Unified coordinate measurement system and unified coordinate measurement method

Abstract

To provide a measuring device capable of measuring a tail clearance at an arbitrary position, roundness of a segment, and / or a face direction of a segment front end part.SOLUTION: The unified coordinate measurement system U includes a plurality of measurement sections 40 each having a non-contact distance sensor 41, a rotation mechanism 42 for rotating the distance sensor 41, and a rotation position detection section 43 for detecting a rotation position of the distance sensor 41 rotated by the rotation mechanism 42, one or a plurality of collimation sections 30 for specifying a position and a rotation direction of each of the plurality of measurement sections 40, a total station TS for measuring a position and a direction of the one or the plurality of collimation sections 30, and measurement results of a plurality of points on an end surface of a segment. And a control part 60 for calculating a tail clearance or the like on the basis of the measurement results of the plurality of points on the inner surface of the skin plate, and the control part 60 specifies the positions and rotation directions of the plurality of measurement parts 40 in the unified coordinate system on the basis of the position and direction of one or the plurality of collimation parts 30.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a coordinate-integrated measurement system having a plurality of measurement devices for measuring tail clearance at any position, segment roundness, and / or segment surface orientation in a non-contact manner. [Background technology]

[0002] Conventionally, there are known techniques for non-contact measurement of tail clearance, segment roundness, and segment face orientation when excavating a tunnel with a shield machine. Here, "tail clearance" refers to the gap between the skin plate of the shield machine and the segment, "segment roundness" refers to the degree of flattening relative to the normal shape, and "segment face orientation" refers to the direction of the front end face of the segment. Each measurement item must be managed to prevent contact between the skin plate and the segment during curve construction and to ensure that the finished dimensions are within the allowable range.

[0003] For example, the tail clearance measurement device described in Patent Document 1 includes a measurement unit including a non-contact distance sensor, a rotation mechanism for rotating the distance sensor, and a rotation detection unit, and a control unit that calculates the tail clearance.The control unit obtains the position of a first line segment on the inner surface of the segment based on the measurement results of multiple points on the inner surface of the segment, obtains the position of a second line segment on the inner surface of the skin plate based on the measurement results of multiple points on the inner surface of the skin plate, and calculates the tail clearance based on the positions of the first and second line segments and the thickness of the segment. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-214834 Summary of the Invention [Problem to be solved by the invention]

[0005] However, conventional tail clearance measurement devices, including those described in Patent Document 1, are unable to measure the entire circumference of a segment with a single device due to measurement methods, machine capabilities, and obstacles (equipment, workers, etc.). Therefore, it is necessary to use multiple measurement devices on the circumference to complement their capabilities and eliminate the risk of interference. Even in this case, each measurement device can only obtain coordinate measurements that are independent of each other.

[0006] SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a coordinate unified measurement system that can unify the coordinates of a plurality of measuring devices. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, the coordinate-unified measurement system of the present invention is a coordinate-unified measurement system for measuring the tail clearance of a shield tunneling machine and / or the end face of a segment, and comprises: a plurality of measurement units each having a non-contact distance sensor, a rotation mechanism for rotating the distance sensor, and a rotation position detection unit for detecting the rotation position of the distance sensor by the rotation mechanism; one or more collimation units for determining the position and rotation direction of each of the plurality of measurement units; a total station for measuring the position and orientation of the one or more collimation units; and a calculation unit for calculating the tail clearance, the circularity of the segment, and / or the surface orientation of the segment based on the measurement results of a plurality of points on the end face of the segment and the measurement results of a plurality of points on the inner surface of the skin plate; and the calculation unit is configured to determine the position and rotation direction of the plurality of measurement units in a unified coordinate system based on the measurement values ​​of the reflection intensity from one or more of the collimation units. [Effects of the Invention]

[0008] The coordinate-unified measurement system of the present invention is a coordinate-unified measurement system for measuring the tail clearance of a shield machine and / or the end faces of segments, and includes: multiple measurement units each having a distance sensor, a rotation mechanism, and a rotation position detection unit; one or more collimation units for identifying the position and rotation direction of each of the multiple measurement units; a total station for measuring the position and orientation of the one or more collimation units; and a calculation unit that calculates the tail clearance, the roundness of the segment, and / or the surface orientation of the segment based on the measurement results of multiple points on the end faces of the segments and the measurement results of multiple points on the inner surface of the skin plate; where the calculation unit is configured to identify the positions and rotation directions of the multiple measurement units in a unified coordinate system based on the measurement values ​​of the reflection intensity from the one or more collimation units. With this configuration, the coordinates of multiple measurement devices can be unified. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 2 is a cross-sectional view illustrating the internal structure of a shield tunneling machine. [Figure 2] FIG. 2 is a side view of a measurement unit of the tail clearance measurement device. [Figure 3] FIG. 2 is a perspective view of a measurement unit of the tail clearance measurement device. [Figure 4] FIG. 2 is a block diagram illustrating the system configuration of a tail clearance measurement device. [Figure 5] FIG. 10 is an explanatory diagram of a method for calculating the tail clearance on the face side of a segment. [Figure 6] FIG. 10 is an explanatory diagram of a method for calculating tail clearance on the wellhead side of a segment. [Figure 7] 10A and 10B are longitudinal sectional views illustrating the configuration of a coordinate unified measurement system U according to Example 2. (a) shows a case where one collimation unit is used, and (b) shows a case where multiple collimation units are used. [Figure 8] 10 is a cross-sectional view illustrating the arrangement of four measurement units in Example 2. [Figure 9] FIG. 10 is a conceptual diagram illustrating the concept of a coordinate unified measurement system U according to a second embodiment. [Figure 10] 1A is a front view illustrating the configuration of the collimation unit when the lines of the special figure are thin, and FIG. 1B is a front view illustrating the configuration of the collimation unit when the lines of the special figure are thick. [Figure 11] FIG. 10 is a front view showing a specific configuration of a special graphic. [Figure 12] 10A and 10B are explanatory diagrams illustrating angles when the collimation unit is scanned, where (a) illustrates points with high reflection intensity, and (b) illustrates angles θ1 and θ2. [Figure 13] FIG. 10 is an explanatory diagram of a method for determining θ1 and θ2 based on L1 to L4. [Figure 14] FIG. 10 is an explanatory diagram of a method for identifying points a, c, and e based on L1 to L4. [Figure 15] FIG. 10 is a front view showing a specific configuration of a special graphic in another form. [Figure 16] FIG. 10 is an explanatory diagram illustrating the amount of flattening in the method for estimating an ellipse. [Figure 17] FIG. 10 is an explanatory diagram illustrating the estimation accuracy in the ellipse estimation method. [Figure 18] 10 is a table showing the amount of correction that varies depending on the angle in the ellipse estimation method. [Figure 19] FIG. 10 is a front view illustrating the circularity of the segments and the shield machine. [Figure 20] FIG. 10 is an explanatory diagram illustrating the tail clearance at an arbitrary position on the circumference. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the components described in the following embodiments are merely examples and are not intended to limit the technical scope of the present invention to those alone. Note that, although the following description will use an earth pressure shield 1 as an example, the present invention can also be applied to other types of shield tunneling machines. Below, in embodiment 1, the configuration of a single tail clearance measurement device S, which is a basic element, will be described, and in embodiment 2, a coordinate-integrated measurement system U equipped with multiple measurement units 40, ... will be described. [Example]

