Embedded support construction system

Abstract

To provide technology capable of improving both accuracy and swiftness when constructing a steel timbering in a timbering construction system for constructing the steel timbering.SOLUTION: A timbering construction system comprises a control device for controlling a drive mechanism at an articulation part of a boom, a boom sensor for detecting controlled variable of the drive mechanism, a target for a machine body side survey fitted to the machine body of an erector device, a target for a timbering side survey fitted to a steel timbering or a grip part of the boom, and a survey device for obtaining a three-dimensional coordinates of the target for the machine body side survey and the target for the timbering side survey. The control device executes primary motion control for guiding the steel timbering to a first target position on the basis of the three-dimensional coordinate of the target for the machine body side survey and the detection result of the boom sensor, and secondary motion control for guiding the steel timbering from the first target position to a second target position on the basis of the three-dimensional coordinate of the target for the timbering side survey after the primary motion control.SELECTED DRAWING: Figure 15

Description

[Technical Field]

[0001] The present invention relates to a support erection system. [Background technology]

[0002] The NATM (New Austrian Tunneling Method) is a well-known construction method for building tunnels. The NATM method is based on the idea of ​​maintaining the stability of the tunnel by effectively utilizing the support capacity and strength of the natural ground, and is a construction method that uses shotcrete, rock bolts, and steel supports appropriately to construct a tunnel structure that is integrated with the natural ground.

[0003] In recent years, in order to avoid manual work at the tunnel face and improve safety and workability, a support erection system has been proposed in which a surveying target is attached to a steel support grasped by the boom of an erector device, and the position of the steel support is obtained in real time by surveying the surveying target using a surveying device such as a total station, thereby erecting the steel support (see, for example, Patent Documents 1 and 2, etc.). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-178455 [Patent Document 2] Japanese Patent Publication No. 2020-26695 Summary of the Invention [Problem to be solved by the invention]

[0005] However, while the method of controlling the boom that grips the steel support based on the survey results of a survey target attached to the steel support can accurately guide the steel support to the desired position, it can sometimes take time to erect the steel support.

[0006] The present invention has been made in consideration of the above-mentioned problems, and its purpose is to provide a technology that can improve both the accuracy and speed of erecting steel supports compared to conventional technology in a support erection system that uses an erector device to erect steel supports. [Means for solving the problem]

[0007] The present invention is a support erection system for erecting steel supports using an erector device equipped with a boom having a gripping portion at the tip end capable of gripping the steel supports and a joint portion that can perform a predetermined driving operation by the operation of an attached drive mechanism, the system comprising: a control device for controlling the drive mechanism at the joint portion; a boom sensor for detecting the control amount of the drive mechanism at the joint portion; a machine-side survey target attached to the machine body of the erector device; the steel supports gripped by the gripping portion or the support-side survey target attached to the gripping portion; and a surveying device for acquiring the three-dimensional coordinates of the support-side survey target, wherein the control device, when erecting the steel support, performs primary operation control to control the boom to guide the steel support to a first target position based on at least the three-dimensional coordinates of the aircraft-side survey target acquired from the surveying device and the detection results of the boom sensor, and after the primary operation control, performs secondary operation control to control the boom to guide the steel support from the first target position to a second target position based on at least the three-dimensional coordinates of the support-side survey target acquired from the surveying device.

[0008] Here, the control device may perform boom deflection compensation control to control the boom so as to cancel out the amount of deflection of the boom during primary movement control.

[0009] The control device may also acquire the amount of extension and contraction of the boom during primary operation control based on the detection result of the boom sensor, and perform the boom deflection correction control in accordance with the amount of extension and contraction of the boom.

[0010] The control device may also acquire the boom elevation angle during primary operation control based on the detection result of the boom sensor, and perform the boom deflection correction control in accordance with the boom elevation angle.

[0011] In the boom deflection correction control, the control device may calculate corrected first target position coordinates by correcting the coordinates of the first target position in a direction that offsets the amount of deflection of the boom, and control the boom based on the corrected first target position coordinates.

