Control system of tunnel boring machine

Abstract

To improve workability and safety of segment assembly work.SOLUTION: A control system 200 of a tunnel boring machine including an erector device 19, has: a projection device 230; and a control device 240 that executes first projection control for projecting, by the projection device 230, position and attitude information indicating at least one of a position and an attitude of an installation target segment 20b gripped by the erector device 19 to a specific location in the tunnel boring machine.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a control system for a tunnel boring machine.

Background Art

[0002] Generally, a tunnel boring machine excavates a tunnel by rotating a cutter head, and a plurality of cutter bits attached to the front surface of the cutter head excavate the front rock mass to form a face. The cutter head is attached to the front end of a cylindrical boring machine body, and the tunnel is excavated by advancing the boring machine body forward. With respect to the forward movement of the boring machine body accompanying this excavation, in the rear part inside the boring machine body, segments, which are structural members of the tunnel, are added to the front end of the existing segments to construct the tunnel.

[0003] The assembly work of the segments is performed by an erector device installed inside the boring machine body, as disclosed in, for example, Patent Document 1. The segments are gripped by the gripping part of the erector device and assembled to the existing segments.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] As described above, the assembly work of the segments is performed by assembling the installation target segments held by the gripping part of the erector device to the existing segments. Here, the assembly work of the segments is generally performed by a plurality of workers in the vicinity of the installation target segments.

[0006] Specifically, the segment assembly work is carried out by an operator who operates the erector device and an operator who measures the position and orientation of the segment to be installed. The operator who operates the erector device operates the erector device using a remote controller while visually observing the segment to be installed in the vicinity of the segment to be installed. In this case, the operator who operates needs to monitor the operation of the erector device as an operator, and the situation where the segment to be installed can be visually observed is limited, and since the remote controller is in hand, the operator cannot participate in the measurement work. Also, the operator who measures the position and orientation of the segment to be installed measures the relative position and orientation of the segment to be installed with respect to the existing segment using a measuring tape or the like in the vicinity of the segment to be installed. In this case, the operator who measures specifically grasps the relationship between the position and orientation using a measuring tape or the like, which the operator who operates cannot handle, and conveys it to the operator. Note that since the relationship between the position and orientation can be grasped more accurately at positions away from the center of the segment, such as the corners of the segment to be installed, the measurement targets are the corners and the like. And for performing the measurement of such corners and the like, in the case of large-diameter construction, the segment becomes large, so it becomes farther from the operator who operates, making it more difficult for the operator to measure, and also (due to the distance) the operator cannot visually confirm, so it is necessary to be carried out by the operator who measures. Thus, currently, the segment assembly work is carefully advanced by coordinated work by multiple operators for safety. Therefore, it is desired to improve the workability and safety of the segment assembly work.

[0007] Therefore, in view of such problems, an object of the present invention is to provide a control system for a tunnel boring machine capable of improving the workability and safety of segment assembly work.

Means for Solving the Problems

[0008] To solve the above problems, the control system of the tunnel boring machine of the present invention is a control system of a tunnel boring machine equipped with an erector device, and includes a projection device and a control device that executes first projection control for projecting, by the projection device, position and orientation information indicating at least one of the position and orientation of an installation target segment held by the erector device onto a specific location on the tunnel boring machine.

[0009] The specific location may be the surface of the installation target segment.

[0010] The specific location may be the surface of an existing segment.

[0011] The specific location may be the surface of the erector device.

[0012] In addition to the first projection control, the control device may execute second projection control for projecting, by the projection device, adjustment direction information indicating at least one adjustment direction of the position and orientation of the installation target segment onto the specific location.

[0013] In addition to the first projection control, the control device may execute third projection control for projecting, by the projection device, target position information indicating the installation target position of the installation target segment onto the specific location.

[0014] In addition to the first projection control, the control device may execute fourth projection control for projecting, by the projection device, a determination result as to whether at least one of the position and orientation of the installation target segment has been adjusted onto the specific location.

[0015] In addition to the first projection control, the control device may execute fifth projection control for projecting light by the projection device onto a movable part of the erector device.

[0016] In the fifth projection control, the control device may project, by the projection device, light representing drive direction information indicating the drive direction of the movable part onto the movable part.

[0017] Further provided with a laser irradiation device, the control device may execute irradiation control for irradiating with the laser irradiation device so as to straddle the installation target segment and the existing segment, and acquire position and orientation information based on the irradiation result of the laser in the irradiation control.

Advantages of the Invention

[0018] According to the present invention, it is possible to improve the workability and safety of the segment assembly work.

Brief Description of the Drawings

[0019]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Embodiments for Carrying Out the Invention

[0020] With reference to the accompanying drawings below, preferred embodiments of the present invention will be described in detail. The dimensions, materials, and other specific numerical values shown in such embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals to omit redundant descriptions, and elements not directly related to the present invention are not shown.

[0021] First, with reference to FIGS. 1 and 2, the configuration of the tunnel boring machine 1 according to an embodiment of the present invention will be described. FIG. 1 is a schematic cross-sectional view showing the overall configuration of the tunnel boring machine 1. The arrow F in FIG. 1 indicates the forward direction (i.e., the traveling direction) of the tunnel boring machine 1, and the arrow B indicates the rear direction of the tunnel boring machine 1. That is, the arrow F in FIG. 1 faces the face side, and the arrow B faces the shaft mouth side.

[0022] The tunnel boring machine 1 is an earth pressure type (including mud pressure type) shield boring machine capable of excavating the ground. As shown in FIG. 1, the tunnel boring machine 1 includes a boring machine body 10. The boring machine body 10 has a cylindrical shape (for example, a cylindrical shape or a rectangular cylindrical shape, etc.). The axial direction of the boring machine body 10 coincides with the front-rear direction of the tunnel boring machine 1. Hereinafter, the axial direction of the boring machine body 10 will also be simply referred to as the axial direction, the radial direction of the boring machine body 10 will also be simply referred to as the radial direction, and the circumferential direction of the boring machine body 10 will also be simply referred to as the circumferential direction.

[0023] A cutter head 11 is provided at the front end of the boring machine body 10. The cutter head 11 is a substantially disk-shaped rotating body. The front end of the cutter center shaft 12 is fitted into the center portion of the cutter head 11, and the cutter head 11 is pivotally supported so as to be rotatable about the cutter center shaft 12.

[0024] The cutter head 11 has an outer peripheral ring 11a, an inner peripheral ring 11b, cutter spokes 11c, a fishtail cutter 11d, cutter bits 11e, and the like. Among these, the outer peripheral ring 11a forms the outer peripheral portion of the cutter head 11, and the inner peripheral ring 11b is disposed radially inward of the outer peripheral ring 11a. Further, a plurality of cutter spokes 11c are radially arranged around the cutter central axis 12 on the front surface of the cutter head 11. A fishtail cutter 11d is attached to the central portion of the front surface of the cutter head 11. Furthermore, a large number of cutter bits 11e are attached to the front surface of the cutter spokes 11c. Note that the fishtail cutter 11d and the cutter bits 11e may or may not be detachable.