[0011] (Shield tunneling machine configuration) FIG. 1 is a longitudinal side view showing a first embodiment of the present invention. As shown in FIG. 1, the earth pressure shield 1 serving as a shield tunneling machine of this embodiment includes a skin plate (shield main body tube) 2, a partition wall 3, a cutter head 5, a cutter rotation shaft 10, a cutter drive unit 12, a chamber 16, an earth removal device 17, a shield propulsion jack 18, a mud-making material supply pipe 21, an earth pressure gauge 22, a monitor (71; see FIG. 4) located inside an operation chamber, and a control unit (60; see FIG. 4) including a calculation unit. Note that the tail clearance measurement device (S) used in the coordinate unified measurement system (U) described in the second embodiment is not limited to the tail clearance measurement device (S) described in the first embodiment.

[0012] The cutter head 5 has cutter spokes 51, a plurality of cutter bits 52, ... provided on the front surface of the cutter spokes 51, a fishtail bit 53 provided in the center of the front surface of the cutter spokes 51, and a plurality of stirring blades 54 provided on the back surface of the cutter spokes 51. The cutter head 5 is attached integrally to the cutter rotation shaft 10.

[0013] The cutter rotation shaft 10 is rotatably supported by a bearing 11 provided in the partition wall 3 and a bearing provided at the rear of a gear box 13 (described later). The cutter rotation shaft 10 is connected to a cutter drive unit 12. The cutter drive unit 12 has a gear box 13 installed on the rear side of the partition wall 3, a rotary drive source 14 connected to the gear box 13, and a reduction gear (disposed within the gear box 13; not shown) interposed between the output shaft of the rotary drive source 14 and the cutter rotation shaft 10.

[0014] The chamber 16 is formed by a space surrounded by the hood portion of the skin plate 2, the partition wall 3, and the working face F. A screw conveyor is used as the earth removal device 17. The mud intake port of the earth removal device 17 is open and installed so as to face the chamber 16. Furthermore, an erector 15 for assembling the segments 90 is installed at the tail portion of the skin plate 2.

[0015] A plurality of shield propulsion jacks 18 are installed at required intervals in the circumferential direction inside the skin plate 2. Each shield propulsion jack 18 is composed of a piston portion 18a and a spreader portion 18b. In addition, a tail seal 19 is provided at the rear end portion of the skin plate 2. A measuring portion 40 of a tail clearance measuring device S is installed near the shield propulsion jack 18 of this embodiment.

[0016] That is, the distance sensor 41 constituting the measurement unit 40 is disposed radially outward of the inner surface of the segment 90, as shown in Fig. 2. Specifically, the measurement unit 40 including the distance sensor 41 is disposed near the center position of the shield propulsion jack 18 in the radial direction of the shield by a bracket 40a protruding from the bulkhead 3. The measurement unit 40 including the distance sensor 41 may be fixed to the skin plate 2 side, or may be attached directly to the bulkhead 3 without using the bracket 40a.

[0017] (Configuration of a standalone tail clearance measurement device) Next, the configuration of a standalone tail clearance measurement device S will be described with reference to Figures 2 to 4. As shown in Figure 4, the tail clearance measurement device S is made up of a measurement unit 40 and a control unit 60 serving as a calculation unit. Then, as will be described later in a second embodiment, by adding a collimation unit (30) and a total station (TS) to these components, a coordinate unified measurement system (U) of the second embodiment is configured.

[0018] 2 to 4, the measurement unit 40 is a so-called 2D-LIDAR, and has a non-contact distance sensor 41, a rotation mechanism 42 such as a motor and gear that rotates the distance sensor 41, and a rotation position detection unit 43 that detects the rotation position of the distance sensor 41 caused by the rotation mechanism 42. Of these, the rotation mechanism 42 has a rotation axis that is perpendicular to the shield radial direction. Therefore, the distance sensor 41 of the measurement unit 40 can scan the face-facing end face 90a of the segment 90 and the inner surface of the tail portion of the skin plate 2 along a plane parallel to the tunnel longitudinal direction (a plane passing through the shield central axis).

[0019] As described above with reference to Figure 2, the measurement unit 40 including the distance sensor 41 is positioned radially outward of the inner surface of the segment 90. Furthermore, the measurement unit 40 (distance sensor 41) in this embodiment is positioned exactly in the vicinity of the center of the two shield propulsion jacks 18, 18 in the circumferential direction of the earth pressure shield 1 as a shield tunneling machine, as shown in Figure 3.

[0020] The position of the distance sensor 41 in the tunnel longitudinal direction (shield excavation direction) may be closer to the tunnel face (forward) than the spreader section 18b when the shield propulsion jack 18 is in its most shortened state. Furthermore, although not shown, it is preferable that the measurement section 40 including the distance sensor 41 be installed in at least three locations in the shield circumferential direction. More specifically, as will be described later in Example 2, it is preferable that the measurement section 40 be installed in four locations: near the top (0 o'clock; 90 degrees), near the left end (9 o'clock; 180 degrees), near the bottom (6 o'clock; 270 degrees), and near the right end (3 o'clock; 0 degrees) (see Figure 8).

