripheral surface portion of the segment facing the inner peripheral surface portion of the tail portion, and the inner portion of the outer peripheral surface portion of the segment in the radial direction of the segment. A camera unit that shoots a segment inner peripheral surface part of the inner peripheral surface of the segment and a segment end surface part of the end surface of the segment connecting the segment outer peripheral surface part and the segment inner peripheral surface part; , A first arc portion provided in the tail portion, where the segment end surface portion and the segment outer peripheral surface portion intersect, or the segment Detection light for projecting detection light having a linear first straight line portion extending at least one of the second arc portions where the end surface portion of the segment intersects with the segment inner peripheral surface portion to the segment end surface portion A projection unit; and a clearance deriving unit for deriving a clearance between the inner peripheral surface of the tail unit and the outer peripheral surface of the segment based on image data generated from the video signal. A tail portion, and the front body portion has a drilling portion in which a cutter is disposed, and a rear chamber positioned behind the drilling portion, and the segment is placed in the rear chamber in a direction opposite to the direction of excavation. A plurality of jack devices for pressing are provided, a wall portion is provided between the rear chamber and the tail portion, and the camera portion captures an inner peripheral surface of the tail portion and one place in the circumferential direction of the segment. The camera unit is mounted in the rear chamber, and the detection light projection unit is at least 2 spaced apart in the circumferential direction of the segment within the imaging range photographed by the camera unit. It is configured to project the detection light onto a location, and measures the stroke amount when at least two jack devices of the plurality of jack devices press the segment in the direction opposite to the digging direction, and the measurement data is A distance detection unit for supplying to the clearance deriving unit is provided, and at least two inner diameters of the segments located at the front end in the digging direction among the segments assembled in the mine by the shield machine are measured, and the inner diameter measurement data is An inner diameter measurement unit to be supplied to the clearance deriving unit is provided, and the clearance deriving by the clearance deriving unit is performed by the image It is characterized by correcting the data based on the measurement data of the stroke amount and the measurement data of the inner diameter of the segment.
The present invention also provides a tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail portion of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface, the inner peripheral surface of the tail portion. The outer peripheral surface portion of the segment that is part of the inner peripheral surface portion of the tail portion, the outer peripheral surface portion of the segment facing the inner peripheral surface portion of the tail portion, and the inner portion of the outer peripheral surface portion of the segment in the radial direction of the segment. A camera unit that shoots a segment inner peripheral surface part of the inner peripheral surface of the segment and a segment end surface part of the end surface of the segment connecting the segment outer peripheral surface part and the segment inner peripheral surface part; , A first arc portion provided in the tail portion, where the segment end surface portion and the segment outer peripheral surface portion intersect, or the segment Detection light for projecting detection light having a linear first straight line portion extending at least one of the second arc portions where the end surface portion of the segment intersects with the segment inner peripheral surface portion to the segment end surface portion A projection unit; and a clearance deriving unit for deriving a clearance between the inner peripheral surface of the tail unit and the outer peripheral surface of the segment based on image data generated from the video signal. A tail portion, and the front body portion has a drilling portion in which a cutter is disposed, and a rear chamber positioned behind the drilling portion, and the segment is placed in the rear chamber in a direction opposite to the direction of excavation. A plurality of jack devices to be pressed are provided, a wall portion is provided between the rear chamber and the tail portion, and the camera portion includes one camera body including an image pickup device for picking up a subject image; Copy A bundle of optical fibers for guiding an image to the image sensor, and a photographing optical system attached to the tip of the optical fiber, wherein the camera body is disposed at a location away from the wall in the rear chamber, An imaging optical system is attached to the wall portion in the rear chamber, and is provided so as to photograph one place in the circumferential direction of the inner peripheral surface of the tail portion and the segment, and the tail photographed by the imaging optical system One image in the circumferential direction of the section and the circumferential direction of the segment is guided to the imaging element via the optical fiber, and the detection light projection section is configured to capture the segment within the imaging range captured by the imaging optical system. The detection light is projected to at least two places spaced apart in the circumferential direction of at least two jack devices of the plurality of jack devices in the direction of digging the segment A distance detection unit that measures the stroke amount when pressing in the opposite direction and supplies the measurement data to the clearance deriving unit is provided, and is positioned at the front end in the excavation direction among the segments assembled in the mine by the shield machine An inner diameter measuring unit that measures the inner diameter of the segment to be measured and supplies the measurement data of the inner diameter to the clearance deriving unit is provided, and the clearance deriving unit by the clearance deriving unit It is made by correcting based on the measurement data and the measurement data of the inner diameter of the segment.

According to the present invention, the detection light projection unit projects linear detection light onto the segment end surface portion, and the tail portion inner peripheral surface portion, segment outer peripheral surface portion, segment inner peripheral surface portion, segment end surface imaged by the camera portion. The tail clearance is derived based on the image data based on the image data of the location.
Therefore, the measurement data during excavation can be obtained continuously without stopping the excavation operation of the shield machine, which is advantageous in improving measurement efficiency and eliminates the need for measurement work by workers. It is also advantageous in reducing the physical burden on the staff.
In addition, even in a dark environment, the camera unit can reliably capture the detection light reflected at the segment end face location as reflected light, so that the tail clearance can be derived with high accuracy and stability. This is even more advantageous.

1 is an overall view of a shield machine 10 on which a tail clearance measuring device 30 according to a first embodiment is mounted. (A) is explanatory drawing which shows the installation state of the tail clearance measuring apparatus 30 of 1st Embodiment, (B) is BB sectional drawing of (A). It is a block diagram which shows the structure of the control system of the tail clearance measuring apparatus 30 of 1st Embodiment. It is a block diagram which shows the structure of the computer of the tail clearance measuring apparatus 30 of 1st Embodiment. (A), (B) is operation | movement explanatory drawing of the tail clearance measuring apparatus 30. FIG. (A), (B) is explanatory drawing of the measurement operation | movement by the tail clearance measuring apparatus 30. FIG. (A), (B) is explanatory drawing of the derivation | leading-out process of tail clearance Tc. (A), (B) is explanatory drawing of the modification of the derivation | leading-out process of tail clearance Tc. 4 is an operation flowchart of the tail clearance measuring device 30. (A) is explanatory drawing which shows the installation state of the tail clearance measuring apparatus 30 of 2nd Embodiment, (B) is BB sectional drawing of (A). (A) is explanatory drawing which shows the installation state of the tail clearance measuring apparatus 30 of 3rd Embodiment, (B) is the BB sectional drawing of (A). (A) is explanatory drawing which shows the installation state of the tail clearance measuring apparatus 30 of 4th Embodiment, (B) is BB sectional drawing of (A). (A) is explanatory drawing which shows the installation state of the tail clearance measuring apparatus 30 of 5th Embodiment, (B) is BB sectional drawing of (A). (A) is explanatory drawing which shows the installation state of the tail clearance measuring apparatus 30 of 6th Embodiment, (B) is BB sectional drawing of (A). (A) is explanatory drawing which shows the installation state of the tail clearance measuring apparatus 30 of 7th Embodiment, (B) is BB sectional drawing of (A).

(First embodiment)
Next, an embodiment of the present invention will be described with reference to FIGS.
First, the shield machine 10 will be described.
As shown in FIGS. 1 and 2, the shield machine 10 includes a front body portion 12, a tail portion (rear body portion) 14, a rear carriage 16, and the like. The front body portion 12 includes an excavation portion 12A. And a rear chamber 12C provided at the rear thereof.