[0025] And, a plurality of openings are formed between the outer peripheral ring 11a, the inner peripheral ring 11b, and the cutter spokes 11c of the cutter head 11. The openings function as excavation soil intake ports for taking in the excavation soil generated when the ground (face) is excavated by the cutter head 11 into the excavator main body 10 (inside a chamber 17 described later).

[0026] A partition wall 13 is disposed behind the cutter head 11 in the excavator main body 10. The partition wall 13 is a plate-shaped (for example, disk-shaped) wall body disposed perpendicular to the axial direction (tunnel extension direction), and the outer peripheral edge of the partition wall 13 is attached to the inner peripheral surface of the excavator main body 10. The cutter head 11 and the partition wall 13 are disposed at a predetermined interval in the axial direction (tunnel extension direction). Various facilities of the tunnel boring machine 1 are disposed on the rear side of the partition wall 13, and the partition wall 13 isolates the facilities from the excavation soil generated at the face. An outlet 13a, which is an opening for discharging the excavation soil, is formed at the lower portion of the partition wall 13.

[0027] At the center of the partition wall 13, the cutter center shaft 12 is rotatably supported. Further, on the partition wall 13, an annular rotating ring 14 is rotatably supported about the cutter center shaft 12. At the front of the rotating ring 14, a plurality of connecting beams 15 are provided at predetermined intervals in the circumferential direction. The plurality of connecting beams 15 connect the cutter head 11 and the rotating ring 14. The front end of the connecting beam 15 is connected to the connection portion between the inner circumferential ring 11b and the cutter spoke 11c of the cutter head 11. On the other hand, at the rear of the rotating ring 14, a ring gear 14a is provided. Note that the ring gear 14a may be an external gear type or an internal gear type. Further, a cutter rotation motor 16 is provided behind the partition wall 13. The drive gear 16a of this cutter rotation motor 16 meshes with the ring gear 14a of the rotating ring 14.

[0028] By driving the cutter rotation motor 16, the rotation of its drive gear 16a is transmitted from the ring gear 14a to the rotating ring 14 and the connecting beam 15. Thereby, the cutter head 11 can be rotated about the cutter center shaft 12. As a result, the front surface of the rotating cutter head 11 can be pressed against the ground (face) using a shield jack 21 described later, and the ground can be excavated.

[0029] A chamber 17 is defined between the cutter head 11 and the partition wall 13. The chamber 17 is a space (for example, a substantially cylindrical space) defined by the rear surface of the cutter head 11, the front surface of the partition wall 13, and the inner peripheral surface of the excavator body 10. The excavated soil and sand generated by the excavation of the ground by the cutter head 11 are taken into the chamber 17 through the above-described opening (excavated soil and sand intake port) formed through the cutter head 11. The chamber 17 functions as a space (room) for temporarily storing the excavated soil and sand. The excavated soil and sand taken into the chamber 17 are discharged from the chamber 17 into the screw conveyor 18 through the discharge port 13a at the lower part of the partition wall 13.

[0030] The screw conveyor 18 is provided on the rear side of the partition wall 13 within the excavator body 10. The screw conveyor 18 is arranged within the excavator body 10 to be inclined upward as it faces the rear side. The opening at the front end of the screw conveyor 18 is connected to the discharge port 13a of the partition wall 13. Thereby, the internal space of the screw conveyor 18 communicates with the chamber 17 through the discharge port 13a of the partition wall 13. Inside the screw conveyor 18, a screw blade 18a, which is a screw-shaped rotating body equipped with spiral blades, is provided. By rotationally driving the screw blade 18a, the excavated soil and sand stored in the chamber 17 can be taken into the screw conveyor 18, transported toward the rear of the excavator body 10, and discharged.

[0031] Also, an erector device 19 is provided on the rear side of the partition wall 13 of the excavator body 10. The erector device 19 can grip the segment 20, which is a covering member, and assemble the gripped segment 20 along the inner wall surface (the tunnel wall) of the tunnel T. The segment 20 is an annular piece having a curved shape along the inner wall surface of the excavated tunnel T. By driving the erector device 19, a plurality of segments 20 can be assembled annularly along the circumferential direction. Thereby, the inner wall surface of the tunnel T is covered with the plurality of segments 20, preventing the collapse of the inner wall surface.

[0032] Here, referring to FIG. 2 in addition to FIG. 1, the erector device 19 will be described in more detail. FIG. 2 is a front view showing the erector device 19. Specifically, FIG. 2 is a view of the erector device 19 seen from the rear. As shown in FIGS. 1 and 2, the erector device 19 includes a ring frame 191, support rollers 192, a suspension beam 193, guide rods 194, a lifting jack 195, and a gripping portion 196.

[0033] The ring frame 191 is an annular member provided along the inner peripheral surface of the excavator body 10. The ring frame 191 extends in the circumferential direction of the excavator body 10. The central axis of the ring frame 191 is arranged coaxially with the central axis of the excavator body 10. The ring frame 191 is supported by a plurality of support rollers 192 so as to be rotatable about the central axis of the ring frame 191. The support rollers 192 are attached to the inner peripheral surface of the excavator body 10 parallel to the central axis of the excavator body 10. As shown in FIG. 2, a plurality of support rollers 192 are arranged at intervals in the circumferential direction of the excavator body 10. The rotation direction D3 of the ring frame 191 shown in FIG. 2 coincides with the circumferential direction of the excavator body 10. The ring frame 191 is rotationally driven by an actuator such as a drive motor (not shown).

[0034] The suspension beam 193 is attached to the ring frame 191 via a guide rod 194. Specifically, a bracket 191a protruding rearward is provided at the rear part of the ring frame 191. A guide rod 194 is attached to the tip of the bracket 191a so as to be vertically movable in the radial direction. As shown in FIG. 2, guide rods 194 are provided at two radially separated portions of the ring frame 191. The circumferential positions where the respective guide rods 194 are installed in the ring frame 191 are, for example, shifted by approximately 180°. The two guide rods 194 extend in a direction orthogonal to the separation direction of the two guide rods 194 and are stretchable in this direction. The suspension beam 193 is spanned between the two guide rods 194.

[0035] Also, as shown in FIG. 1, lifting jacks 195 are attached along the extending direction of each guide rod 194 in the vicinity of each guide rod 194 of the bracket 191a. The tip of the lifting jack 195 is in contact with the suspension beam 193. The suspension beam 193 moves in the extending and contracting direction of the lifting jack 195 as the lifting jack 195 extends and contracts. The moving direction D1 of the suspension beam 193 (that is, the extending and contracting direction of the lifting jack 195) coincides with the radial direction of the excavator body 10.