[0012] In addition, the support-side surveying target may include a motion capture marker installed on the steel support, the surveying device may include a motion capture camera attached to a body of the erector device and photographing the motion capture marker, and the control device may acquire three-dimensional coordinates of the motion capture marker based on an image acquired by photographing the motion capture marker with the motion capture camera. [Effects of the Invention]

[0013] According to the present invention, in a support erection system that uses an erector device to erect steel supports, a technology can be provided that can improve both the accuracy and speed of erecting steel supports compared to conventional technology. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a side view of a tunnel support according to the first embodiment. [Figure 2] FIG. 2 is a schematic diagram showing a connection structure for connecting the left-side steel support and the right-side steel support according to the first embodiment. [Figure 3] FIG. 3 is a front view of the first top end joint plate according to the first embodiment. [Figure 4] FIG. 4 is a rear view of the first top end joint plate according to the first embodiment. [Figure 5]FIG. 5 is a side view of the vicinity of the top end of the first main body part of the left-side steel support according to the first embodiment. [Figure 6] FIG. 6 is a front view of the second top end joint plate according to the first embodiment. [Figure 7] FIG. 7 is a rear view of the second top end joint plate according to the first embodiment. [Figure 8] FIG. 8 is a side view of the vicinity of the top end of the second main body part of the right-side steel support according to the first embodiment. [Figure 9] FIG. 9 is a diagram showing a state in which the female coupling portion and the male coupling portion according to the first embodiment are coupled together. [Figure 10] FIG. 10 is a diagram illustrating the tunnel support structure according to the first embodiment. [Figure 11] FIG. 11 is a top view of the work vehicle according to the first embodiment. [Figure 12] FIG. 12 is a side view of the work vehicle according to the first embodiment. [Figure 13] FIG. 13 is a schematic configuration diagram of the tunnel support erection system according to the first embodiment. [Figure 14] FIG. 14 is a diagram illustrating an example of a target according to the first embodiment. [Figure 15] FIG. 15 is a side view of the boom according to the first embodiment. [Figure 16] FIG. 16 is a top view of the boom according to the first embodiment. [Figure 17] FIG. 17 is a front view of a gripping portion attached to the tip side of the boom according to the first embodiment. [Figure 18] FIG. 18 is a diagram illustrating the first to sixth boom sensors according to the first embodiment. [Figure 19] FIG. 19 is a diagram illustrating a tunnel construction method according to the first embodiment. [Figure 20] FIG. 20 is a diagram illustrating the aircraft reference point and the aircraft coordinate system of the aircraft according to the first embodiment. [Figure 21] FIG. 21 is a timing chart of the primary operation control and the secondary operation control for the boom according to the first embodiment. [Figure 22] FIG. 22 is a diagram illustrating the guide member in the first top end joint plate. [Figure 23] FIG. 23 is a diagram illustrating another example of the guide member in the first top end joint plate. [Figure 24] FIG. 24 is a diagram illustrating the relationship between the amount of boom main body extension and contraction and the amount of boom deflection. [Figure 25] FIG. 25 is a diagram illustrating the relationship between the amount of boom main body extension and contraction and the amount of deflection correction of the boom. [Figure 26] FIG. 26 is a diagram showing the relationship between the amount of extension and contraction of the boom main body and the amount of boom deflection when the elevation angle of the boom main body BM is changed to 0°, 15°, and 30°. [Figure 27] FIG. 27 is a schematic diagram of a tunnel support erection system according to the second embodiment. [Figure 28] FIG. 28 is a diagram illustrating a motion capture camera according to the second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In this embodiment, a method of constructing a tunnel by applying the shoring erection system according to the present invention to the NATM construction method will be described.