The excavation part 12A includes a cutter device 1202, an exterior wall (a front skin plate facing the inner wall 1802 of the tunnel 18) 12B, and the like.
The rear chamber 12C is a location behind the excavation unit 12A inside the front skin plate 12B, and a conveyor device (a soil removal device), a jack device, and the like (not shown) are arranged in the rear chamber 12C.
The cutter device 1202 is configured to excavate natural ground by rotating a disk-shaped cutter around an axis parallel to the excavation direction.
The conveyor device is configured to convey the earth and sand discharged by excavation of natural ground by the cutter device 1202 backward.
The jack device is configured to push the cutter device 1202 and the conveyor device in the digging direction by pressing the end face portion of the segment 20 annularly assembled to the tunnel 18 excavated by the cutter device 1202 toward the rear in the digging direction. It is configured.
An annular wall portion 12D is provided between the rear chamber 12C and the tail portion 14.

The tail portion 14 includes a skin plate (rear skin plate) 14 </ b> A facing the inner wall 1802 of the tunnel 18.
As shown in FIG. 2A, the skin plate 14A has a cylindrical shape, and has an outer peripheral surface facing the inner wall 1802 of the tunnel 18 and an inner peripheral surface 1402 facing the outer peripheral surface and facing the outer peripheral surface 2002 of the segment 20. ing.
The skin plate 14A of the tail portion 14 is flexibly connected to the rear end portion of the exterior wall (front skin plate) 12B of the excavation portion 12A in the excavation direction.

The rear carriage 16 operates the shield machine 10 and is provided behind the tail portion 14.
In the present embodiment, the rear carriage 16 includes a plurality of carriages 16A, 16B, 16C, and 16D. These carriages include a control unit for operating the excavation section 12A and the tail section 14, a drive source, an oil tank, and the like. Are distributed.
The rear carriage 16 is movably provided on a rail 19 extending in the longitudinal direction of the tunnel 18.

The segment 20 has a thickness extending in the radial direction of the tunnel 18 and a length extending in the excavation direction of the tunnel 18.
As shown in FIGS. 1 and 6, the segment 20 includes a cylindrical outer peripheral surface 2002 disposed facing the inner wall 1802 of the tunnel 18 and a cylindrical inner peripheral surface facing the center of the tunnel 18. A surface 2004 and end surfaces 2006 positioned at both ends in the extending direction of the tunnel 18 are configured.
The segment 20 functions to support the inner wall 1802 by being annularly assembled to the inner wall 1802 of the tunnel 18 excavated by the shield machine 10, in other words, by being assembled in the mine.
A segment tunnel is constructed by assembling the segment 20 to the inner wall 1802.

(Tail clearance measuring device 30)
As shown in FIGS. 1 and 3, the tail clearance measuring device 30 includes a device main body 32 and a computer 34.
In the present embodiment, the apparatus main body 32 is installed in the tail portion 14, and the computer 34 is installed in the office 2 provided at a location away from the tunnel 18.
The apparatus main body 32 and the computer 34 are configured to be able to communicate various data bidirectionally via a communication line 36.
In the present embodiment, a wired LAN via a cable is used as the communication line 36, but a wireless line such as a wireless LAN may be used as the communication line 36, and various conventionally known communication lines 36 may be used. A form of communication line can be used.
As shown in FIG. 3, the rear carriage 16 has a monitor 50 for displaying an image transmitted from the control panel 40 of the apparatus main body 32 via the image transmission line 37 and a control command supplied via the communication line 36. And an alarm section 52 that generates an alarm sound in response to the alarm.
In addition to the computer 34, the office 2 is provided with a monitor 54 that displays an image transmitted from the control panel 40 via the image transmission line 37.
Note that the installation location of the computer 34 is not limited. For example, the computer 34 may be installed on the rear carriage 16.

As shown in FIG. 3, the apparatus main body 32 includes a measurement unit 38 and a control panel 40.
In the present embodiment, four measurement units 38 are provided.
Each measurement unit 38 includes a camera unit 42, an illumination unit 43, a detection light projection unit 44, and a distance detection unit 46, and is integrally fixed to a support member (not shown), and the tail unit via the support member. 14 is attached.
In the present embodiment, each measurement unit 38 is attached to the wall portion 12D (FIG. 2A) via a support member in the rear chamber 12C.
In other words, the camera unit 42 and the detection light projection unit 44 are fixed to the tail unit 14 so as not to move.

(Camera unit 42)
As shown in FIGS. 5 (A), 5 (B), 6 (A) and 6 (B), the camera unit 42 includes a tail portion inner peripheral surface portion Ti, a segment outer peripheral surface portion So, and a segment inner peripheral surface portion Si. The segment end face portion Se is photographed to generate a video signal (video signal).
The tail portion inner peripheral surface portion Ti is a part of the inner peripheral surface 1402 of the tail portion 14.
The segment outer peripheral surface portion So is a portion of the outer peripheral surface 2002 of the segment 20 facing the tail portion inner peripheral surface portion Ti.
The segment inner peripheral surface portion Si is a portion of the inner peripheral surface 2004 of the segment 20 located inside the segment outer peripheral surface portion So in the radial direction of the segment 20 (thickness direction of the segment 20).
The segment end surface portion Se is a portion of the end surface 2006 of the segment 20 that connects the segment outer peripheral surface portion So and the segment inner peripheral surface portion Si.

In the present embodiment, the four measurement units 38 are provided such that each camera unit 42 captures four locations at intervals of 90 degrees in the circumferential direction of the inner peripheral surface 1402 of the tail unit 14 and the segment 20. ing.
Specifically, as shown in FIGS. 2A and 2B, the measurement units 38 are provided at four locations, ie, two locations in the vertical direction and two locations on the left and right in the horizontal direction perpendicular to the vertical direction. ing.
The camera unit 42 has a camera body 42A.
The camera body 42A is provided with a lens barrel 42B incorporating a photographing optical system.
The camera body 42A includes an image sensor (not shown) and a signal processing unit.
The image pickup device picks up a subject image guided by the photographing optical system and generates an image pickup signal. As such an image pickup device, various conventionally known image pickup devices such as a CCD and a C-MOS sensor are used. Is possible.
The signal processing unit generates a video signal by processing an imaging signal supplied from the imaging element.

(Lighting unit 43)
The illumination unit 43 illuminates the imaging range of the camera unit 42, and is configured by, for example, a spot illumination device.
The lighting unit 43 is controlled to be turned on and off by a control command transmitted from the computer 34 via the communication line 36 and the control panel 40.
Providing the illumination unit 43 in this manner is advantageous in improving the brightness and contrast of the images displayed on the monitors 50 and 54 by illuminating the illumination unit 43 as necessary, thereby improving the visibility. Become.