[0036] The suspension beam 193 extends circumferentially along the ring frame 191 between the two guide rods 194. A support frame 193a is provided on the central side in the extending direction of the suspension beam 193. The support frame 193a projects axially rearward of the excavator body 10 with respect to the other portions of the suspension beam 193. The support frame 193a extends on a plane substantially orthogonal to the moving direction D1 of the suspension beam 193. A gripping portion 196 is attached to the radially outer side of the support frame 193a. The gripping portion 196 is supported by the support frame 193a so as to be movable in the axial direction of the excavator body 10. The moving direction D2 of the gripping portion 196 shown in FIG. 1 coincides with the axial direction of the excavator body 10. The movement of the gripping portion 196 in the moving direction D2 is driven by an actuator such as a jack (not shown).

[0037] The gripping portion 196 is provided with a twist lock 196a. The twist lock 196a is provided on the radially outer side (lower side in FIG. 2) of the gripping portion 196. The gripping portion 196 can grip the segment 20 by engaging the twist lock 196a with the gripping hole H of the segment 20. For example, the twist lock 196a has a substantially T-shape. The gripping hole H is formed on the inner peripheral surface of the segment 20 and has a substantially T-shape.

[0038] Here, the posture of the twist lock 196a with respect to other parts of the gripping portion 196 can be changed. For example, the posture of the twist lock 196a can be changed in three directions: the roll direction (i.e., the direction of rotation about the axis in the axial direction (i.e., the front-rear direction) of the tunnel boring machine 1), the pitch direction (i.e., the direction of rotation about the axis in the circumferential direction of the tunnel boring machine 1 (the left-right direction in FIG. 2)), and the yaw direction (i.e., the direction of rotation about the axis in the radial direction of the tunnel boring machine 1 (the up-down direction in FIG. 2)). In this case, the change in the posture in the above three directions can be realized, for example, by using a spherical bearing and various actuators. Note that the mechanism for changing the posture of the twist lock 196a in each direction is not particularly limited and can be designed as appropriate. Also, the posture of the twist lock 196a may be changeable in some of the above three directions.

[0039] Further, although the twist lock 196a can be moved in the radial direction D1 by moving the gripping portion 196 itself in the radial direction (the direction of arrow D1 in FIG. 2), in the present embodiment, the twist lock 196a can also be moved in the radial direction D1 by expanding and contracting the twist lock 196a in the radial direction D1 with respect to other parts of the gripping portion 196. This is because there is an advantage in that the movement of the device becomes more compact by moving only the twist lock 196a rather than moving the entire gripping portion 196 when gripping the segment 20. The change in the posture and the expansion and contraction of the twist lock 196a are realized by an actuator such as a jack (not shown).

[0040] By appropriately changing the posture and position of the twist lock 196a, the twist lock 196a can enter the gripping hole H of the segment 20 and engage with the gripping hole H. Thereby, the segment 20 can be gripped by the twist lock 196a and moved. In a state where the segment 20 is gripped by the twist lock 196a, by adjusting the posture and position of the twist lock 196a, the posture and position of the segment 20 gripped by the twist lock 196a can be adjusted.

[0041] The erector device 19 can move the segment 20 to a desired position by moving the gripping part 196 while the segment 20 is gripped by the gripping part 196 (specifically, the twist lock 196a). Specifically, by moving the suspension beam 193 in the moving direction D1, the gripping part 196 and the gripped segment 20 can be moved in the radial direction of the tunneling machine body 10. Also, by moving the gripping part 196 in the moving direction D2, the gripping part 196 and the gripped segment 20 can be moved in the axial direction of the tunneling machine body 10. Further, by rotating the ring frame 191 in the rotating direction D3, the gripping part 196 and the gripped segment 20 can be moved in the circumferential direction of the tunneling machine body 10. Note that the mechanism for moving the gripping part 196 in each direction is not particularly limited to the example described with reference to FIGS. 1 and 2 and can be appropriately designed.

[0042] Hereinafter, among the segments 20, the existing segment 20 that has already been lined on the inner wall surface of the tunnel T is particularly referred to as the existing segment 20a. Also, among the segments 20, the segment 20 that is before being lined on the inner wall surface of the tunnel T and is the object to be newly installed (i.e., the installation object) with respect to the existing segment 20a is particularly referred to as the installation target segment 20b.

[0043] As shown in FIGS. 1 and 2, the existing segments 20a are assembled in an annular shape along the circumferential direction. The installation target segment 20b is conveyed from the shaft mouth side to the face side of the tunnel T and is placed on the existing segment 20a that is located on the lower side and face side among the plurality of existing segments 20a. Inside the tunneling machine body 10, a segment conveying device (not shown) is provided, and the installation target segment 20b is conveyed by the segment conveying device. The installation target segment 20b conveyed in this way is gripped by the erector device 19 and attached to the existing segment 20a, whereby the segment 20 is assembled.

[0044] As shown in FIG. 1, a plurality of shield jacks 21 are provided in the excavator main body 10 at intervals in the circumferential direction. Each shield jack 21 is arranged at intervals along the inner peripheral surface of the excavator main body 10 and is provided so as to extend in the axial direction of the excavator main body 10. The shield jack 21 is, for example, a hydraulic jack, but may be other types of jacks, actuators, etc. as long as it can generate the thrust of the tunnel boring machine 1.

[0045] A telescopic drive rod 21a is provided at the rear end of the shield jack 21. The tip of the drive rod 21a faces the front end face of the existing segment 20a. By extending the drive rod 21a of the shield jack 21 rearward and pressing the existing segment 20a, a propulsion reaction force (that is, thrust) can be applied to the excavator main body 10. That is, the excavator main body 10 can move forward by the thrust generated when the shield jack 21 presses the existing segment 20a.

[0046] A tail brush 22 is provided between the inner circumference of the rear end portion of the excavator main body 10 and the outer circumference of the existing segment 20a. The tail brush 22 is attached to the inner circumference of the rear end portion of the excavator main body 10 and is in sliding contact with the outer circumference of the existing segment 20a. The tail brush 22 is provided to prevent the intrusion of water, earth and sand, or backfill material into the excavator main body 10.

[0047] As described above, the assembly work of the segment 20 is performed by assembling the installation target segment 20b held by the gripping portion 196 of the erector device 19 to the existing segment 20a. Here, the assembly work of the segment 20 is generally performed by a plurality of workers in the vicinity of the installation target segment 20b.