[0021] The control unit 60 serving as a calculation unit is, for example, a general-purpose personal computer having a memory, a CPU, an SSD, etc. The control unit 60 has an La calculation unit 61 that calculates a line segment La based on the measurement results of multiple points on the end face 90a of the segment 90, and an Lb calculation unit 62 that calculates a line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate 2. The control unit 60 serving as a calculation unit may be installed on the shield trailing bogie, on the ground, or both. Measurement data from the distance sensor 41 is sent to the control unit 60 via a cable. The data sent to the ground can also be transferred to a remote terminal via the Internet, etc.

[0022] In addition to this, the control unit 60 is connected to input means such as a keyboard 65 and a mouse 66, as well as input values ​​from the measurement unit 40. Furthermore, the control unit 60 is connected to output means such as a monitor 71 and a separate PC 72 for excavation management. The point cloud data acquired on the segment end face 90a has singular points at points A and B, so the upper and lower end points (points A and B) of the segment end face 90a can be clearly recognized on the coordinate axes of the distance sensor 41.

[0023] Furthermore, the control unit 60 as a calculation unit in this embodiment has an intersection C calculation unit 63 that determines the intersection between the calculated line segments La and Lb based on these. This intersection C calculation unit 63 calculates the tail clearance c based on the coordinate value of the intersection C between the line segments La and Lb and the coordinate values ​​of the singular points A and B. That is, as shown in FIG. 5, the line segments La and Lb are expressed in mathematical terms on the coordinate axes, so the intersection C between the line segments La and Lb can be calculated. In this way, the tail clearance can be calculated from the points B and C. At the same time, the angle θ formed by the line segments La and Lb is calculated. L can be calculated.

[0024] In addition, the control unit 60 as a calculation unit has a point D calculation unit 64 that calculates the coordinate value of point D based on the intersection point C calculation unit 63. In other words, since the outer surface of the segment 90 and the line segment La are basically in a perpendicular relationship, it is possible to calculate the relative angle θx between the line of the outer surface of the segment 90 and the line segment Lb of the tail portion.

[0025] Calculating the relative angle θx makes it possible to calculate not only the tail clearance c1 at the position of the front end face 90a of the segment 90, but also the tail clearance c2 at the position of the rear end point (point D) of the segment 90, which cannot be seen with the naked eye. In other words, if the angle θx and the width of the segment 90 (the length in the tunnel longitudinal direction) are known, the coordinates of point D can be identified, and therefore the tail clearance c2 at point D can be calculated.

[0026] In this way, the relative angle θx between the inner surface of the tail section (line segment Lb) and the outer surface of the segment 90 can be quantified. When calculating this relative angle θx, if the segment 90 to be measured is a tapered segment 90T, the angle calculation can be corrected by inputting its shape (angle θy) and installation direction in advance, as shown in FIG. 6. In other words, after scanning the end face 90a and obtaining the line segment La from the point cloud data, the relative angle θx can be calculated by taking into account the taper angle θy of the tapered segment 90T itself. After that, point D is found based on the width of the tapered segment 90T, and the tail clearance c2 at point D is calculated.

[0027] As mentioned above, the data on tail clearance c obtained by the tail clearance measuring device S can be transmitted to another PC 72 and incorporated into software that performs comprehensive shield excavation management, thereby enabling more advanced linear excavation management.

[0028] (effect) Next, the effects achieved by the stand-alone tail clearance measuring device S of this embodiment will be listed and explained.

[0029] (1) As described above, the tail clearance measurement device S includes a measurement unit 40 having a non-contact distance sensor 41 arranged radially outward of the inner surface of the segment 90 in the shield direction, a rotation mechanism 42, and a rotation position detection unit 43; and a control unit 60 as a calculation unit that calculates the tail clearance c based on the measurement results of multiple points on the end face of the segment 90 and the measurement results of multiple points on the inner surface of the skin plate 2. In this way, by arranging the distance sensor 41 radially outward of the inner surface of the segment 90, the tail clearance measurement device S is less likely to come into contact with machines or people and can perform reliable scanning.

[0030] In addition, the distance sensor 41 is installed where the segment 90 is installed, so there is nothing blocking the distance sensor 41 and it is suitable for continuous measurement. Furthermore, the end face 90a of the segment 90 can be scanned and measured from the front, so the distance can be measured accurately. Therefore, the angle of the end face 90a can be measured accurately.

[0031] (2) Furthermore, the distance sensor 41 is positioned approximately midway between the two shield propulsion jacks 18, 18 of the earth pressure shield 1 in the circumferential direction of the earth pressure shield 1 as a shield tunneling machine. In other words, while the shield propulsion jack 18 could hinder scanning, this problem can be resolved by positioning the measurement unit 40 between the two shield propulsion jacks 18, 18. This location is less affected by the work range of the shield tunneling machine equipment and segment assembly, and is easy to install and maintain. Another advantage is that it is less affected by vibrations during operation of the erector 15, which is the shield equipment.

[0032] (3) Furthermore, distance sensors 41 are arranged at at least three locations in the circumferential direction of earth pressure shield 1 as a shield tunneling machine, so that tail clearance c around the entire circumference of the shield can be grasped.

[0033] (4) Furthermore, the control unit 60 as a calculation unit calculates a line segment La based on the measurement results of multiple points on the end face 90a of the segment 90, calculates a line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate 2, and calculates a tail clearance c1 on the face side of the segment 90 based on an intersection C of the line segment La and the line segment Lb. According to this calculation method, the tail clearance c1 on the face side (front end position) of the segment 90 can be calculated based on measurement values, using the point cloud data of the end face 90a and the point cloud data of the inner surface of the skin plate 2.

[0034] (5) Furthermore, the control unit 60 as a calculation unit calculates the line segment La based on the measurement results of multiple points on the end face 90a of the segment 90, calculates the line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate 2, and calculates the tail clearance c2 on the wellhead side of the segment 90 based on the intersection C of the line segments La and Lb and the angle θx between the line segments La and Lb. According to this calculation method, the tail clearance c2 on the wellhead side (rear end position) of the segment 90 can be calculated based on the measurement values, using the point cloud data of the end face 90a and the point cloud data of the inner surface of the skin plate 2.

[0035] (Configuration when a standalone tail clearance measurement device is considered as an invention) If the stand-alone tail clearance measurement device S described in this embodiment is considered as an invention, it can be explained as follows.