[0016] <Embodiment 1> FIG. 1 is a side view of a tunnel support 10 according to a first embodiment. The tunnel support 10 is an arch-shaped steel support erected along the tunnel wall immediately after excavation to prevent the collapse of exposed ground due to tunnel excavation, and is installed at regular intervals along the tunnel axis. The tunnel support 10 in this embodiment is formed of H-shaped steel having an H-shaped cross section. More specifically, the tunnel support 10 is formed in an arch shape by integrally connecting the top ends (upper ends) of a pair of arc-shaped steel supports 10L, 10R. Hereinafter, the steel support 10L will be referred to as the "left-side steel support," and the steel support 10R will be referred to as the "right-side steel support."

[0017] The left-side steel support 10L has a first main body 111, a first top joint plate 121, and a first bottom plate 131. The first main body 111 is an H-shaped steel consisting of a web 111a and a pair of ground-side flanges 111b and an inner space-side flange 111c that are perpendicular to the web 111a. A first top joint plate 121 is welded to one end of the first main body 111, and a first bottom plate 131 is welded to the other end. The first top joint plate 121 and the first bottom plate 131 are rectangular flat steel plates that extend perpendicular to the H-shaped cross section of the first main body 111. Similarly, the right-side steel support 10R has a second main body 112, a second top joint plate 122, and a second bottom plate 132. The second main body portion 112 is an H-shaped steel beam consisting of a web 112a, a pair of ground-side flanges 112b and an inner space-side flange 112c that are perpendicular to the web 112a. The first main body portion 111 of the left-side steel support 10L and the second main body portion 112 of the right-side steel support 10R have longitudinal lengths that are symmetrical in a circular arc shape. In addition, a second top joint plate 122 is welded to one end of the second main body portion 112, and a second bottom plate 132 is welded to the other end. The second top joint plate 122 and the second bottom plate 132 are rectangular steel flat plates, and are spaced apart from each other by a distance of 100 mm relative to the H-shaped cross section of the second main body portion 112. In this embodiment, the first top joint plate 121 and the second top joint plate 122 have a congruent square plane. As shown in Figure 1, the left-side steel support 10L and the right-side steel support 10R are connected with the first top joint plate 121 and the second top joint plate 122 butted against each other.

[0018] Figure 2 is a schematic diagram showing a connecting structure 30 that connects the left-side steel support 10L and the right-side steel support 10R according to embodiment 1. The connecting structure 30 includes a first top joint plate 121 of the left-side steel support 10L, a second top joint plate 122 of the right-side steel support 10R, a female connecting portion 40 recessed in the first top joint plate 121, and a male connecting portion 50 protruding from the second top joint plate 122. Figure 2 shows the state before the first top joint plate 121 of the left-side steel support 10L and the second top joint plate 122 of the right-side steel support 10R are connected via the connecting structure 30, i.e., the state in which the first top joint plate 121 and the second top joint plate 122 are separated. Also, in FIG. 2, the first main body portion 111 connected to the first top end joint plate 121 and the second main body portion 112 connected to the second top end joint plate 122 are omitted from the illustration for the sake of convenience.

[0019] Figure 3 is a front view of the first top joint plate 121 according to embodiment 1. Figure 4 is a back view of the first top joint plate 121 according to embodiment 1. Figure 5 is a side view of the vicinity of the top end of the first main body portion 111 of the left-hand steel support 10L according to embodiment 1. Here, reference numeral 121a denotes the outer surface of the first top joint plate 121, and reference numeral 121b denotes the inner surface of the first top joint plate 12L. Reference numeral 121c denotes the upper edge of the first top joint plate 121, reference numeral 121d denotes the lower edge of the first top joint plate 121, reference numeral 121e denotes the first side edge of the first top joint plate 121, and reference numeral 121f denotes the second side edge of the first top joint plate 121. Here, the lower edge 121d of the first top joint plate 121 faces the interior of the tunnel T when the left-side steel support 10L and the right-side steel support 10R are connected, and the upper edge 121c faces the opposite side, i.e., the natural ground 7 side. Furthermore, the second side edge 121f of the first top joint plate 121 faces the face 8 side of the tunnel T when the left-side steel support 10L and the right-side steel support 10R are connected, and the first side edge 121e faces the opposite side, i.e., the work vehicle 200 (erector device 100) side.