[0048] Specifically, the assembly work of the segment 20 is carried out by an operator who operates the erector device 19 and an operator who measures the position and posture of the segment 20b to be installed. The operator who operates the erector device 19 operates the erector device 19 using a remote controller while visually observing the segment 20b to be installed in the vicinity of the segment 20b to be installed. In addition, the operator who measures the position and posture of the segment 20b to be installed measures the relative position and posture of the segment 20b to be installed with respect to the existing segment 20a using a measuring tape or the like in the vicinity of the segment 20b to be installed. Thus, currently, the assembly work of the segment 20 is carefully advanced by coordinated work by a plurality of operators for safety. In the present embodiment, a control system 200 described later is provided in the tunnel boring machine 1 in order to improve the workability and safety of the assembly work of the segment 20.

[0049] FIG. 3 is an enlarged view showing the periphery of the gripping portion 196 of the erector device 19. As shown in FIG. 3, the control system 200 includes a laser irradiation device 210, a camera 220, a projection device 230, and a control device 240.

[0050] The laser irradiation device 210 irradiates the segment 20 with a laser. Specifically, as will be described later, the laser irradiation device 210 irradiates the laser so as to straddle the segment 20b to be installed and the existing segment 20a. The laser irradiation device 210 is, for example, a device having a laser oscillator. However, the laser irradiation device 210 may be other than a device having a laser oscillator, and may be, for example, a device that projects a figure having an intended shape and color onto an object by passing light emitted from a light source through a filter.

[0051] In the example of FIG. 3, as the laser irradiation device 210, a laser irradiation device 210a and a laser irradiation device 210b are provided in the ejector device 19. The laser irradiation device 210a is attached to the upper right end of the gripping portion 196. The laser irradiation device 210b is attached to the upper left end of the gripping portion 196. However, the number and arrangement of the laser irradiation devices 210 are not limited to the example of FIG. 3. For example, the number of the laser irradiation devices 210 may be one or three or more. Further, for example, the laser irradiation device 210 may be arranged in a portion of the ejector device 19 other than the gripping portion 196 (for example, the suspension beam 193 or the like).

[0052] As will be described later, the laser irradiation device 210 is used to acquire position and orientation information (hereinafter, also simply referred to as the position and orientation information of the installation target segment 20b) indicating at least one of the position and orientation of the installation target segment 20b gripped by the ejector device 19.

[0053] The camera 220 images the segment 20. Specifically, as will be described later, the camera 220 images a portion of the segment 20 that is irradiated with a laser by the laser irradiation device 210.

[0054] In the example of FIG. 3, as the camera 220, a camera 220a and a camera 220b are provided in the ejector device 19. The camera 220a is attached to a portion of the suspension beam 193 that is to the right of the support frame 193a. The camera 220b is attached to a portion of the suspension beam 193 that is to the left of the support frame 193a. However, the number and arrangement of the cameras 220 are not limited to the example of FIG. 3. For example, the number of the cameras 220 may be one or three or more. Further, for example, the camera 220 may be arranged in a portion of the ejector device 19 other than the suspension beam 193 (for example, the gripping portion 196 or the like).

[0055] As will be described later, the camera 220 is used to acquire the position and orientation information of the installation target segment 20b in the same manner as the laser irradiation device 210.

[0056] The projection device 230 projects various types of information onto specific locations on the tunnel boring machine. Specifically, the projection device 230 projects various types of information onto the surface of the segment 20. However, as will be described later, the projection device 230 may project various types of information onto locations other than the surface of the segment 20. The projection device 230 projects an object such as a character object indicating various types of information onto the surface of the segment 20 or the like by irradiating light such as a laser.

[0057] In the example of FIG. 3, as the projection device 230, a projection device 230a and a projection device 230b are provided on the erector device 19. The projection device 230a is attached to a portion of the suspension beam 193 that is to the right of the support frame 193a. The projection device 230b is attached to a portion of the suspension beam 193 that is to the left of the support frame 193a. However, the number and arrangement of the projection devices 230 are not limited to the example of FIG. 3. For example, the number of the projection devices 230 may be one or three or more. Also, for example, the projection device 230 may be arranged on a portion of the erector device 19 other than the suspension beam 193 (for example, the gripping portion 196 or the like).

[0058] As will be described later, in the present embodiment, by projecting various types of information by the projection device 230, it is realized to improve the workability and safety of the assembly work of the segment 20.

[0059] The control device 240 includes a CPU (Central Processing Unit) which is an arithmetic processing device, a ROM (Read Only Memory) which is a storage element for storing programs, arithmetic parameters, etc. used by the CPU, and a RAM (Random Access Memory) which is a storage element for temporarily storing parameters that change appropriately during the execution of the CPU, etc.

[0060] Specifically, the control device 240 controls the operations of the laser irradiation device 210, the camera 220, and the projection device 230. Further, the control device 240 can acquire the image captured by the camera 220.

[0061] FIG. 4 is a diagram showing a state in which the erector device 19 grips the installation target segment 20b. As shown in FIG. 4, by inserting the twist lock 196a into the gripping hole H of the segment 20 and engaging it with the gripping hole H, the installation target segment 20b is gripped by the twist lock 196a. In this state, by moving the gripping portion 196, the installation target segment 20b can be moved to a desired position. In this way, the installation target segment 20b is moved, and the installation target segment 20b is sequentially assembled to the existing segment 20a, whereby the assembly work of the segment 20 proceeds.

[0062] In the present embodiment, in the assembly work of the segment 20, when assembling the installation target segment 20b to the existing segment 20a, the control device 240 executes projection control for projecting various information onto a specific location in the tunnel boring machine 1 by the projection device 230. Thereby, as will be described later, it is realized to improve the workability and safety of the assembly work of the segment 20.

[0063] Hereinafter, various examples of the projection control will be described with reference to FIGS. 5 to 12. FIGS. 5 to 12 are diagrams showing each example of the projection control.

[0064] The examples of FIGS. 5 and 6 are examples of projection control when assembling the installation target segment 20b with respect to the existing segment 20a located on the right side of the installation target segment 20b. FIG. 5 shows the state before the completion of the position adjustment of the installation target segment 20b. On the other hand, FIG. 6 shows the state after the completion of the position adjustment of the installation target segment 20b. In this example, projection control is performed using the right laser irradiation device 210a, the right camera 220a, and the right projection device 230a. Note that the projection control when assembling the installation target segment 20b with respect to the existing segment 20a located on the left side of the installation target segment 20b is performed using the left laser irradiation device 210b, the left camera 220b, and the left projection device 230b.