(Detection light projection unit 44)
The detection light projection unit 44 emits laser light emitted from the laser light source as linear detection light by using a special lens.
In the present embodiment, each of the four measurement units 38 is configured such that each detection light projection unit 44 projects detection light at four positions spaced 90 degrees in the circumferential direction of the inner peripheral surface 1402 of the tail portion 14 and the segment 20. It is provided to do.
As such a detection light projection unit 44, for example, a laser pattern projector (trade name) sold by Moritex Corporation can be used.
In the present embodiment, as shown in FIGS. 5 and 6, the detection light projection unit 44 is a line extending across at least one of the first arc portion C1 and the second arc portion C2 of the segment 20. A shaped detection light Ls is projected onto the segment end face portion Se.
The first arc portion C1 is a portion where the segment end surface portion Se and the segment outer peripheral surface portion So intersect.
The second arc portion C2 is a portion where the segment end surface portion Se and the segment inner peripheral surface portion Si intersect.
In the present embodiment, as shown in FIGS. 6 and 7, the detection light Ls has a first straight line portion L1 and a second straight line portion L2.
The first straight line portion L1 extends along the radial direction of the segment 20 so as to intersect the first arc portion C1 and the second arc portion C2.
The second straight portion L2 extends in the direction orthogonal to the first straight portion L1 at the center of the first straight portion L1.
Therefore, the detection light Ls is projected onto the segment end face portion Se as a cross-shaped cross line.
As described above, since the detection light Ls is projected from the detection light projection unit 44 to the segment end surface portion Se, the camera unit 42 reflects at the segment end surface portion Se even in a dark environment as in the tunnel 18. The detected detection light Ls can be reliably imaged as reflected light.
Further, the wavelength range of the detection light Ls is not limited as long as it can be captured by the camera unit 42. For example, if the detection light Ls is red light, it is advantageous in improving visibility.

(Distance detection unit 46)
The distance detection unit 46 detects the distance between the tail unit 14 and the end surface 2006 of the segment 20 and supplies a detection signal indicating the detected distance to the control panel 40.
More specifically, the distance detection unit 46 detects a stroke amount when at least two jack devices of the plurality of jack devices of the digging unit 12 press the segment 20 in the direction opposite to the digging direction.
In the present embodiment, the distance detection unit 46 detects the distance (displacement) by irradiating the end surface 2006 of the segment 20 with detection light and detecting the reflected light, and has a voltage value corresponding to the distance. A signal is supplied to the control panel 40. In this case, the detection signal is an analog signal.
The distance detector 46 is not limited to a non-contact laser displacement meter. As the distance detection unit 46, a stroke sensor that is attached to each of a plurality of jack devices of the digging unit 12 and detects a stroke amount when the jack device presses the segment 20 in a direction opposite to the digging direction may be used.

(Control panel 40)
As shown in FIG. 3, the control panel 40 includes an image processing unit 40A, a video distribution unit 40B, a data conversion unit 40C, an input / output control unit 40D, an interface 40E, and the like.
The image processing unit 40A generates digitized image data by performing preprocessing necessary for image analysis processing, which will be described later, on the video signal supplied from each camera unit 42, and the image data is transmitted to the communication line 36. Is supplied to the computer 34.
The video distribution unit 40B switches the video signal supplied from each camera unit 42 and supplies it to the monitors 50 and 54 via the video transmission line 37.
The data converter 40C converts the stroke amount detection signal supplied from the distance detector 46 from an analog signal to a digital signal and supplies the converted signal to the computer 34 via the communication line 36.
The input / output control unit 40D controls the switching operation of the video distribution unit 40B in accordance with a control command supplied from the computer 34 via the communication line 36.
The interface 40E controls transmission / reception of signals and data between the image processing unit 40A, the video distribution unit 40B, the data conversion unit 40C, the input / output control unit 40D, the illumination unit 43, and the communication line 36. .

(Computer 34)
The computer 34 derives the clearance between the inner peripheral surface 1402 of the tail portion 14 and the outer peripheral surface 2002 of the segment 20 based on image data supplied from each camera unit 42 via the control panel 40 and the communication line 36. is there.
As shown in FIG. 4, the computer 34 includes a CPU 3402, a ROM 3404, a RAM 3406, a hard disk device 3408, a disk device 3410, a keyboard 3412, a mouse 3414, a display 3416, and a printer connected via an interface circuit (not shown) and a bus line. 3418, an interface 3420, and the like.
A ROM 3404 stores a control program and the like, and a RAM 3406 provides a working area.
The hard disk device 3408 stores a conventionally known image analysis program, a derivation program for deriving the tail clearance Tc, and a tail clearance Tc monitoring program.
The disk device 3410 records and / or reproduces data on a recording medium such as a CD or a DVD.
The keyboard 3412 and the mouse 3414 receive operation inputs from the operator.
A display 3416 displays and outputs data. A printer 3418 prints and outputs data. The display 3416 and the printer 3418 output data.
The interface 3420 inputs image data supplied from each measurement unit 38 via the communication line 36.
The CPU 3402 executes the image analysis program and the derivation program stored in the hard disk device 3408, and based on the image data input from the interface 3420, as shown in FIG. The tail clearance Tc between the inner peripheral surface 1402 of 14A and the outer peripheral surface 2002 of the segment 20 is derived.
Therefore, in the present embodiment, the clearance derivation unit of the claims is constituted by the CPU 3402 of the computer 34 that executes the image analysis program and the derivation program.
Further, the CPU 3402 displays and outputs the derived tail clearance Tc on the display 3416 or prints it on the printer 3418.
The output of the tail clearance Tc by the CPU 3402 may be output to a recording medium such as a CD or a DVD using the disk device 3410, or to the memory card via various external interfaces provided in the computer 34. You may go. Alternatively, it may be performed on another computer (terminal device) via the network using the interface 3420, and the output form of the tail clearance Tc is arbitrary.

  In addition, the CPU 3402 executes the monitoring program stored in the hard disk device 3408, and when the obtained tail clearance Tc exceeds a predetermined allowable range, a control command for instructing execution of an alarm operation Is monitored to be supplied to the alarm unit 52 via the communication line 36.

Here, the derivation process of the tail clearance Tc by the clearance deriving unit will be described with reference to FIGS.
FIG. 7A shows an initial setting state.
As shown in FIG. 7A, the first straight line portion L1 of the detection light Ls extends so as to intersect the first arc portion C1 and the second arc portion C2. In the present embodiment, the first straight line portion L1 is orthogonal to the first arc portion C1 and the second arc portion C2.
A point at which the first straight line portion L1 is orthogonal to the second straight line portion L2 is defined as a reference point O, a point at which the first straight line portion L1 intersects the first arc portion C1 is defined as a first intersection point P1, A point where the straight line portion L1 intersects the second arc portion C2 is defined as a second intersection point P2.
A distance between the reference point O and the first intersection P1 is defined as a first distance A, and a distance between the reference point O and the second intersection P2 is defined as a second distance B.
Here, three distances of the first distance A, the second distance B, and the tail clearance Tc (the distance between the inner peripheral surface 1402 of the tail portion 14 and the outer peripheral surface 2002 of the segment 20) are obtained by image processing. .
As a result, it is assumed that A = A1, B = B1, and Tc = Tc1.
These three data are stored as initial values.

Next, as shown in FIG. 7B, as the segment 20 is assembled to the inner wall 1802, the relative position between the inner peripheral surface 1402 of the tail portion 14 and the outer peripheral surface 2002 of the segment 20 changes. It is assumed that the clearance Tc has changed. In this example, the inner peripheral surface 1402 of the tail portion 14 is displaced in a direction away from the outer peripheral surface 2002 of the segment 20.
In this case, it is assumed that the results of obtaining the two distances of the first and second distances A and B by image processing are A = A2 and B = B2.
Here, the tail clearance Tc after the change is Tc2, and the amount of change in the tail clearance Tc is ΔTc.
Then, the change amount ΔA = A2−A1 of the first distance A and the change amount ΔB = B2−B1 of the second distance B have the same absolute value, and these change amounts ΔA and ΔB are the radius of the segment 20. It changes in proportion to the amount of movement of the position in the direction.
In other words, the change amounts ΔA and ΔB indicate the change amount ΔTc of the tail clearance Tc.
In the present embodiment, since the first straight line portion L1 extends across the first arc portion C1 and the second arc portion C2, the amounts of change ΔA and ΔB are in the radial direction of the segment 20. It is equal to the amount of movement of the position. Therefore, these change amounts ΔA and ΔB are equal to the change amount ΔTc of the tail clearance Tc.
Therefore, by adding or subtracting the movement amount of the radial position of the segment 20 obtained from the first change amount ΔA or the second change amount ΔB to the tail clearance Tc1 measured at the initial setting. The tail clearance Tc can be derived.
When the first straight line portion L1 obliquely intersects the first arc portion C1 and the second arc portion C2, the change amounts ΔA and ΔB are the movements of the segment 20 in the radial direction. The amount of movement of the actual position of the segment 20 in the radial direction may be calculated by proportional calculation using the fact that it changes in proportion to the amount.