[0020] In Figure 4, the end shape (H-shape) of the first main body portion 111 connected to the first top joint plate 121 is shown by a dashed line. Also, Figures 8A and 8B show the up-down direction (height direction) and width direction of the first top joint plate 121. The up-down direction of the first top joint plate 121 is parallel to the extension direction of the first side edge 121e and the second side edge 121f, and is also parallel to the extension direction of the web 111a at the position where the first main body portion 111 is connected to the first top joint plate 121. Also, the width direction of the first top joint plate 121 is parallel to the extension direction of the upper edge 121c and the lower edge 121d, and is also parallel to the extension direction of the ground-side flange 111b and the interior-side flange 111c at the position where the first main body portion 111 is connected to the first top joint plate 121. As shown in Fig. 5, the web 111a of the first main body portion 111 has a notch 1110 at the front end where the web 111a is connected to the first top end joint plate 121. The notch 1110 is provided in the center of the web 111a in the vertical direction. The notch 1110 is a notch opening that penetrates the web 111a in the thickness direction and is provided to prevent interference with the casing 41 of the female coupling portion 40 shown in Fig. 10.

[0021] Figure 6 is a front view of the second top joint plate 122 according to embodiment 1. Figure 7 is a rear view of the second top joint plate 122 according to embodiment 1. Figure 8 is a side view of the vicinity of the top end of the second main body portion 112 of the right-hand steel support 10R according to embodiment 1. Here, reference numeral 122a denotes the outer surface of the second top joint plate 122, and reference numeral 122b denotes the inner surface of the second top joint plate 122. Furthermore, reference numeral 122c denotes the upper edge of the second top joint plate 122, reference numeral 122d denotes the lower edge of the second top joint plate 122, reference numeral 122e denotes the first side edge of the second top joint plate 122, and reference numeral 122f denotes the second side edge of the second top joint plate 122. Here, the lower edge 122d of the second top joint plate 122 faces the interior of the tunnel T when the left-side steel support 10L and the right-side steel support 10R are connected, The upper edge 122c faces the opposite side, i.e., the side of the natural ground 7. Furthermore, the second side edge 122f of the second top joint plate 122 faces the face 8 of the tunnel T when the left-side steel support 10L and the right-side steel support 10R are connected, and the first side edge 122e faces the opposite side, i.e., the side of the work vehicle 200 (erector device 100).

[0022] 7, the shape of the end of the second main body portion 112 connected to the second top end joint plate 122 is shown by a broken line. In addition, the vertical and horizontal directions of the second top end joint plate 122 are shown in FIGS.

[0023] As shown in Figures 3 and 4, the first top end joint plate 121 has a substantially square planar shape. Furthermore, as shown in Figures 6 and 7, the second top end joint plate 122 also has a substantially square planar shape, similar to the first top end joint plate 121. The vertical dimensions of the first top end joint plate 121 and the second top end joint plate 122 are equal, and the horizontal width dimensions of the first top end joint plate 121 and the second top end joint plate 122 are also equal. In other words, the first top end joint plate 121 and the second top end joint plate 122 have congruent square planar shapes, and the dimensions of the upper edges 121c, 122c, the lower edges 121d, 122d, the first side edges 121e, 122e, and the second side edges 121f, 122f are equal.

[0024] A single female coupling part 40 is recessed at the planar central position of the first top joint plate 121. The planar central position of the first top joint plate 121 means the vertical central position of the first top joint plate 121 and the horizontal central position. Furthermore, a single male coupling part 50 is protruded at the planar central position of the second top joint plate 122. The planar central position of the second top joint plate 122 means the vertical central position of the second top joint plate 122 and the horizontal central position. In this embodiment, the connecting structure 30 connecting the left-side steel support 10L and the right-side steel support 10R is composed of a female coupling part 40 centrally disposed in the first top joint plate 121 and a male coupling part 50 centrally disposed in the second top joint plate 122.