[0036] (1) A measurement unit including a non-contact distance sensor arranged radially outward of the inner surface of the segment, a rotation mechanism for rotating the distance sensor, and a rotation position detection unit for detecting the rotation position of the distance sensor by the rotation mechanism; a calculation unit that calculates a tail clearance based on measurement results of a plurality of points on the end face of the segment and measurement results of a plurality of points on the inner surface of the skin plate; A tail clearance measurement device comprising:

[0037] (2) A tail clearance measuring device as described in (1) above, wherein the distance sensor is positioned approximately midway between the two shield propulsion jacks of the shield tunneling machine in the circumferential direction of the shield tunneling machine.

[0038] (3) A tail clearance measuring device as described in (2) above, in which the distance sensors are arranged at at least three locations in the circumferential direction of the shield tunneling machine.

[0039] (4) A tail clearance measuring device as described in any one of (1) to (3) above, wherein the calculation unit calculates a line segment La based on the measurement results of multiple points on the end face of the segment, calculates a line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate, and calculates a tail clearance (C1) on the face side of the segment based on the intersection of the line segment La and the line segment Lb.

[0040] (5) A tail clearance measuring device described in any one of (1) to (3) above, wherein the calculation unit calculates a line segment La based on the measurement results of multiple points on the end face of the segment, calculates a line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate, and calculates the tail clearance (C2) on the wellhead side of the segment based on the intersection of the line segment La and the line segment Lb and the angle between the line segment La and the line segment Lb. [Example]

[0041] The coordinate unified measurement system U of this embodiment will be described below with reference to Figures 7 to 15. Note that the same or equivalent parts as those described in the first embodiment will be denoted by the same reference numerals.

[0042] (composition) First, the configuration of the unified coordinate measurement system U of the embodiment will be described with reference to Figures 7 to 11. As shown in Figures 7 to 9, the unified coordinate measurement system U is composed of the multiple measurement units 40, ... described in the first embodiment, one (or multiple) collimation unit 30 for identifying the position and rotation direction of each of the multiple measurement units 40, a total station TS for measuring the position and orientation of the one (or multiple) collimation unit 30, and a control unit 60 that includes, as a functional unit, a calculation unit that calculates the tail clearance (see also Figure 4).

[0043] The measurement unit 40 is a so-called 2D-LIDAR, and similarly to the first embodiment, has a non-contact distance sensor 41, a rotation mechanism 42 such as a motor and gear that rotates the distance sensor 41, and a rotation position detection unit 43 that detects the rotation position of the distance sensor 41 caused by the rotation mechanism 42. Of these, the rotation mechanism 42 has a rotation axis that is perpendicular to the shield radial direction. Therefore, the distance sensor 41 of the measurement unit 40 can scan the face-facing end face 90a of the segment 90 and the inner surface of the tail portion of the skin plate 2 along a plane parallel to the tunnel longitudinal direction (a plane passing through the shield central axis) (see Figures 2 to 4).

[0044] The measurement value (reflected pulse) by the distance sensor 41 has a reflection intensity (relative strength and magnitude of the reflected pulse). Possible object characteristics that affect this reflection intensity include the reflectivity of the material at the LIDAR wavelength, the smoothness or roughness of the surface, and the orientation of the reflecting surface relative to the sensor. In this embodiment, the difference in reflectivity based on whether or not a special shape is scanned is detected as reflection intensity.

[0045] In the coordinate-integrated measurement system U of this embodiment, the measurement units 40 are installed at four locations spaced approximately 90 degrees apart in the circumferential direction, as shown in FIG. 8. Specifically, the four measurement units 40 are preferably installed at four locations: near the top end position (0 o'clock; 90 degrees), near the left end position (9 o'clock; 180 degrees), near the bottom end position (6 o'clock; 270 degrees), and near the right end position (3 o'clock; 0 degrees). However, the number of measurement units 40 needs to be at least three, and may be five or more. Furthermore, the arrangement of the measurement units 40 is not limited to the example described here.

[0046] The collimating unit 30 may be a single collimating unit 30 as shown in Figure 7(a), or a plurality of collimating units 30, ... as shown in Figures 7(b) and 9. When a single collimating unit 30 is used, the collimating unit 30 can be installed near the center of the tunnel cross section using, for example, a tripod, as shown in Figure 7(a). However, the single collimating unit 30 is not limited to being placed near the center of the tunnel cross section, and may be placed anywhere as long as it is placed in a position that can be seen from both the total station TS and the plurality of measurement units 40, ....

[0047] On the other hand, when multiple collimation units 30, ... are used, it is preferable that each collimation unit 30, ... is abutted against and fixed to, for example, the front end face (the end face facing the working face) of the segment 90, as shown in Figures 7(b) and 9. However, the multiple collimation units 30, ... are not limited to being placed on the front end face of the segment 90, and may be placed anywhere as long as they are placed in positions that can be seen from both the total station TS and the corresponding measurement units 40.

[0048] As will be described later, it is necessary to fix the position of the collimation unit 30 so that it does not shift between scanning by the measurement unit 40 and measurement by the total station TS. One possible fixing method is to use a joint structure between the rings of the segment 90. However, once the position of each measurement unit 40 has been identified, the position of the collimation unit 30 can be moved.

[0049] As shown in Figures 10 and 11, the collimation unit 30 of this embodiment is composed of multiple measurement units 40, identification means for identifying the position and rotation direction of each measurement unit, and measurement means for measuring the position and orientation of the collimation unit 30 itself by the total station TS.

[0050] 11, the collimation unit 30 has a collimation plate 31 on which a special figure is drawn as the identifying means, and three prisms 33, 34, and 35 fixed to the collimation plate 31 as the measured means. On the collimation plate 31, vertical lines 31a, horizontal lines 31b, and diagonal lines 31c are drawn with clearly distinguished light and dark as special figures for back-calculating the positions of each measurement unit 40. Furthermore, prisms 33, 34, and 35 are installed at three of the four corners of the collimation plate 31.

[0051] More specifically, as shown in Fig. 11, a figure is drawn on the collimation plate 31, in which two diagonal rectangles are arranged in the same direction, sharing one side. Therefore, the sides of each rectangle are vertical lines 31a, 31a and horizontal lines 31b, 31b, and the diagonal line is oblique line 31c. Prisms 33, 34, and 35 are disposed at the upper left, upper right, and lower right positions of the collimation plate 31, respectively. Note that the prisms serving as the measurement means are not limited to these positions, and there need only be at least three, and there may be four or more.

[0052] When in use, the measuring unit 40 continuously scans a special figure on the sighting plate 31 from the face side, and the total station TS measures the direction and distance from the entrance side to the three prisms 33, 34, and 35.