Note that the following processing may be performed as the derivation processing of the tail clearance Tc by the clearance derivation unit.
FIG. 8A shows an initial setting state.
As shown in FIG. 8A, the detection light Ls has only the first straight line portion L1 extending so as to intersect the first arc portion C1 and the second arc portion C2. The first straight line portion L1 is orthogonal to the first arc portion C1 and the second arc portion C2.
A point where the first straight line portion L1 intersects the first arc portion C1 is defined as a first intersection point P1, and a point where the detection light Ls intersects the second arc portion C2 is defined as a second intersection point P2.
In the drawing, a symbol Z indicates an imaging area imaged by the camera unit 42.
As described above, the measurement unit 38 including the camera unit 42 is integrally fixed to the tail unit 14. Therefore, the relative position between the imaging area Z and the inner peripheral surface 1402 of the tail unit 14 is fixed. Yes.
Here, three data of the position data of the intersections P1 and P2 on the imaging area Z and the tail clearance Tc (the distance between the inner peripheral surface 1402 of the tail portion 14 and the outer peripheral surface 2002 of the segment 20) are obtained by image processing. .
These three data are stored as initial values.

Next, as shown in FIG. 8B, as the segment 20 is assembled to the inner wall 1802, the relative position between the inner peripheral surface 1402 of the tail portion 14 and the outer peripheral surface 2002 of the segment 20 changes. It is assumed that the clearance Tc has changed.
In this case, the position data of the first and second intersections P1 and P2 obtained by image processing changes.
The position data of the first and second intersections P1 and P2 change in proportion to the amount of movement of the segment 20 in the radial direction.
In other words, the change amount of the position data at the first and second intersections P1 and P2 indicates the change amount ΔTc of the tail clearance Tc.
Also in this example, as in the case of FIG. 7, the first straight line portion L1 (detection light Ls) extends across the first arc portion C1 and the second arc portion C2, The amount of change in the position data at the first and second intersections P1 and P2 is equal to the amount of movement of the segment 20 in the radial direction. Therefore, the change amount of the position data of the first and second intersections P1 and P2 is equal to the change amount ΔTc of the tail clearance Tc.
Therefore, the movement amount of the radial position of the segment 20 obtained from the change amount of the position data of the first and second intersections P1 and P2 is added to or subtracted from the tail clearance Tc1 measured at the initial setting. Thus, the tail clearance Tc can be derived.
When the first straight line portion L1 (detection light Ls) obliquely intersects the first arc portion C1 and the second arc portion C2, the first and second intersection points P1, P2 are used. The amount of movement of the actual position of the segment 20 in the radial direction may be calculated by proportional calculation using the fact that the amount of change in the position data changes in proportion to the amount of movement of the position of the segment 20 in the radial direction.

(Operation)
Next, the operation of the tail clearance measuring device 30 will be described with reference to the flowchart of FIG.
First, the plurality of measurement units 38 and the computer 34 of the tail clearance measurement device 30 are activated, and the image data generated by each measurement unit 38 is set to be supplied to the computer 34.
When the shield machine 10 starts excavation of the natural ground and the assembly of the segment tunnel, the initial setting is performed for each measurement unit 38 (step S10).
When the initial setting is completed, excavation of the natural ground and assembly of the segment tunnel by the shield machine 10 are started (step S12).
The computer 34 derives the tail clearance Tc by executing the clearance deriving process based on the image data supplied from each measurement unit 38 (step S14).
In the present embodiment, the computer 34 obtains data on the inclination (inclination angle) that the segment 20 makes with respect to the excavation direction based on the measurement data of the stroke amount obtained from each distance detection unit 46.
Next, the computer 34 corrects the image data supplied from the camera unit 42 based on the tilt data, and then executes the clearance derivation process.
The derived tail clearance Tc is displayed and output on the display 3416 or the like by the computer 34 (step S16).
The video signal obtained by the camera unit 42 of each measurement unit 38 is supplied to the monitor 50 of the rear carriage 16 or the monitor 54 of the office 2 to display the video (step S18).
The computer 34 determines whether or not the value of the tail clearance Tc derived by the clearance deriving process is within a predetermined allowable range (step S20).
If the determination result of step S20 is affirmative, it is determined whether or not the clearance deriving operation is to be ended (step S22).
If the determination result of step S22 is affirmative, the process ends. If the determination result of step S22 is negative, the process returns to step S14.
If the determination result in step S20 is negative, a control command for instructing execution of an alarm operation is sent to the alarm unit 52 via the communication line 36 (step S24), and the process returns to step S14.
Upon receiving the control command, the alarm unit 52 emits a predetermined alarm sound to notify the worker that the tail clearance Tc has deviated from the allowable range, and prompts a measure such as stopping the operation of the shield machine 10.

As described above, according to the present embodiment, the detection light projection unit 44 projects the linear detection light Ls onto the segment end surface part Se, and the tail part inner peripheral surface part Ti and the segment imaged by the camera part 42. The tail clearance Tc is derived based on the image data of the outer peripheral surface portion So, the segment inner peripheral surface portion Si, and the segment end surface portion Se.
Therefore, since the measurement data during the excavation can be obtained continuously without stopping the excavation operation of the shield machine 10, it is advantageous in improving the measurement efficiency, and the measurement work by the worker is unnecessary. This is also advantageous in reducing the physical burden on the worker.
Furthermore, according to the present embodiment, the camera unit 42 reliably captures the detection light Ls reflected on the segment end face part Se as reflected light even in an environment where the illumination is dark as in the tunnel 18. can do.
Therefore, the clearance deriving process can be performed based on clear and high-contrast image data, which is extremely advantageous in deriving the tail clearance Tc with high accuracy and stability.
In the present embodiment, the data supplied from the camera unit 42 is obtained by obtaining data of the inclination (tilt angle) that the segment 20 makes with respect to the excavation direction based on the stroke amount measurement data obtained from the distance detection unit 46. Since the clearance derivation process is executed after the data is corrected based on the tilt data, it is more advantageous in increasing the accuracy of the tail clearance Tc.
Conventionally, when using a measuring device that measures the tail clearance based on the protruding amount of the measuring needle applied to the skin plate, there is a disadvantage that the measuring device is likely to break down, resulting in a decrease in measuring efficiency. This eliminates the need for a separate measuring device, which is advantageous in improving measurement efficiency.