[0065] In the example of FIG. 5, first, the control device 240 executes irradiation control to irradiate the laser LS across the installation target segment 20b and the existing segment 20a by the laser irradiation device 210a. As shown in FIG. 5, the laser irradiation device 210a irradiates, for example, a laser LS in a line segment shape. However, as will be described later, the shape of the laser LS is not limited to the example of FIG. 5. In the example of FIG. 5, in the irradiation control, the line segment-shaped laser LS is irradiated so as to straddle the installation target segment 20b and the existing segment 20a. Therefore, as shown in FIG. 5, the laser LS is divided into a line segment L1 irradiated to the installation target segment 20b and a line segment L2 irradiated to the existing segment 20a.

[0066] Next, the control device 240 acquires the position and orientation information of the installation target segment 20b based on the irradiation result of the laser LS in the irradiation control. In the example of FIG. 5, as the position and orientation information, information indicating the magnitude of the step between the installation target segment 20b and the existing segment 20a is acquired. The magnitude of the above step corresponds to the distance in the thickness direction (D1 direction) of the segment 20 between the inner peripheral surface of the installation target segment 20b and the inner peripheral surface of the existing segment 20a.

[0067] Specifically, the control device 240 causes the camera 220a to capture an image of the laser LS irradiated on the installation target segment 20b and the existing segment 20a. Then, the control device 240 performs image processing on the image captured by the camera 220a, thereby obtaining information indicating the magnitude of the step between the installation target segment 20b and the existing segment 20a as position and orientation information. For example, as shown in FIG. 5, among the installation target segment 20b and the existing segment 20a, when the portion irradiated with the laser LS is viewed from the radially inner side and from the rear, the greater the step, the greater the deviation of the line segment L2 from the extension line of the line segment L1. Therefore, by considering the positional relationship between the line segment L1 and the line segment L2 on the image captured by the camera 220a, the magnitude of the step in the D1 direction can be calculated.

[0068] Then, as shown in FIG. 5, in the projection control, the control device 240 causes the projection device 230a to project a position and orientation object oj1 representing the content of the position and orientation information of the installation target segment 20b onto the surface (for example, the inner peripheral surface) of the installation target segment 20b. This projection control for projecting the position and orientation information is also called the first projection control. In the example of FIG. 5, a character object representing the magnitude of the step in the D1 direction is projected as the position and orientation object oj1.

[0069] Also, as shown in FIG. 5, in the projection control, the control device 240 may further cause the projection device 230a to project an adjustment direction object oj2 representing the content of the adjustment direction information indicating at least one of the adjustment directions of the position and orientation of the installation target segment 20b onto the surface (for example, the side surface) of the installation target segment 20b. This projection control for projecting the adjustment direction information is also called the second projection control. In the example of FIG. 5, an arrow object representing the adjustment direction (in FIG. 5, the downward D1 direction) for eliminating the step is projected as the adjustment direction object oj2.

[0070] Also, as shown in FIG. 5, in the projection control, the control device 240 may further project, onto the surface (e.g., the inner circumferential surface) of the installation target segment 20b, a target position object oj3 that represents the content of the target position information indicating the target position (such as the installation order and the location where it should be installed) of the installation target segment 20b by the projection device 230a. The projection control for projecting the target position information in this way is also called the third projection control. In the example of FIG. 5, as the target position object oj3, a character object representing which ring among the plurality of rings of the segment 20 arranged in the axial direction of the excavator body 10 the installation target segment 20b is and which piece of that ring it is is projected. By doing so, before joining the installation target segment 20b to the existing segment 20a, etc., by checking whether the installation target position and the actual operation position match, reliable assembly without mistakes becomes possible. This is because if the selection of the installation target segment 20b or the operation position of the installation target segment 20b is incorrect and the connection to the existing segment 20a is made, it takes time and effort to redo, so preventing the occurrence of such problems is effective.

[0071] In the example of FIG. 5, the operator can adjust the position of the installation target segment 20b by operating the erector device 19 with a remote control or the like while visually checking the position and orientation object oj1, the adjustment direction object oj2, and the target position object oj3 projected on the surface of the installation target segment 20b. Thereby, the operator who operates the erector device 19 can operate the erector device 19 in a state where various information necessary for the operation of the erector device 19 can be easily grasped, omitting the work of measuring the relative position and orientation of the installation target segment 20b with respect to the existing segment 20a by the operator near the installation target segment 20b using a measuring tape or the like. Thereby, the workability and safety of the assembly work of the segment 20 can be improved.

[0072] From the state of FIG. 5, the installation target segment 20b is moved in the direction indicated by the adjustment direction object oj2 so that the step indicated by the position and orientation object oj1 becomes equal to or less than a predetermined value, resulting in the state of FIG. 6. In the state of FIG. 6, the position adjustment of the installation target segment 20b is completed. For example, as shown in FIG. 6, with respect to the portion of the installation target segment 20b and the existing segment 20a irradiated with the laser LS, when viewed from the radially inner side and from the rear, the line segment L2 is located on the extension line of the line segment L1. Therefore, the step is almost eliminated.

[0073] As shown in FIG. 6, in projection control, the control device 240 may further project, by the projection device 230a, a determination result object oj4 representing the content of the determination result as to whether or not at least one of the position and orientation of the installation target segment 20b has been completed, onto the surface (for example, the inner circumferential surface) of the installation target segment 20b. The projection control for projecting the above determination result is also referred to as fourth projection control. In the example of FIG. 6, as the determination result object oj4, a character object indicating that the position adjustment regarding the radial direction D1 of the installation target segment 20b has been determined to be completed is projected. For example, the control device 240 may determine that the position adjustment is completed when the step becomes equal to or less than a predetermined value with respect to the position adjustment regarding the radial direction D1 of the installation target segment 20b.

[0074] As described above, the control system 200 according to the present embodiment includes a projection device 230 and a control device 240 that executes first projection control (projection control for projecting the position and orientation object oj1 in the above example) for projecting, by the projection device 230, position and orientation information indicating at least one of the position and orientation of the installation target segment 20b held by the erector device 19 with respect to a specific location (the surface of the installation target segment 20b in the above example) in the tunnel boring machine 1. Thereby, the operator who operates the erector device 19 can operate the erector device 19 in a state where the position and orientation information can be easily grasped, omitting the work of measuring the relative position and orientation of the installation target segment 20b with respect to the existing segment 20a using a measuring tool or the like in the vicinity of the installation target segment 20b. Thereby, the workability and safety of the assembling work of the segment 20 can be improved.

[0075] In the examples of FIGS. 5 and 6 above, an example in which information indicating the magnitude of the step between the installation target segment 20b and the existing segment 20a is projected as the position and orientation information in the first projection control has been described. However, as will be described later, the position and orientation information projected in the first projection control is not limited to the above example.