[0025] First, we will explain the male coupling part 50 protruding from the second top joint plate 122. An opening 1222, which is a through-hole, is drilled at the center of the second top joint plate 122, i.e., at the position where the male coupling part 50 is to be provided. The male coupling part 50 also has a rod-shaped male locking member 51. The male locking member 51 is a shaft member with a diameter slightly smaller than the opening 1222 of the second top joint plate 122, and has a male thread 51a engraved at its base end. A male thread 51c is formed over a predetermined range on the outer periphery of the male locking member 51. A tapered surface 51e, whose diameter decreases toward the tip, is formed at the tip end 51d of the male locking member 51. The male threads 51c of the male locking member 51 are multiple circumferential male locking grooves arranged side by side on the outer periphery of the male locking member 51. Further, the tip portion 51d of the male locking member 51 is formed with a tapered surface 51e whose diameter decreases toward the tip.

[0026] Here, a nut 52 is fixed to the inner surface 122b of the second top joint plate 122 by welding or the like at the drilling position of the opening hole 1222 in the second top joint plate 122. The male locking member 51 can be attached to the second top joint plate 122 in a state where it protrudes from the outer surface 122a as shown in Figure 2 by inserting its base end into the opening hole 1222 from the outer surface 122a side of the second top joint plate 122 and screwing a male screw 51a into the nut 52. As a result, the male coupling part 50 is protruding from the second top joint plate 122 so that the central axis of the male locking member 51 coincides with the center position of the second top joint plate 122. As shown in Figure 8, a notch 1120 is provided at the connecting end of the web 112a of the second main body 112 of the right-side steel support 10R with the second top end joint plate 122, so that the nut 52 for screwing the male locking member 51 in the male connecting portion 50 does not interfere with the web 112a. The notch 1120 is a hole that penetrates the web 112a in the thickness direction and is provided to prevent the nut 52 and the base end side of the male locking member 51 screwed to the nut 52 from interfering with the web 112a. 6 to 8 indicates the central axis of the male locking member 51 in the male coupling portion 50 that is protruded from the second top end joint plate 122. The central axis CL2 passes through the center position of the second top end joint plate 122 and extends parallel to the normal direction of the second top end joint plate 122.

[0027] Next, we will explain the female coupling portion 40 recessed in the first top joint plate 121. An opening 1212, which is a through hole, is drilled in the center of the first top joint plate 121, i.e., at the position where the female coupling portion 40 is provided. In addition, a cylindrical metal casing 41 is fixed to the inner surface 121b of the first top joint plate 121 at the drilling position of the opening 1212 in the first top joint plate 121 by welding WP or the like. The casing 41 is positioned in a notch 1110 (see Figure 5) provided at the connection end of the web 111a with the first top joint plate 121, so interference with the web 111a is suppressed. Also, as shown in Figure 2, a tapered surface 1215 is formed on the edge of the opening hole 1212 formed in the first top end joint plate 121, the diameter of which gradually increases from the inner surface 121b side toward the outer surface 121a side in the thickness direction of the first top end joint plate 121.

[0028] The casing 41 has its axis positioned approximately in the center of the opening hole 1212. A storage chamber 42 is formed within the casing 41. A tapered hole 43 is formed at the front end (front portion) of the storage chamber 42, with the inner circumferential surface having a tapered surface 43a whose inner diameter gradually decreases from the rear end side to the front end side. A spring storage section 42a is formed in the middle portion of the storage chamber 42, and a female thread 45 is formed on the inner periphery of the rear portion of the storage chamber 42. An insertion opening 48 is formed at the front end of the tapered hole 43. The insertion opening 48 located at the front end of the casing 41 has approximately the same diameter as the opening hole 1212 formed in the first top end joint plate 121 and is connected to the opening hole 1212. When the casing 41 is fixed to the first top end joint plate 121, the insertion opening 48 is positioned so as to overlap the opening hole 1212.