[0053] Here, a method for identifying a measurement position using reflection intensity will be described.

[0054] 1) The distance sensor 41 of the measurement unit 40 rotates the measurement device, for example, at a recognition angle of 0.125 degrees, measures the direction (angle), irradiates a laser in each direction, receives the reflected light, and measures (scans) the distance to the object corresponding to the angle.

[0055] 2) At this time, the distance sensor 41 also measures the reflection intensity, which is affected by the reflectance of the reflected light. For example, in the case of a monochrome figure, the whiter the object, the higher the reflectance, and the darker the object, the lower the reflectance.

[0056] 3) Therefore, by drawing a white line on a black background, the reflection intensity can be perceived as a particularly large value only when the angle passes through this line. Note that as long as the reflectivity varies in strength, it is not necessary to limit it to a combination of white and black.

[0057] 4) As explained above, there is no need to identify the position on the board when the rotation of the distance sensor 41 is stopped, as in the existing method. It is possible to identify the own measurement position while continuing continuous measurements, making it possible to unify coordinates more efficiently.

[0058] 5) It is also possible to improve accuracy by drawing thicker lines to prevent non-detection of the measurement position or by recognizing the measurement as an average value of multiple positions (see FIGS. 10(a) and 10(b)). In addition, it is also preferable to improve the precision of reflection intensity measurement by relatively slowing down the rotation speed of the distance sensor 41.

[0059] The calculation unit, which is a functional unit of the control unit 60, has the function of calculating the tail clearance and the function of unifying the coordinates of the multiple measurement units 40, ... (i.e., the function of identifying the positions and rotation directions of the multiple measurement units 40, ... in a unified coordinate system). The control unit 60's function of calculating the tail clearance and the function of unifying the coordinates of the multiple measurement units 40, ... make it possible to accurately measure (actually measure and estimate) the shape of the earth pressure shield 1 as a shield tunneling machine. Of these, the function of calculating the tail clearance was explained in Example 1, so an explanation of it will be omitted. Below, a method for unifying the coordinates of the multiple measurement units 40, ... will be explained.

[0060] (Coordinate unification method) Here, we will explain an example of a coordinate standardization method when using multiple measurement units 40, ... to measure a segment 90. This coordinate standardization method is realized by executing the following steps 1) to 5).

[0061] 1) After the shield machine is assembled, multiple measurement units 40 (range sensors) are fixed in the planned positions. Specifically, four measurement units 40 are installed in four locations: near the top end, near the left end, near the bottom end, and near the right end.

[0062] 2) A collimation plate 31 (dedicated surface) for coordinate unification is placed on the front end face of the segment 90, and the collimation plate 31 (dedicated surface) is continuously scanned from each measurement unit 40 (range measurement sensor) to measure the angle and distance. That is, the distance sensor 41 is rotated by the rotation mechanism 42 to measure the distance, while the rotation position detection unit 43 measures the rotation angle. The collimation plate 31 (dedicated panel) for unifying coordinates has a special graphic (see Figure 11) drawn on it, and prisms 33, 34, and 35 for the total station TS are attached to three of the four corners. Therefore, the positional relationship between the position scanned by the measurement unit 40 and the prisms 33, 34, and 35 can be recognized.

[0063] 3) Without moving the position of the sighting board 31 (dedicated panel), use a total station TS installed in a position overlooking the four sighting boards 31 to measure the three prisms 33, 34, and 35 (see Figure 11). At this time, the prisms 33, 34, and 35 are facing toward the mine entrance.

[0064] 4) The three-dimensional coordinates of each measurement unit 40 are analyzed from the measurement results of 2) and 3) above, and the coordinates are unified (see FIG. 9). The steps of 2) and 3) may be performed using one sighting plate 31 while moving to four locations, or may be performed using four sighting plates 31. Furthermore, the sighting plate 31 can also be performed electronically using a commercially available tablet terminal or the like. Regarding the coordinate unification method, it is possible to simplify the calculation conditions by using various assumptions if necessary. Coordinate unification can be performed at the start of excavation, and may also be performed during construction for the purpose of calibration. Also, as mentioned above, if there is a position that can be sighted from both the total station TS and the four measurement units 40, ..., it is possible to use a single sighting unit 30.

[0065] The specific calculation can be performed as follows. a) Based on the measurement values, the relative positional relationship between the positions and angles of the four measurement units 40 (distance sensors 41) and the positions of the four sighting plates 31, ... is calculated. This method will be explained next. b) Based on the measurement values, the relative positional relationship between the positions of the four sighting plates 31, ... and the total station TS is calculated. c) Based on the two positional relationships calculated in a) and b), the relative positional relationship between the position of the total station TS and the positions and angles of the four measuring units 40 (distance sensors 41) is calculated. In other words, coordinate unification is achieved.

[0066] 5) To unify the coordinates, four points on the inside of the shield machine (surfaces perpendicular to the axis of the shield machine: for example, the girder surface) are measured directly with a total station TS, and the center point of the shield machine is recognized in the same coordinate system as the measurement unit 40. At this time, since the direction of the axis of the shield machine is perpendicular to the four measurement positions mentioned above, it can be recognized as the unified coordinate axis (Z axis) (see Figure 7).

[0067] (Identifying the position and angle of the measurement part using special graphics) Here, a method for specifying the position and angle of the measurement part using a special graphic will be described. 1) An example of a special shape is shown in Figure 11. This figure is made up of two identical right-angled triangles with their hypotenuses overlapping each other, and the background of the board is black, and the figure is drawn in white. 2) When the distance sensor 41 is continuously scanned over the dedicated board surface, the reflection intensity is recognized as a prominent value only at the position of the figure drawn in white, and five points as shown in Figure 12(a) can be recognized. 3) It is possible to calculate the distance L based on the recognized points. 4) If L can be determined, the angle can be determined (see Figure 12(b)). θ=sin -1 (A / L)=θ1 or θ2 θ1+θ2=180° 5) Furthermore, if L1, L2, L3, and L4 can be identified, X1, Y1, X3, and Y3, i.e., points b and d, can be identified (see Figure 13). X1=B×L1 / (L1+L2) Y1=A×L1 / (L1+L2) X3=B×L3 / (L3+L4) Y3=A×L3 / (L3+L4) Furthermore, if X1 and X3 can be identified, it can be determined whether θ is θ1 or θ2 depending on the magnitude of X1 and X3. 6) Also, if L1, L2, L3, and L4 can be identified, ΔX 11 , ΔX 12 , ΔX 21 , ΔX 22 , i.e., points a, c, and e can be identified (see Figure 14). X01 =cosθ×(L1+L2) X 02 =cosθ×(L3+L4) ΔX 11 =X 01 ×L2 / (L1+L2) ΔX 12 =X 01 ×L1 / (L1+L2) ΔX 21 =X 02 ×L4 / (L3+L4) ΔX 22 =X 02 ×L3 / (L3+L4) 7) As a result of the above, it is possible to determine the measurement coordinates of five points on the dedicated panel. Since the positional relationships between multiple dedicated panels are determined using a separately prepared total station TS or the like, it is possible to unify the coordinates of multiple distance sensors 41. 8) Although the procedure is omitted, coordinates can be unified using shapes other than those shown here (see, for example, Figure 15), and the shape is not limited to these. For example, as shown in Figure 15, a rectangle or square with diagonals that intersect each other can be used.