[0076] In particular, in the examples of FIGS. 5 and 6 above, the specific location where information is projected by the projection device 230 in the projection control is the surface of the installation target segment 20b. Specifically, the surface of the installation target segment 20b that can be the above specific location is a surface (for example, an inner peripheral surface or a side surface) of the installation target segment 20b that can be visually recognized by the operator. Thereby, the operator who operates the erector device 19 can easily grasp the information projected by the projection device 230 by visually observing the surface of the installation target segment 20b located in the vicinity of the operator. Therefore, the workability and safety of the assembling work of the segment 20 are appropriately improved.

[0077] However, as will be described later, the specific location where information is projected by the projection device 230 in the projection control may be other than the surface of the installation target segment 20b.

[0078] In particular, in the examples of FIGS. 5 and 6 above, in addition to the first projection control, the control device 240 performs a second projection control (in the above example, the projection control for projecting the adjustment direction object oj2) in which the projection device 230 projects adjustment direction information indicating at least one of the adjustment directions of the position and orientation of the installation target segment 20b onto a specific location (in the above example, the surface of the installation target segment 20b). Thereby, the operator who operates the erector device 19 can operate the erector device 19 in a state where the adjustment direction information can be easily grasped. Therefore, the workability and safety of the assembly work of the segment 20 can be more effectively improved.

[0079] However, the control device 240 does not necessarily execute the second projection control. For example, for the example of FIG. 5, the projection of the adjustment direction object oj2 may be omitted.

[0080] In particular, in the examples of FIGS. 5 and 6 above, in addition to the first projection control, the control device 240 performs a third projection control (in the above example, the projection control for projecting the target position object oj3) in which the projection device 230 projects target position information indicating the installation target position of the installation target segment 20b onto a specific location (in the above example, the surface of the installation target segment 20b). Thereby, the operator who operates the erector device 19 can operate the erector device 19 in a state where the target position information can be easily grasped. Therefore, the workability and safety of the assembly work of the segment 20 can be more effectively improved.

[0081] However, the control device 240 does not necessarily execute the third projection control. For example, for the examples of FIGS. 5 and 6, the projection of the target position object oj3 may be omitted.

[0082] In particular, in the examples of FIGS. 5 and 6 above, in addition to the first projection control, the control device 240 performs, on a specific location (in the above example, the surface of the segment 20b to be installed), a fourth projection control in which the projection device 230 projects a determination result as to whether at least one of the position and orientation of the segment 20b to be installed has been completed (in the above example, the projection control for projecting the determination result object oj4). Thereby, the operator who operates the erector device 19 can operate the erector device 19 in a state where the above determination result can be easily grasped. Therefore, the workability and safety of the assembly work of the segment 20 can be more effectively improved.

[0083] However, the control device 240 does not necessarily have to execute the fourth projection control. For example, for the example of FIG. 6, the projection of the determination result object oj4 may be omitted.

[0084] In particular, in the examples of FIGS. 5 and 6 above, the control device 240 executes irradiation control in which the laser LS is irradiated by the laser irradiation device 210 so as to straddle the segment 20b to be installed and the existing segment 20a, and acquires position and orientation information based on the irradiation result of the laser LS in the irradiation control. Thereby, the position and orientation information of the existing segment 20a can be appropriately acquired.

[0085] However, the method for acquiring the position and orientation information of the existing segment 20a is not limited to the above example. For example, the shape of the laser LS irradiated by the laser irradiation device 210 may be a shape other than a line segment shape (for example, a two-dimensional shape having a two-dimensional spread, etc.). Even in that case, the control device 240 can execute the above irradiation control and acquire the position and orientation information of the existing segment 20a based on the irradiation result of the laser LS in the irradiation control. Further, the control device 240 may acquire the position and orientation information of the existing segment 20a without using the laser irradiation device 210 and the camera 220, for example. For example, the control device 240 may acquire the position and orientation information of the existing segment 20a using a contact-type sensor that directly contacts the surface of the existing segment 20a, a distance measuring device such as an ultrasonic sensor, or the like.

[0086] As described above, in the first projection control, information other than the information indicating the magnitude of the step between the installation target segment 20b and the existing segment 20a may be projected as the position and orientation information. Hereinafter, as such an example, the example of FIG. 7 and the example of FIG. 8 will be described.

[0087] The example of FIG. 7 is an example of projection control when assembling the installation target segment 20b with respect to the existing segment 20a located on the right side of the installation target segment 20b. FIG. 7 shows a state before completion of the position adjustment of the installation target segment 20b.

[0088] In the example of FIG. 7, unlike the example of FIG. 5, the step between the installation target segment 20b and the existing segment 20a is almost eliminated. On the other hand, in the example of FIG. 7, the gap between the installation target segment 20b and the existing segment 20a is larger than that in the example of FIG. 5. The magnitude of the above gap corresponds to the distance in the rotation direction D3 between the right end face of the installation target segment 20b and the left end face of the existing segment 20a.

[0089] Also in the example of FIG. 7, similar to the example of FIG. 5, first, the control device 240 executes irradiation control to irradiate the laser LS across the installation target segment 20b and the existing segment 20a by the laser irradiation device 210a. Next, the control device 240 acquires the position and orientation information of the installation target segment 20b based on the irradiation result of the laser LS in the irradiation control. Here, in the example of FIG. 7, as the position and orientation information, information indicating the size of the gap in the rotation direction D3 between the installation target segment 20b and the existing segment 20a is acquired. For example, as shown in FIG. 7, when the portion of the installation target segment 20b and the existing segment 20a irradiated by the laser LS is on the radially inner side and viewed from the rear, the larger the gap, the shorter the line segment L2 becomes. Therefore, by considering the length of the line segment L2 on the image captured by the camera 220a, the size of the gap can be calculated. For example, the control device 240 can acquire, as the position and orientation information, information indicating the size of the gap in the rotation direction D3 between the installation target segment 20b and the existing segment 20a by performing image processing on the image captured by the camera 220a.

[0090] And in the example of FIG. 7, in the first projection control, the control device 240 projects, onto the surface of the installation target segment 20b, a character object representing the size of the gap in the rotation direction D3 between the installation target segment 20b and the existing segment 20a as the position and orientation object oj1 by the projection device 230a. Thereby, the operator operating the erector device 19 can operate the erector device 19 in a state where the gap in the rotation direction D3 between the installation target segment 20b and the existing segment 20a can be easily grasped.

[0091] Also in the example of FIG. 7, in the second projection control, the control device 240 may further project, onto the surface of the installation target segment 20b, an arrow object representing the adjustment direction (right direction in FIG. 7) for eliminating the gap as the adjustment direction object oj2 by the projection device 230a. Thereby, the operator operating the erector device 19 can operate the erector device 19 in a state where the adjustment direction information can be easily grasped.

[0092] In the example of FIG. 7, similar to the example of FIG. 5, third projection control for projecting the target position object oj3 is also performed.