(Second Embodiment)
Next, a second embodiment will be described.
The second embodiment differs from the first embodiment in the arrangement of the camera unit 42.
FIG. 10A is an explanatory view showing an installation state of the tail clearance measuring device 30 according to the second embodiment, and FIG. 10B is a sectional view taken along line BB in FIG. In the following embodiments, the same parts and members as those in the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.
As shown in FIGS. 10A and 10B, four measurement units 38 are provided as in the first embodiment.
Of the four measurement units 38, the three measurement units 38 are configured in the same manner as in the first embodiment, and are attached to the wall portion 12D in the rear chamber 12C as in the first embodiment. ing.
The camera units 42 of the three measurement units 38 are provided so as to photograph three locations with an interval of 90 degrees in the circumferential direction of the inner peripheral surface 1402 of the tail unit 14 and the segment 20. It is provided in one place above the vertical direction and two places in the horizontal direction perpendicular to the vertical direction. The camera main body 42A of each camera unit 42 is attached to the wall 12D in the rear chamber 12C as in the first embodiment.
In addition, the detection light projection portions 44 of the three measurement units 38 are provided at three locations spaced by 90 degrees in the circumferential direction of the inner peripheral surface 1402 of the tail portion 14 and the segment 20, as with the three camera portions 42. Specifically, it is provided so as to project the detection light Ls. Specifically, the detection light Ls is provided at one place in the vertical direction and two places in the horizontal direction perpendicular to the vertical direction.

Of the four measurement units 38, the camera unit 42 of the remaining one measurement unit 38 includes a camera main body 42A, an optical fiber 60 that guides a subject image to an image sensor incorporated in the camera main body 42A, and the tip of the optical fiber. And a photographing optical system (not shown) attached to the head.
The camera body 42A of the camera unit 42 of the remaining one measurement unit 38 is disposed at a position away from the wall 12D in the rear chamber 12C.
The photographing optical system is attached to the wall portion 12D in the rear chamber 12C. Specifically, the photographing optical system is provided at a position below the vertical direction in the circumferential direction of the inner circumferential surface 1402 of the tail portion 14 and the segment 20. Yes.
Images of the inner peripheral surface 1402 of the tail portion 14 and the outer peripheral surface 2002 of the segment 20 facing the inner peripheral surface 1402 photographed by the photographing optical system are guided to the camera body 42A via the optical fiber 60.
In addition, the detection light projection unit 44 of the remaining one measurement unit 38 is located at a position below the vertical direction in the circumferential direction of the inner peripheral surface 1402 of the tail unit 14 and the segment 20, similarly to the one camera unit 42. Is provided so as to project the detection light Ls, and specifically, is provided at a position below the vertical direction.

According to the second embodiment, it is needless to say that the same effects as those of the first embodiment can be obtained, and the camera body 42A is moved to the rear chamber by guiding the image to the camera body 42A via the optical fiber 60. Since it can be arranged at a position away from the wall portion 12D in 12C, it is possible to prevent groundwater or the like generated when the shield machine 10 is excavated from being directly applied to the camera body 42A, and to improve the protection and durability of the camera body 42A. This is advantageous.
Further, since the optical fiber 60 is used, it is advantageous in securing the degree of freedom of the layout of the camera unit 42 (camera body 42A) in the rear chamber 12C.
In the second embodiment, the case where one of the four camera units 42 performs shooting using the optical fiber 60 has been described. However, the camera unit that performs shooting using the optical fiber 60. The arrangement and number of 42 are arbitrary.

(Third embodiment)
Next, a third embodiment will be described.
The third embodiment is a modification of the second embodiment, and the arrangement of the camera unit 42, the detection light projection unit 44, and the control panel 40 is different from that of the second embodiment.
FIG. 11A is an explanatory view showing an installation state of the tail clearance measuring device 30 according to the third embodiment, and FIG. 11B is a sectional view taken along the line BB of FIG.
The four camera units 42 (FIG. 3) have a camera main body 42A (FIG. 3), an optical fiber 60, and an imaging optical system (not shown) attached to the tip of the optical fiber.
Each of the photographing optical systems is attached to the wall portion 12D in the rear chamber 12C so as to photograph four locations at intervals of 90 degrees in the circumferential direction of the inner peripheral surface 1402 of the tail portion 14 and the segment 20. Is provided.
Specifically, it is provided at two places in the vertical direction and two places in the horizontal direction perpendicular to the vertical direction.
The four detection light projection parts 44 are attached to the wall part 12D in the rear chamber 12C, similarly to the four camera parts 42, and the circumferential direction of the inner peripheral surface 1402 of the tail part 14 and the segment 20 Are provided so as to project the detection light Ls at four positions spaced 90 degrees apart.
Specifically, it is provided at two places in the vertical direction and two places in the horizontal direction perpendicular to the vertical direction.
The four camera bodies 42A (FIG. 3) and the control panel 40 (FIG. 3) are arranged on the rear carriage 16A (FIG. 1).
Each optical fiber 60 is laid from the rear chamber 12C to each camera body 42A of the carriage 16A.
Images of the inner peripheral surface 1402 of the tail portion 14 and the outer peripheral surface 2002 of the segment 20 facing the inner peripheral surface 1402 photographed by the photographing optical system are guided to the camera body 42A via the optical fiber 60.

According to the third embodiment, the same effects as those of the first embodiment can be obtained, and the camera body 42A is shielded by guiding the image to the camera body 42A via the optical fiber 60. Since it can be disposed at a location distant from 10, it can be surely prevented that groundwater generated by the excavation of the shield machine 10 is directly applied to the camera body 42 </ b> A, and the protection of the camera body 42 </ b> A can be improved and durability can be improved. It becomes even more advantageous.
Further, since the camera body 42A is disposed on the rear carriage 16 away from the rear chamber 12C, and only the optical fiber 60 and the photographing optical system provided at the tip thereof are disposed in the rear chamber 12C, the tail clearance measuring device 30 is provided. However, since the space occupied in the rear chamber 12C is very small, it is advantageous in mounting the tail clearance measuring device 30 on the small shield machine 10 in which the rear chamber 12C has no space.

(Fourth embodiment)
Next, a fourth embodiment will be described.
In the fourth embodiment, tail clearance is measured using a single camera unit 42.
FIG. 12A is an explanatory view showing an installation state of the tail clearance measuring device 30 according to the fourth embodiment, and FIG. 12B is a sectional view taken along line BB of FIG.
The tail clearance measurement device 30 includes one camera unit 42, four detection light projection units 44, a distance detection unit 46 (FIG. 3), and a control panel 40 (FIG. 3).
The camera unit 42 is attached to the center of the circular cross section of the rear chamber 12C via a support member at a location near the tail unit 14 in the rear chamber 12C, and the photographing optical system is provided on the wall 12D. Through the opening 12E, the inner peripheral surface 1402 of the tail portion 14 and the entire circumference in the circumferential direction of the segment 20 are provided so as to be photographed.
The four detection light projecting portions 44 are attached to the wall portion 12D in the rear chamber 12C, and are provided at four locations at intervals of 90 degrees in the circumferential direction of the inner peripheral surface 1402 of the tail portion 14 and the segment 20. It is provided so as to project the detection light Ls.
Specifically, it is provided at two places in the vertical direction and two places in the horizontal direction perpendicular to the vertical direction.

  According to the fourth embodiment, it is obvious that the same effect as that of the first embodiment can be obtained, and it is advantageous in reducing the cost because one camera unit 42 is sufficient, The camera unit 42 occupies very little space in the rear chamber 12C. Therefore, it is advantageous for mounting the tail clearance measuring device 30 on the small shield machine 10 in which the rear chamber 12C has no space. .