[0068] (Ellipse estimation method) Next, assuming that coordinate unification has been completed, a method for estimating an ellipse (the cross-sectional shape of the segment 90 and the earth pressure shield 1) using measurement values ​​from the four measurement units 40, ... will be described. This method for estimating an ellipse is realized by executing the following steps 1) to 7).

[0069] 1) The measurement unit 40 (range sensor) measures the shield machine tail and the segment end face, and determines the coordinates of four points on the segment end face and the coordinates of four points on the shield machine tail that are on the same plane as the segment end face.

[0070] 2) Find the intersection between the segment end face (on a plane) and the line oriented in the direction of the shield machine's central axis (Z axis), and use this as the center point of the shield machine's elliptical shape.

[0071] 3) The vertical (Y-axis) radius and horizontal (X-axis) radius of the ellipse are calculated from the coordinates of the four points of the tail calculated in 1) and the coordinates of the center point calculated in 2), and the elliptical shape and coordinates of the tail are determined (see Figure 16).

[0072] 4) From the tail clearance measurement value, estimate whether the segment is leaning vertically or horizontally, and use the estimated value to find the coordinates of the center point of the segment end face.

[0073] 5) Based on the segment end face coordinates obtained in 1) and the segment center point coordinates obtained in 4), the elliptical shape and coordinates of the segment end face are determined in the same manner as in 3).

[0074] 6) The elliptical shape of the shield machine tail and the elliptical shape of the segment end face are located on the same plane, so by overlapping the two ellipses, the tail clearance at any point can be estimated.

[0075] 7) Note that the method for estimating the flattening of the vertical axis (Y axis) and horizontal axis (X axis) of the ellipse shown in Figure 16 becomes more accurate as the angle between the direction (Rn) connecting the center point and the position measured by the measurement unit 40 (range sensor) and the vertical and horizontal axes becomes acuter, so it is desirable that this angle be 20 degrees or less with respect to each axis direction (X and Y axes) (see Figure 17). Also, when installing the device, it is desirable that the measurement units 40 (range sensors) located at diagonal corners each have a similar angle. Note that it is possible to improve accuracy by calculating the amount of correction for flattening in advance, as shown in Table 1 (see Figure 18).

[0076] (effect) Next, the effects achieved by the coordinate unified measurement system U of this embodiment will be listed and explained.

[0077] (1) As described above, the coordinate-integrated measurement system U of this embodiment is a coordinate-integrated measurement system U for measuring the tail clearance and / or the end face of a segment of a shield machine, and includes a plurality of measurement units 40, each having a non-contact distance sensor 41, a rotation mechanism 42 for rotating the distance sensor 41, and a rotation position detection unit 43 for detecting the rotation position of the distance sensor 41 by the rotation mechanism 42; one or more collimation units 30 for identifying the position and rotation direction of each of the plurality of measurement units 40; The shield includes a total station TS for measuring the positions and orientations of multiple collimation units 30; and a control unit 60 as a calculation unit that calculates tail clearance, segment roundness, and / or segment surface orientation based on the measurement results of multiple points on the end face of the segment and multiple points on the inner surface of the skin plate. The control unit 60 as a calculation unit determines the positions and rotational directions of the multiple measurement units 40 in a unified coordinate system based on the measurement values ​​of the reflection intensity from one or more collimation units 30. This configuration allows the coordinates of the multiple measurement units 40, etc. to be unified. By unifying the coordinates in this way, multiple measurement values ​​can be linked with other multiple measurement values, allowing the deformation of the entire shield cross section to be predicted based on the measurement values. Additionally, it is possible to prevent contact between the skin plate and the segment during curve construction, etc., and to ensure that the finished dimensions are within the allowable range.

[0078] That is, as shown in Figure 20, the assembled segments and the tail of the shield machine are not necessarily perfectly round because they are affected by assembly precision, product errors, and soil and water pressure. Therefore, the coordinate unification measurement system U of this embodiment unifies the coordinates, making it possible to estimate the roundness of the segments and the shield machine. The roundness of the segments is one of the important management items for ensuring the durability of the tunnel structure and the finished shape of the tunnel cross section. Normally, measurements are taken using surveying equipment or scales after excavation work has finished (to accommodate overtime work) or by interrupting excavation work, but by using this method, it is possible to obtain roundness information in parallel with excavation work.

[0079] Furthermore, as shown in Figure 20, when measuring the tail clearance of a segment, due to issues of circularity, only information on the measurement line of each measuring device can be obtained (if a measuring device is attached at the 3 o'clock position, only the segment tail clearance at the 3 o'clock position can be obtained). For this reason, if information on eight locations on the circumference is required, for example, eight measuring devices would be required, which would be extremely uneconomical. By measuring using multiple measuring units 40, ... converted into unified coordinates, the circularity of the segments and shield machine can be estimated, and by understanding the elliptical shape of each from the estimated circularity, it is possible to estimate the tail clearance at any position on the circumference.

[0080] Furthermore, during shield excavation work, if the axial directions of the shield machine and the segments differ, this can reduce tail clearance, making it impossible to assemble the segments or even resulting in segment damage. For this reason, the segment face is measured to determine whether to correct the direction (use corrected segments) for the next ring and beyond, and to measure the segment face (segment face orientation). Previously, this was done by stopping excavation work using a plumb bob or total station TS, but with this method, the coordinates of four segment end faces can be determined, making it possible to simultaneously measure the segment face (segment face orientation), eliminating the need for conventional methods.