[0093] The example of FIG. 8 is an example of projection control when assembling the installation target segment 20b to the existing segment 20a located on the right side of the installation target segment 20b. FIG. 8 shows a state before completion of the posture adjustment of the installation target segment 20b.

[0094] In the example of FIG. 8, the posture of the installation target segment 20b is deviated from the desired target posture. The target posture is the posture that the installation target segment 20b should take in order to normally attach the installation target segment 20b to the existing segment 20a, and is shown by a two-dot chain line in FIG. 8. By having the installation target segment 20b take the target posture, the inner peripheral surface of the installation target segment 20b and the inner peripheral surface of the existing segment 20a can be smoothly connected. Therefore, it is necessary to adjust the posture of the installation target segment 20b so as to become the target posture. In the example of FIG. 8, the posture of the installation target segment 20b is deviated in the pitch direction with respect to the target posture.

[0095] Also in the example of FIG. 8, similar to the example of FIG. 5, first, the control device 240 executes irradiation control to irradiate the laser LS across the installation target segment 20b and the existing segment 20a by the laser irradiation device 210a. Next, the control device 240 acquires the position and orientation information of the installation target segment 20b based on the irradiation result of the laser LS in the irradiation control. Here, in the example of FIG. 8, as the position and orientation information, information indicating the magnitude of the inclination in the pitch direction with respect to the target orientation of the orientation of the installation target segment 20b is acquired. For example, by considering the positional relationship between the line segment L1 and the line segment L2 on the image captured by the camera 220a, the magnitude of the above inclination can be calculated. For example, the control device 240 can acquire, as the position and orientation information, information indicating the magnitude of the inclination in the pitch direction with respect to the target orientation of the orientation of the installation target segment 20b by performing image processing on the image captured by the camera 220a. In addition, in grasping the deviation of the inclination (orientation), if it is difficult (impossible) to calculate with only one laser irradiation location, the number of laser irradiation locations may be increased to deal with it.

[0096] Then, in the example of FIG. 8, in the first projection control, the control device 240 projects, onto the surface of the installation target segment 20b, a character object representing the magnitude of the inclination in the pitch direction with respect to the target orientation of the orientation of the installation target segment 20b as the position and orientation object oj1 by the projection device 230a. Thereby, the operator operating the erector device 19 can operate the erector device 19 in a state where the inclination in the pitch direction with respect to the target orientation of the orientation of the installation target segment 20b can be easily grasped.

[0097] Note that in the example of FIG. 8, similar to the example of FIG. 5, the second projection control for projecting the adjustment direction object oj2 and the third projection control for projecting the target position object oj3 are also performed.

[0098] In the above, the projection control performed when assembling the installation target segment 20b to the existing segment 20a adjacent to the installation target segment 20b in the rotation direction D3 has been described. However, projection control may be performed when assembling the installation target segment 20b to the existing segment 20a adjacent to the installation target segment 20b in the axial direction D2. Hereinafter, as such an example, the example of FIG. 9 will be described.

[0099] The example of FIG. 9 is an example of projection control when assembling the installation target segment 20b to the existing segment 20a located behind the installation target segment 20b. FIG. 9 shows a state before the completion of the position adjustment of the installation target segment 20b. In the example of FIG. 9, for example, projection control is performed using the laser irradiation device 210, the camera 220, and the projection device 230 disposed near the rear end portion of the installation target segment 20b held by the erector device 19.

[0100] In the example of FIG. 9, in the first projection control, the control device 240 projects, onto the surface of the installation target segment 20b, a character object representing the size of the gap in the axial direction D2 between the installation target segment 20b and the existing segment 20a as the position and orientation object oj1 by the projection device 230. Thereby, the operator operating the erector device 19 can operate the erector device 19 in a state where the gap in the axial direction D2 between the installation target segment 20b and the existing segment 20a can be easily grasped.

[0101] Also, in the example of FIG. 9, in the second projection control, the control device 240 may further project, onto the surface of the installation target segment 20b, an arrow object representing the adjustment direction (in FIG. 9, the rear direction) for eliminating the gap as the adjustment direction object oj2 by the projection device 230. Thereby, the operator operating the erector device 19 can operate the erector device 19 in a state where the adjustment direction information can be easily grasped.

[0102] In the example of FIG. 9, similar to the example of FIG. 5, the third projection control for projecting the target position object oj3 is also performed.

[0103] In the above, an example in which the specific location where information is projected by the projection device 230 in the projection control is the surface of the installation target segment 20b has been described. However, the above specific location may be other than the surface of the installation target segment 20b. Hereinafter, as such an example, the example of FIG. 10 and the example of FIG. 11 will be described.

[0104] In the example of FIG. 10, in the projection control, information is projected by the projection device 230 onto the surface of the existing segment 20a. For example, in the example of FIG. 10, the control device 240, in the first projection control, projects, as the position and orientation object oj1, a character object representing the magnitude of the step between the installation target segment 20b and the existing segment 20a onto the surface of the existing segment 20a adjacent to the installation target segment 20b in the rotation direction D3 by the projection device 230a. Thereby, the operator operating the erector device 19 can operate the erector device 19 in a state where the step between the installation target segment 20b and the existing segment 20a can be easily grasped.

[0105] As described above, in the example of FIG. 10, the specific location where information is projected by the projection device 230 in the projection control is the surface of the existing segment 20a. Thereby, the operator operating the erector device 19 can easily grasp the information projected by the projection device 230 by visually observing the surface of the existing segment 20a located in the vicinity of the operator. Therefore, the workability and safety of the assembly work of the segment 20 are appropriately improved. For example, in the configuration of the segment 20, when there is a segment 20 with a small division angle (short arc length), or when there is no projection location on the installation target segment 20b, it is particularly effective.

[0106] In the example of FIG. 11, in the projection control, information is projected onto the surface of the erector device 19 by the projection device 230. For example, in the example of FIG. 11, in the first projection control, the control device 240 projects, by the projection device 230, a character object representing the magnitude of the step between the installation target segment 20b and the existing segment 20a as the position and orientation object oj1 onto the surface of the portion of the gripping portion 196 of the erector device 19 other than the twist lock 196a. Thereby, an operator who operates the erector device 19 can operate the erector device 19 in a state where the step between the installation target segment 20b and the existing segment 20a can be easily grasped.

[0107] Note that in the example of FIG. 11, the installation position of the projection device 230 needs to be a position where information can be projected onto the surface of the erector device 19. Therefore, the projection device 230 may be provided on the erector device 19, or may be provided on a portion other than the erector device 19 in the tunnel boring machine 1.