(Fifth embodiment)
Next, a fifth embodiment will be described.
The fifth embodiment is a modification of the fourth embodiment, in which tail clearance is measured using a single camera unit 42 having an optical fiber 60.
FIG. 13A is an explanatory view showing an installation state of the tail clearance measuring device 30 according to the fifth embodiment, and FIG. 13B is a sectional view taken along the line BB of FIG.
The tail clearance measurement device 30 includes one camera unit 42, four detection light projection units 44, a distance detection unit 46 (FIG. 3), and a control panel 40 (FIG. 3).
One camera unit 42 is provided, and the camera unit 42 includes a camera body 42A, an optical fiber 60, and a photographing optical system (not shown) attached to the tip of the optical fiber.
The photographing optical system is attached to the center of the circular cross section of the rear chamber 12C via a support member at a position near the tail portion 14 in the rear chamber 12C, and the inner peripheral surface 1402 of the tail portion 14 and the periphery of the segment 20 are attached. It is provided so that the entire circumference of the direction can be taken.
The camera body 42A (FIG. 3) is disposed on the rear carriage 16 (FIG. 1).
An image over the entire circumference of the inner peripheral surface 1402 of the tail portion 14 and the outer peripheral surface 2002 of the segment 20 facing the inner peripheral surface 1402 taken by the photographing optical system is guided to the camera body 42A via the optical fiber 60.
The four detection light projecting portions 44 are attached to the wall portion 12D in the rear chamber 12C, and are provided at four locations at intervals of 90 degrees in the circumferential direction of the inner peripheral surface 1402 of the tail portion 14 and the segment 20. It is provided so as to project the detection light Ls.
Specifically, it is provided at two places in the vertical direction and two places in the horizontal direction perpendicular to the vertical direction.

According to the fifth embodiment, it is needless to say that the same effects as those of the first embodiment can be obtained, and only one camera unit 42 is sufficient, which is advantageous in reducing the cost.
Further, since the camera main body 42A can be disposed at a location away from the shield machine 10 by guiding the image to the camera main body 42A via the optical fiber 60, groundwater generated by the excavation of the shield machine 10 is directly applied to the camera main body 42A. This can be surely prevented, and is further advantageous in protecting the camera body 42A and improving durability.
Since one camera body 42A is arranged in the rear carriage 16 away from the rear chamber 12C, and only one bundle of optical fibers 60 and the photographing optical system provided at the tip thereof are arranged in the rear chamber 12C. Since the tail clearance measuring device 30 occupies very little space in the rear chamber 12C, the tail clearance measuring device 30 can be mounted on the small shield machine 10 having no space in the rear chamber 12C. It will be advantageous.

(Sixth embodiment)
Next, a sixth embodiment will be described.
The sixth embodiment is a modification of the fourth embodiment.
FIG. 14A is an explanatory view showing an installation state of the tail clearance measuring device 30 according to the sixth embodiment, and FIG. 14B is a sectional view taken along line BB of FIG.
The tail clearance measurement device 30 includes an inner diameter measurement unit 62 in addition to one camera unit 42, two detection light projection units 44, a distance detection unit 46 (FIG. 3), and a control panel 40 (FIG. 3). I have.
The inner diameter measuring section 62 is mounted on the tail section 14 and measures at least two inner diameters of the segment 20 located at the front end in the digging direction among the segments 20 assembled in the tunnel 18 (FIG. 1) to control the control panel 40 and communication. This is supplied to the computer 34 via the line 36.
As the inner diameter measuring unit 62, various conventionally known distance sensors can be used.
One camera unit 42 is provided and is attached to the wall 12D in the rear chamber 12C.
The camera unit 42 is provided so as to be able to photograph one place in the circumferential direction of the inner circumferential surface 1402 of the tail unit 14 and the segment 20.
The two detection light projection parts 44 are attached to the wall part 12D in the rear chamber 12C, and the inner peripheral surface 1402 of the tail part 14 and the circumferential direction of the segment 20 within the photographing range photographed by the camera part 42 Are provided so as to project the detection light Ls at two positions spaced apart from each other.
The computer 34 obtains data of the inclination (inclination angle) that the segment 20 makes with respect to the excavation direction based on the stroke amount measurement data obtained from each distance detection unit 46.
The computer 34 also supplies the image data at one location in the circumferential direction of the inner peripheral surface 1402 of the tail portion 14 and the segment 20 supplied from the camera unit 42, the inclination data, and the segment supplied from the inner diameter measuring unit 62. The tail clearance between the inner peripheral surface 1402 of the skin plate 14A of the tail portion 14 and the outer peripheral surface 2002 of the segment 20 is derived after correction based on the measurement data of the inner diameter 20.
Of course, according to the sixth embodiment, the same effects as those of the first embodiment can be obtained, and the image data captured by one camera unit 42 is used as the inclination data of the segment 20 and Since an accurate tail clearance can be obtained by correcting the data based on the data of the inner diameter of the segment 20, since only one camera unit 42 is sufficient, it is advantageous in reducing costs, and the camera unit 42 is provided in the rear chamber. The space occupied in 12C is very small. Therefore, it is advantageous to mount the tail clearance measuring device 30 on the small shield machine 10 in which the rear chamber 12C has no space.

(Seventh embodiment)
Next, a seventh embodiment will be described.
The seventh embodiment is a modification of the sixth embodiment, and measures the tail clearance using a single camera unit 42 having an optical fiber 60.
FIG. 15A is an explanatory view showing an installation state of the tail clearance measuring device 30 according to the seventh embodiment, and FIG. 15B is a sectional view taken along the line BB of FIG.
One camera unit 42 is provided, and the camera unit 42 includes a camera body 42A, an optical fiber 60, and a photographing optical system (not shown) attached to the tip of the optical fiber.
The photographing optical system is attached to the wall portion 12D in the rear chamber 12C, and is provided so as to be able to photograph one place in the circumferential direction of the inner peripheral surface 1402 of the tail portion 14 and the segment 20.
The camera body 42A is disposed on the rear carriage 16 (cart 16A).
An image over the entire circumference of the inner peripheral surface 1402 of the tail portion 14 and the outer peripheral surface 2002 of the segment 20 facing the inner peripheral surface 1402 taken by the photographing optical system is guided to the camera body 42A via the optical fiber 60.
One detection light projection part 44 is attached to the wall part 12D in the rear chamber 12C, and is the same as the part where the photographing optical system photographs in the circumferential direction of the inner peripheral surface 1402 of the tail part 14 and the segment 20. It is provided so as to project the detection light Ls onto the place.
The two detection light projection parts 44 are attached to the wall part 12D in the rear chamber 12C, and the inner peripheral surface 1402 of the tail part 14 and the circumference of the segment 20 within the photographing range photographed by the photographing optical system. The detection light Ls is provided so as to be projected at two places spaced in the direction.
The inner diameter measuring part 62 is mounted on the tail part 14 as in the sixth embodiment, and at least the inner diameter of the segment 20 located at the front end in the digging direction among the segments 20 assembled in the tunnel 18 (FIG. 1) is at least. Two points are measured and supplied to the computer 34.
The computer 34 obtains data of the inclination (inclination angle) that the segment 20 makes with respect to the excavation direction based on the stroke amount measurement data obtained from each distance detection unit 46.
The computer 34 also supplies the image data at one location in the circumferential direction of the inner peripheral surface 1402 of the tail portion 14 and the segment 20 supplied from the camera unit 42, the inclination data, and the segment supplied from the inner diameter measuring unit 62. The tail clearance between the inner peripheral surface 1402 of the skin plate 14A of the tail portion 14 and the outer peripheral surface 2002 of the segment 20 is derived after correction based on the measurement data of the inner diameter 20.
Of course, according to the seventh embodiment, the same effects as those of the first embodiment can be obtained, and the image data photographed by one camera unit 42 is used as the inclination data of the segment 20 and Since an accurate tail clearance can be obtained by correcting the data based on the data on the inner diameter of the segment 20, one camera unit 42 is sufficient, which is advantageous in reducing the cost.
Further, since the camera main body 42A can be disposed at a location away from the shield machine 10 by guiding the image to the camera main body 42A via the optical fiber 60, groundwater generated by the excavation of the shield machine 10 is directly applied to the camera main body 42A. This can be surely prevented, and is further advantageous in protecting the camera body 42A and improving durability.
Since one camera body 42A is arranged in the rear carriage 16 away from the rear chamber 12C, and only one bundle of optical fibers 60 and the photographing optical system provided at the tip thereof are arranged in the rear chamber 12C. Since the tail clearance measuring device 30 occupies very little space in the rear chamber 12C, the tail clearance measuring device 30 can be mounted on the small shield machine 10 having no space in the rear chamber 12C. It will be advantageous.
In the sixth and seventh embodiments, two detection light projection units 44 are provided, and the inner peripheral surface 1402 of the tail unit 14 and the segment 20 are within the photographing range photographed by the camera unit 42 or the photographing optical system. The detection light Ls is projected to two locations spaced apart in the circumferential direction.
However, three or more detection light projection units 44 are provided, and three locations are provided in the circumferential direction of the inner peripheral surface 1402 of the tail unit 14 and the segment 20 within the photographing range photographed by the camera unit 42 or the photographing optical system. You may make it project the detection light Ls to the above location, respectively.
Alternatively, two or more locations spaced apart in the circumferential direction of the inner peripheral surface 1402 of the tail portion 14 and the segment 20 within the photographing range photographed by the camera portion 42 or the photographing optical system from one detection light projection portion 44 Alternatively, the detection light Ls may be projected onto each.