[0081] (2) Furthermore, one or more collimation units 30 are provided with an identifying means for identifying the position and rotation direction of each of the multiple measurement units 40, and a measured means for measuring the position and orientation of the collimation unit 30 itself by the total station TS. In this way, by using the identifying means and the measured means along the way, it becomes possible to measure and calculate the relative positions of the multiple measurement units 40, from the total station TS.

[0082] (3) Furthermore, one or more collimation units 30 have a collimation plate 31 on which a special figure including vertical lines 31a, horizontal lines 31b, and diagonal lines 31c is drawn as the identification means, and at least three prisms 33, 34, and 35 fixed to the collimation plate 31 as the measured means, thereby realizing the identification means and the measured means with a relatively simple configuration. Furthermore, if the collimation unit 30 has such a configuration, the measurement unit 40 can measure the segments, the shield machine, and the collimation unit 30 continuously in a series of operations. Therefore, measurement and (relative) position identification can be performed almost simultaneously without taking time to specifically identify the (relative) position of the collimation unit 31.

[0083] (4) Furthermore, the sighting plate 31 serving as the identification means has a figure drawn on it of two rectangles with diagonal lines drawn on them, arranged in the same direction and sharing one side, so that a special figure can be constructed very easily, and the position and direction of the measuring unit 40 can be easily identified.

[0084] (5) Furthermore, there are at least three measuring units 40,... (four in this embodiment), each of which is positioned, for example, near the upper end, the right end, the lower end, and the left end on the cross section of the shield tunneling machine. Therefore, by positioning the four measuring units 40,... at four key locations, the deformed shape of the shield machine's exterior can be accurately measured and estimated.

[0085] (6) Furthermore, the sighting plate 40 serving as the identification means has a rectangle or square drawn with two intersecting diagonal lines, so that a special shape can be constructed very easily, and the position and direction of the measuring unit 40 can be easily identified.

[0086] (7) There are at least three measuring units 40 (four in this embodiment), each positioned near the top end, right end, bottom end, or left end of the cross section of the shield tunneling machine. Therefore, by positioning the four measuring units 40, etc. at four key locations, the deformed shape of the shield machine's exterior can be accurately measured and estimated.

[0087] (8) Furthermore, the control unit 60 as a calculation unit calculates an elliptical shape as the cross-sectional shape of the segment based on the calculated tail clearance, so that the cross-sectional shape of the entire segment can be accurately estimated, including positions that are not directly measured.

[0088] (9) Furthermore, the control unit 60, which functions as a calculation unit, calculates an elliptical shape as the cross-sectional shape of the shield machine based on the calculated tail clearance, so that the cross-sectional shape of the shield machine at positions that have not been directly measured can be estimated fairly accurately. Therefore, when combined with the above-mentioned (5), it is possible to fairly accurately estimate the tail clearance of the entire cross section, including positions that have not been directly measured.

[0089] (10) Furthermore, since the measurement unit 40 is positioned approximately midway between the two shield propulsion jacks of the shield tunneling machine in the circumferential direction of the shield tunneling machine, the shield propulsion jack 18 can interfere with scanning. However, by positioning the measurement unit 40 between the two shield propulsion jacks 18, 18, this problem can be resolved. This location is less affected by the scope of work such as the installation of the shield tunneling machine and segment assembly, and is easy to install and maintain. Another advantage is that it is less affected by vibrations during operation of the erector 15, which is part of the shield equipment.

[0090] (11) Furthermore, the control unit 60 as a calculation unit calculates the line segment La based on the measurement results of multiple points on the end face of the segment, calculates the line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate, and calculates the tail clearance on the face side of the segment based on the intersection of the line segments La and Lb. According to this calculation method, the tail clearance c1 on the face side (front end position) of the segment 90 can be calculated based on the measurement values, using the point cloud data of the end face 90a and the point cloud data of the inner surface of the skin plate 2.

[0091] (12) Furthermore, the control unit 60, which functions as a calculation unit, calculates the line segment La based on the measurement results of multiple points on the end face of the segment, calculates the line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate, and calculates the tail clearance on the wellhead side of the segment based on the intersection of the line segments La and Lb and the angle between the line segments La and Lb. According to this calculation method, the tail clearance c2 on the wellhead side (rear end position) of the segment 90 can be calculated based on the measurement values, using the point cloud data of the end face 90a and the point cloud data of the inner surface of the skin plate 2.

[0092] (13) On the other hand, a coordinate-unified measurement method using the coordinate-unified measurement system U of this embodiment includes the steps of installing multiple measurement units 40,...; measuring one or more collimation units 30 using the multiple measurement units 40,...; measuring one or more collimation units 30 using a total station TS; specifying the positions and rotation directions of the multiple measurement units 40,... in a unified coordinate system based on measurement values ​​of reflection intensity from the one or more collimation units; and measuring the tail clearance and / or the end faces of the segments using the multiple measurement units 40,... whose positions and rotation directions are specified in the unified coordinate system. With this configuration, the coordinates of the multiple measurement units 40,... can be unified. By unifying the coordinates in this way, multiple measurement values ​​can be linked with other multiple measurement values, and the deformation of the entire shield cross section can be predicted based on the measurement values. In addition, it is possible to prevent contact between the skin plate and the segment during curved construction, and to ensure that the finished dimensions are within the allowable range.

[0093] (14) Furthermore, the control unit 60 as a calculation unit further includes a process of calculating an elliptical shape as the cross-sectional shape of the segment based on the measured tail clearance and / or the end face of the segment, so that the cross-sectional shape of the entire segment can be accurately estimated, including positions that are not directly measured.

[0094] (15) Furthermore, the control unit 60 as a calculation unit further includes a step of calculating an elliptical shape as the cross-sectional shape of the shield machine based on the measured tail clearance and / or the end faces of the segments, so that the cross-sectional shape of the shield machine at positions not directly measured can be estimated fairly accurately. Therefore, when combined with the above-mentioned (11), the tail clearance of the entire cross section, including positions not directly measured, can be estimated fairly accurately.

[0095] (16) Furthermore, by further providing the control unit 60 as a calculation unit with a process for calculating the face orientation of the segment based on the measured tail clearance and / or the end face of the segment, it becomes possible to manage the process so that the skin plate and the segment do not come into contact with each other during curve construction, and so that the finished dimensions are within the allowable range.