[0108] As described above, in the example of FIG. 11, the specific location where information is projected by the projection device 230 in the projection control is the surface of the erector device 19. Thereby, for example, in the case where the surface of the segment 20 is not smooth, such as a steel segment, and information cannot be projected onto the surface of the segment 20, an operator who operates the erector device 19 can easily grasp the information projected by the projection device 230 by visually observing the surface of the erector device 19. Therefore, the workability and safety of the assembly work of the segment 20 are appropriately improved.

[0109] In the above, as the projection control that can be performed in addition to the first projection control, the second projection control, the third projection control, and the fourth projection control have been described. However, in addition to the first projection control, projection control other than the above projection controls may be performed. Hereinafter, as such an example, the example of FIG. 12 will be described.

[0110] In the example of FIG. 12, as in the example of FIG. 5, a step occurs between the installation target segment 20b and the existing segment 20a. This is an example of a case where it is necessary to adjust the installation target segment 20b downward in order to eliminate the step of the installation target segment 20b.

[0111] In the example of FIG. 12, in projection control, the control device 240 projects, onto the twist lock 196a corresponding to an example of the movable part of the erector device 19, a drive direction object oj5 representing the content of drive direction information indicating the drive direction of the twist lock 196a, by the projection device 230. The projection control for projecting light representing such drive direction information is also called the fifth projection control. In the example of FIG. 12, as the drive direction object oj5, an arrow object representing the drive direction (downward in FIG. 12) for eliminating the step is projected.

[0112] The fifth projection control is control for projecting light by the projection device 230 onto the movable part of the erector device 19 that should be driven for position adjustment or attitude adjustment of the erector device 19. Therefore, in the fifth projection control, even if the drive direction information is not projected onto the movable part and only the movable part is illuminated by the projection device 230, it may be acceptable. Also, in the fifth projection control, light may be projected onto movable parts of the erector device 19 other than the twist lock 196a.

[0113] Note that in the example of FIG. 12, the installation position of the projection device 230 needs to be a position where light can be projected onto the movable part of the erector device 19. Therefore, the projection device 230 may be provided on the erector device 19, or may be provided on a part other than the erector device 19 in the tunnel boring machine 1.

[0114] As described above, in the example of FIG. 12, in addition to the first projection control, the control device 240 performs fifth projection control for projecting light onto the movable part of the erector device 19 (in the above example, the twist lock 196a) by the projection device 230 (in the above example, projection control for projecting the drive direction object oj5). Thereby, an operator who operates the erector device 19 can operate the erector device 19 in a state where the movable part of the erector device 19 to be driven for position adjustment or posture adjustment of the erector device 19 can be easily grasped. Therefore, the workability and safety of the assembly work of the segment 20 can be more effectively improved.

[0115] In particular, in the example of FIG. 12 above, in the fifth projection control, the control device 240 projects, by the projection device 230, light representing drive direction information indicating the drive direction of the movable part onto the movable part of the erector device 19 (in the above example, the twist lock 196a) (in the above example, projects the drive direction object oj5). Thereby, an operator who operates the erector device 19 can easily grasp the movable part of the erector device 19 to be driven for position adjustment or posture adjustment of the erector device 19, and can also easily grasp the drive direction information. Therefore, the workability and safety of the assembly work of the segment 20 can be further effectively improved.

[0116] As described above, the preferred embodiments of the present invention have been described with reference to the accompanying drawings. However, it goes without saying that the present invention is not limited to the above-described embodiments, and various modifications or corrections within the scope described in the claims also belong to the technical scope of the present invention.

[0117] For example, in the above, the earth pressure type (including the earth and mud pressure type) tunnel boring machine 1 has been described, but the tunnel boring machine according to the present invention may be a slurry type.

[0118] Also, for example, while each component of the tunnel boring machine 1 has been described above with reference to the drawings, the dimensions and positional relationships of each component in the drawings are merely examples, and the dimensions and positional relationships of each component of the tunnel boring machine 1 are not limited to the examples shown in the drawings. Also, components may be added, deleted, or changed as appropriate for the tunnel boring machine 1 illustrated in the drawings. [Explanation of symbols]

[0119] 1. Tunnel boring machine 10 Excavator body 11 Cutter Head 12 Cutter central axis 13 Bulkhead 14 Rotating Ring 15 Connecting beam 16 Cutter rotation motor 17 Chamber 18 Screw Conveyor 19 Erector device 20 Segments 20a Existing segment 20b Installation Segments 21 Shield Jack 22 Tail Brush 191 Ring Frame 191a Bracket 192 Support roller 193 Suspension beam 193a Support frame 194 Guide rod 195 Lifting Jack 196 Gripping part 196a Twist lock (movable part) 200 Control System 210 Laser irradiation device 220 Camera 230 Projection device 240 Control device H gripping hole LS Laser oj1 Position and orientation object oj2 Adjustment direction object oj3 Target position object oj4 Judgment result object oj5 Driving direction object T Tunnel

Claims

1. A control system for a tunnel boring machine comprising an erector device, a projection device, a control device that executes first projection control for projecting, onto a specific location on the tunnel boring machine, position and orientation information indicating at least one of the position and orientation of an installation target segment held by the erector device by the projection device, having, a control system for a tunnel boring machine.

2. The specific location is the surface of the installation target segment, The control system for a tunnel boring machine according to claim 1.

3. The specific location is the surface of an existing segment, The control system for a tunnel boring machine according to claim 1.

4. The specific location is the surface of the erector device, The control system for a tunnel boring machine according to claim 1.

5. In addition to the first projection control, the control device executes second projection control for projecting, onto the specific location, adjustment direction information indicating at least one adjustment direction of the position and orientation of the installation target segment by the projection device, The control system for a tunnel boring machine according to any one of claims 1 to 4.

6. In addition to the first projection control, the control device executes third projection control for projecting, onto the specific location, target position information indicating the installation target position of the installation target segment by the projection device, The control system for a tunnel boring machine according to any one of claims 1 to 4.

7. In addition to the first projection control, the control device executes fourth projection control for projecting, onto the specific location, a determination result as to whether or not at least one of the position and orientation of the installation target segment has been adjusted by the projection device, The control system for a tunnel boring machine according to any one of claims 1 to 4.

8. In addition to the first projection control, the control device executes fifth projection control for projecting light onto a movable part of the erector device by the projection device, The control system for a tunnel boring machine according to any one of claims 1 to 4.

9. In the fifth projection control, the control device projects, onto the movable part, the light representing drive direction information indicating the drive direction of the movable part by the projection device, The control system for a tunnel boring machine according to claim 8.

10. Further comprising a laser irradiation device, The control device executes irradiation control for irradiating the laser by the laser irradiation device so as to straddle the installation target segment and the existing segment, and acquires the position and attitude information based on the irradiation result of the laser in the irradiation control. The control system for a tunnel boring machine according to any one of claims 1 to 4.

Images