  DESCRIPTION OF SYMBOLS 10 ... Shield machine, 14 ... Tail part, 1402 ... Inner peripheral surface, 20 ... Segment, 2002 ... Outer peripheral surface, 30 ... Tail clearance measuring device, 34 ... Computer, 42 ... Camera part, 44 ...... Detection light projecting portion, Ti ...... tail portion inner peripheral surface location, So …… segment outer peripheral surface location, Si …… segment inner peripheral surface location, Se …… segment end surface location.

Claims (7)

A tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail portion of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface,
A part of the tail part inner peripheral surface which is a part of the inner peripheral surface of the tail part, a segment outer peripheral part of the outer peripheral surface of the segment facing the tail part inner peripheral part, and the segment outer peripheral face in the radial direction of the segment An image obtained by photographing a segment inner peripheral surface location of the inner peripheral surface of the segment located inside the location, and a segment end surface location of the end surface of the segment connecting the segment outer peripheral surface location and the segment inner peripheral surface location A camera unit for generating a signal;
At least one of a first arc portion provided at the tail portion where the segment end surface portion and the segment outer peripheral surface portion intersect, or a second arc portion where the segment end surface portion and the segment inner peripheral surface portion intersect A detection light projection unit that projects detection light having a linear first straight line portion extending across the segment to the end face of the segment;
A clearance deriving unit for deriving a clearance between the inner peripheral surface of the tail portion and the outer peripheral surface of the segment based on image data generated from the video signal ;
The shield machine has a front body portion and a tail portion,
The front torso has an excavation part in which a cutter is disposed, and a rear chamber located behind the excavation part,
A wall is provided between the rear chamber and the tail;
The camera unit includes a camera body including an image sensor that captures a subject image, an optical fiber that guides the subject image to the image sensor, and a photographing optical system attached to a tip of the optical fiber,
The camera body is disposed at a location away from the wall in the rear chamber,
The photographing optical system is attached to the wall portion in the rear chamber,
Images of the tail portion inner peripheral surface portion, the segment outer peripheral surface portion, the segment inner peripheral surface portion, and the segment end surface portion photographed by the photographing optical system are guided to the image pickup device via the optical fiber.
A tail clearance measuring device characterized by that.   A tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail portion of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface,
  A part of the tail part inner peripheral surface which is a part of the inner peripheral surface of the tail part, a segment outer peripheral part of the outer peripheral surface of the segment facing the tail part inner peripheral part, and the segment outer peripheral face in the radial direction of the segment An image obtained by photographing a segment inner peripheral surface location of the inner peripheral surface of the segment located inside the location, and a segment end surface location of the end surface of the segment connecting the segment outer peripheral surface location and the segment inner peripheral surface location A camera unit for generating a signal;
  At least one of a first arc portion provided at the tail portion where the segment end surface portion and the segment outer peripheral surface portion intersect, or a second arc portion where the segment end surface portion and the segment inner peripheral surface portion intersect A detection light projection unit that projects detection light having a linear first straight line portion extending across the segment to the end face of the segment;
  A clearance deriving unit for deriving a clearance between the inner peripheral surface of the tail portion and the outer peripheral surface of the segment based on image data generated from the video signal;
  The shield machine has a front body portion and a tail portion,
  The front torso has an excavation part in which a cutter is disposed, and a rear chamber located behind the excavation part,
  A wall is provided between the rear chamber and the tail;
  A rear carriage is provided in a segment tunnel assembled at the rear of the shield machine,
  The camera unit includes a camera body including an image sensor that captures a subject image, an optical fiber that guides the subject image to the image sensor, and a photographing optical system attached to a tip of the optical fiber,
  The photographing optical system is attached to the wall portion in the rear chamber,
  The camera body is disposed on the rear carriage,
  Images of the tail portion inner peripheral surface portion, the segment outer peripheral surface portion, the segment inner peripheral surface portion, and the segment end surface portion photographed by the photographing optical system are guided to the image pickup device via the optical fiber.
  A tail clearance measuring device characterized by that.   A tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail portion of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface,
  A part of the tail part inner peripheral surface which is a part of the inner peripheral surface of the tail part, a segment outer peripheral part of the outer peripheral surface of the segment facing the tail part inner peripheral part, and the segment outer peripheral face in the radial direction of the segment An image obtained by photographing a segment inner peripheral surface location of the inner peripheral surface of the segment located inside the location, and a segment end surface location of the end surface of the segment connecting the segment outer peripheral surface location and the segment inner peripheral surface location A camera unit for generating a signal;
  At least one of a first arc portion provided at the tail portion where the segment end surface portion and the segment outer peripheral surface portion intersect, or a second arc portion where the segment end surface portion and the segment inner peripheral surface portion intersect A detection light projection unit that projects detection light having a linear first straight line portion extending across the segment to the end face of the segment;
  A clearance deriving unit for deriving a clearance between the inner peripheral surface of the tail portion and the outer peripheral surface of the segment based on image data generated from the video signal;
  The shield machine has a front body portion and a tail portion,
  The front torso has an excavation part in which a cutter is disposed, and a rear chamber located behind the excavation part,
  A plurality of jack devices for pressing the segment in the direction opposite to the digging direction are provided in the rear chamber,
  A wall is provided between the rear chamber and the tail;
  One camera unit is provided so as to shoot over the entire inner circumferential surface of the tail portion and the circumferential circumference of the segment,
  The camera unit is mounted in the rear chamber;
  A distance detection unit that measures a stroke amount when at least two jack devices of the plurality of jack devices press the segment in a direction opposite to the digging direction, and supplies the measurement data to the image analysis unit;
  The derivation of the clearance by the image analysis unit is performed by correcting the image data based on the measurement data of the stroke amount.
  A tail clearance measuring device characterized by that.   A tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail portion of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface,
  A part of the tail part inner peripheral surface which is a part of the inner peripheral surface of the tail part, a segment outer peripheral part of the outer peripheral surface of the segment facing the tail part inner peripheral part, and the segment outer peripheral face in the radial direction of the segment An image obtained by photographing a segment inner peripheral surface location of the inner peripheral surface of the segment located inside the location, and a segment end surface location of the end surface of the segment connecting the segment outer peripheral surface location and the segment inner peripheral surface location A camera unit for generating a signal;
  At least one of a first arc portion provided at the tail portion where the segment end surface portion and the segment outer peripheral surface portion intersect, or a second arc portion where the segment end surface portion and the segment inner peripheral surface portion intersect A detection light projection unit that projects detection light having a linear first straight line portion extending across the segment to the end face of the segment;