[0096] The other configurations and effects are substantially the same as those of the above embodiment, and therefore description thereof will be omitted.

[0097] Although the embodiments of the present invention have been described above in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes that do not deviate from the gist of the present invention are included in the present invention. [Explanation of symbols]

[0098] 1: Earth pressure shield; 2: Skin plate; 3: Bulkhead; 5: Cutter head; 10: Cutter rotating shaft; 11: Bearing; 12: Cutter drive unit; 13: Gearbox; 14: Rotation drive source; 15: Erector; 16: Chamber; 17: Soil removal device; 18: Shield propulsion jack; 18a: Piston part; 18b: Spreader part; 19: Tail seal; 21: Mud supply pipe; 22: Soil pressure gauge; 30: collimation part; 31: collimation plate; 31a: vertical line; 31b: horizontal line; 31c: diagonal line; 33, 34, 35: Prism; 40: Measuring part; 40a: Bracket; 41: distance sensor; 42: rotation mechanism; 43: rotation position detection unit; 51: Cutter spoke; 52: Cutter bit; 53: Fishtail bit; 54: Mixing blade; 60: Control unit; 61: La calculation section; 62: Lb calculation section; 63: Intersection C calculation section; 64: Point D calculation section; 65: keyboard; 66: mouse; 71: monitor; 90: segment; 90T: tapered segment; 90a: segment end face; A: Singular point; B: Singular point; C: Intersection; D: Back end point; La: Line segment; Lb: Line segment; S: tail clearance measuring device; TS: total station; U: Coordinate Unified Measurement System; c: tail clearance; c1: tail clearance; c2: tail clearance; θ L : The angle between line segments La and Lb; θx: relative angle; θy: taper angle

Claims

1. A coordinate unified measurement system for measuring the tail clearance and / or end face of a segment of a shield tunneling machine, a plurality of measurement units each having a non-contact distance sensor, a rotation mechanism for rotating the distance sensor, and a rotation position detection unit for detecting a rotation position of the distance sensor caused by the rotation mechanism; one or more collimation units for identifying the position and rotation direction of each of the plurality of measurement units; a total station for measuring the position and orientation of one or more of the collimation units; a calculation unit that calculates a tail clearance, a roundness of the segment, and / or a surface orientation of the segment based on measurement results of a plurality of points on the end face of the segment and measurement results of a plurality of points on the inner surface of the skin plate; A coordinate unified measurement system, wherein the calculation unit is configured to identify the positions and rotation directions of the multiple measurement units in a unified coordinate system based on measurement values ​​of reflection intensity from one or more of the collimation units.

2. 2. The coordinate-integrated measurement system according to claim 1, wherein one or more of the collimation units comprises an identifying means for identifying the position and rotational direction of each of the plurality of measurement units, and a measured means for measuring the position and orientation of the collimation unit itself by the total station.

3. 3. The coordinate-integrated measurement system according to claim 2, wherein one or more of the collimation units have, as the identification means, a collimation plate on which a figure including vertical lines, horizontal lines, and diagonal lines is drawn, and as the measurement means, at least three prisms fixed to the collimation plate.

4. 4. The coordinate unified measurement system according to claim 3, wherein the sighting plate as the identifying means has a figure drawn on it in which two rectangles with diagonals drawn thereon are arranged in the same direction and share one side.

5. A coordinate-unified measurement system as described in claim 4, wherein there are at least three measurement units, each located near the top end position, the right end position, the bottom end position, or the left end position in the cross section of the shield tunneling machine.

6. 4. The coordinate unified measurement system according to claim 3, wherein a rectangle or a square with two intersecting diagonal lines is drawn on the sighting plate as the specifying means.

7. A coordinate-unified measurement system as described in claim 6, wherein there are at least three measurement units, each located near the top end position, the right end position, the bottom end position, or the left end position in the cross section of the shield tunneling machine.

8. 8. The coordinate unified measurement system according to claim 1, wherein the calculation unit calculates an elliptical shape as the cross-sectional shape of the segment based on the calculated tail clearance.

9. 9. The coordinate unified measurement system according to claim 8, wherein the calculation unit calculates an elliptical shape as the cross-sectional shape of the shield machine based on the calculated tail clearance.

10. 10. The coordinate-integrated measurement system according to claim 9, wherein the measurement unit is disposed at a substantially midpoint between two shield propulsion jacks of the shield machine in the circumferential direction of the shield machine.

11. 11. The coordinate unified measurement system according to claim 10, wherein the calculation unit calculates a line segment La based on measurement results of a plurality of points on the end face of the segment, calculates a line segment Lb based on measurement results of a plurality of points on the inner surface of the skin plate, and calculates a tail clearance on the face side of the segment based on an intersection of the line segment La and the line segment Lb.

12. The coordinate unified measurement system of claim 10, wherein the calculation unit calculates a line segment La based on the measurement results of multiple points on the end face of the segment, calculates a line segment Lb based on the measurement results of multiple points on the inner surface of the skin plate, and calculates the tail clearance on the wellhead side of the segment based on the intersection of the line segment La and the line segment Lb and the angle between the line segment La and the line segment Lb.

13. A coordinate unified measurement method using the coordinate unified measurement system according to claim 8, a step of installing a plurality of the measurement units; A step in which the plurality of measurement units measure one or more collimation units; The total station measures one or more collimation units; a step in which the calculation unit specifies positions and rotation directions of the plurality of measurement units in a unified coordinate system based on measurement values ​​of reflection intensities from one or more of the collimation units; A coordinate unified measurement method comprising a step in which the plurality of measurement units, whose positions and rotational directions are specified in a unified coordinate system, measure the tail clearance and / or the end faces of the segments.

14. The coordinate unified measurement method according to claim 13 , further comprising a step in which the calculation unit calculates an elliptical shape as the cross-sectional shape of the segment based on the measured tail clearance and / or the end face of the segment.

15. A coordinate-unified measurement method as described in claim 13, further comprising a step in which the calculation unit calculates an elliptical shape as the cross-sectional shape of the shield machine based on the measured tail clearance and / or the end face of the segment.

16. The coordinate unified measurement method according to claim 13 , further comprising a step in which the calculation unit calculates a face orientation of the segment based on the measured tail clearance and / or an end face of the segment.

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