  A clearance deriving unit for deriving a clearance between the inner peripheral surface of the tail portion and the outer peripheral surface of the segment based on image data generated from the video signal;
  The shield machine has a front body portion and a tail portion,
  The front torso has an excavation part in which a cutter is disposed, and a rear chamber located behind the excavation part,
  A plurality of jack devices for pressing the segment in the direction opposite to the digging direction are provided in the rear chamber,
  A wall is provided between the rear chamber and the tail;
  The camera unit includes a camera body including an image sensor that captures a subject image, a bundle of optical fibers that guides the subject image to the image sensor, and a photographing optical system that is attached to the tip of the optical fiber. Have
  The camera body is disposed at a location away from the wall in the rear chamber,
  The photographing optical system is attached to a location near the tail portion in the rear chamber, and is provided so as to photograph over the entire circumference in the circumferential direction of the inner peripheral surface of the tail portion and the outer peripheral surface of the segment,
  An image of the entire circumference in the circumferential direction of the inner peripheral surface of the tail portion and the outer peripheral surface of the segment taken by the photographing optical system is guided to the imaging element via the optical fiber,
  A distance detecting unit for measuring a stroke amount when at least two jack devices of the plurality of jack devices press the segment in a direction opposite to the digging direction, and supplying the measurement data to the clearance deriving unit;
  The clearance is derived by the clearance deriving unit by correcting the image data based on the measurement data of the stroke amount.
  A tail clearance measuring device characterized by that.   A tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail portion of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface,
  A part of the tail part inner peripheral surface which is a part of the inner peripheral surface of the tail part, a segment outer peripheral part of the outer peripheral surface of the segment facing the tail part inner peripheral part, and the segment outer peripheral face in the radial direction of the segment An image obtained by photographing a segment inner peripheral surface location of the inner peripheral surface of the segment located inside the location, and a segment end surface location of the end surface of the segment connecting the segment outer peripheral surface location and the segment inner peripheral surface location A camera unit for generating a signal;
  At least one of a first arc portion provided at the tail portion where the segment end surface portion and the segment outer peripheral surface portion intersect, or a second arc portion where the segment end surface portion and the segment inner peripheral surface portion intersect A detection light projection unit that projects detection light having a linear first straight line portion extending across the segment to the end face of the segment;
  A clearance deriving unit for deriving a clearance between the inner peripheral surface of the tail portion and the outer peripheral surface of the segment based on image data generated from the video signal;
  The shield machine has a front body portion and a tail portion,
  The front torso has an excavation part in which a cutter is disposed, and a rear chamber located behind the excavation part,
  A plurality of jack devices for pressing the segment in the direction opposite to the digging direction are provided in the rear chamber,
  A wall is provided between the rear chamber and the tail;
  One camera part is provided so as to photograph one place in the circumferential direction of the inner peripheral surface of the tail part and the segment,
  The camera unit is mounted in the rear chamber;
  The detection light projection unit is configured to project the detection light to at least two places spaced in the circumferential direction of the segment within a photographing range photographed by the camera unit,
  A distance detecting unit for measuring a stroke amount when at least two jack devices of the plurality of jack devices press the segment in a direction opposite to the digging direction, and supplying the measurement data to the clearance deriving unit;
  Of the segments assembled in the pit by the shield machine, measuring at least two locations of the inner diameter of the segment located at the front end in the excavation direction, and providing an inner diameter measurement unit for supplying the inner diameter measurement data to the clearance derivation unit,
  The clearance derivation by the clearance derivation unit is performed by correcting the image data based on the stroke amount measurement data and the segment inner diameter measurement data.
  A tail clearance measuring device characterized by that.   A tail clearance measuring device for measuring a clearance between an inner peripheral surface of a tail portion of a shield machine and an outer peripheral surface of a segment located inside the inner peripheral surface,
  A part of the tail part inner peripheral surface which is a part of the inner peripheral surface of the tail part, a segment outer peripheral part of the outer peripheral surface of the segment facing the tail part inner peripheral part, and the segment outer peripheral face in the radial direction of the segment An image obtained by photographing a segment inner peripheral surface location of the inner peripheral surface of the segment located inside the location, and a segment end surface location of the end surface of the segment connecting the segment outer peripheral surface location and the segment inner peripheral surface location A camera unit for generating a signal;
  At least one of a first arc portion provided at the tail portion where the segment end surface portion and the segment outer peripheral surface portion intersect, or a second arc portion where the segment end surface portion and the segment inner peripheral surface portion intersect A detection light projection unit that projects detection light having a linear first straight line portion extending across the segment to the end face of the segment;
  A clearance deriving unit for deriving a clearance between the inner peripheral surface of the tail portion and the outer peripheral surface of the segment based on image data generated from the video signal;
  The shield machine has a front body portion and a tail portion,
  The front torso has an excavation part in which a cutter is disposed, and a rear chamber located behind the excavation part,
  A plurality of jack devices for pressing the segment in the direction opposite to the digging direction are provided in the rear chamber,
  A wall is provided between the rear chamber and the tail;
  The camera unit includes a camera body including an image sensor that captures a subject image, a bundle of optical fibers that guides the subject image to the image sensor, and a photographing optical system that is attached to the tip of the optical fiber. Have
  The camera body is disposed at a location away from the wall in the rear chamber,
  The photographing optical system is attached to the wall portion in the rear chamber, and is provided so as to photograph one place in the circumferential direction of the inner peripheral surface of the tail portion and the segment,
  An image of one location in the circumferential direction of the inner peripheral surface of the tail portion and the segment taken by the photographing optical system is guided to the imaging element through the optical fiber,
  The detection light projection unit is configured to project the detection light to at least two places spaced in the circumferential direction of the segment within a photographing range photographed by the photographing optical system,
  A distance detecting unit for measuring a stroke amount when at least two jack devices of the plurality of jack devices press the segment in a direction opposite to the digging direction, and supplying the measurement data to the clearance deriving unit;
  Of the segments assembled in the pit by the shield machine, measuring at least two locations of the inner diameter of the segment located at the front end in the excavation direction, and providing an inner diameter measurement unit for supplying the inner diameter measurement data to the clearance derivation unit,
  The clearance derivation by the clearance derivation unit is performed by correcting the image data based on the stroke amount measurement data and the segment inner diameter measurement data.
  A tail clearance measuring device characterized by that. The detection light has a second straight line portion extending in a direction orthogonal to the first straight line portion at the center of the first straight line portion,
The tail clearance measuring device according to any one of claims 1 to 6, wherein

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