[0029] Furthermore, a divided female locking member 46 is disposed within the tapered hole 43 so as to be slidable in the axial direction. In this embodiment, the wedge-shaped female locking member 46, divided into three pieces in the circumferential direction, is disposed so as to be slidable in the axial (front-rear) direction of the casing 41. Here, the outer surface of the female locking member 46 is formed as a tapered surface 46a that is slidable along the tapered surface 43a of the tapered hole 43. The tapered surface 46a of the female locking member 46 gradually increases in outer diameter from the tip side to the rear. Furthermore, a female thread 46b is formed on the inner surface of each female locking member 46. The female thread 46b is a plurality of circumferential female locking grooves arranged side by side on the inner surface of each female locking member 46. The female thread 46b is engraved in the shape of an arc centered on the axis of the casing 41 and in the direction along the axis. As described above, a female threaded hole is formed by the multiple female locking members 46, and the diameter of the female threaded hole is enlarged by the tapered surface 46a of each female locking member 46 moving backward along the tapered surface 43a of the tapered hole 43, and the diameter of the female threaded hole is reduced by moving forward (toward the front). The female threads 46b formed on the inner surface of each female locking member 46 can be engaged with the male threads 51c formed on the outer periphery of the tip side of the male locking member 51.

[0030] In addition, in the spring storage section 42a of the storage chamber 42, a pressure spring 44, which is a pressing member that presses (elastically biases) the female locking members 46 forward (forward), is stored in a compressed state between a spring holder 47 provided at the rear end of each female locking member 46 and a cover plate 49, and the pressing force of the pressure spring 44 constantly presses each female locking member 46 forward. The cover plate 49 can be held in a compressed state by being screwed into a female thread 45 engraved on the inner peripheral side of the rear part of the storage chamber 42. A hexagonal hole 49a is provided on the outer surface of the cover plate 49, allowing the cover plate 49 to be attached and detached from the casing 41 with a hexagonal wrench. Note that the reference symbol CL1 shown in FIGS. 3 to 5 denotes the central axis of the casing 41 (storage chamber 42) at the female coupling portion 40 recessed in the first top joint plate 121. The central axis CL1 is located at the center position of the first top joint plate 121. It passes through the position and extends parallel to the normal direction of the first top end joint plate 121.

[0031] When connecting the left-side steel support 10L and the right-side steel support 10R using the above-mentioned connecting structure 30, as shown in Figure 2, the first top end joint plate 121 on the left-side steel support 10L and the second top end joint plate 122 on the right-side steel support 10R are brought close together and face each other (opposite each other), and the distance between the first top end joint plate 121 and the second top end joint plate 122 is gradually narrowed so that the male locking member 51 of the male connecting portion 50 is inserted into the opening hole 1212 of the first top end joint plate 121.

[0032] Here, the outer diameter of the male locking member 51 is slightly smaller than the opening 1212 of the first top joint plate 121 and the insertion opening 48 of the female coupling part 40 (casing 41), and is set to be slightly larger than the diameter of the female screw hole formed by each female locking member 46 when each female locking member 46 is positioned in the most forward position of the tapered hole 43 (tapered surface 43a). When the male locking member 51 protruding from the second top joint plate 122 enters the insertion opening 48 of the female coupling part 40 through the opening 1212 of the first top joint plate 121, the tip end 51d of the male locking member 51 abuts against the front end surface 46c of each female locking member 46, which is positioned at the most forward position of the tapered hole 43 (tapered surface 43a) at its front end by the pressing force of the pressing spring 44. Then, the male locking member 51 moves each female locking member 46 backward along the tapered surface 43a toward the axial rear of the female connecting portion 40 (casing 41) against the pressing force of the pressure spring 44, thereby inserting the male locking member 51 into the storage chamber 42 while expanding the diameter of the female screw hole formed by the female screw 46b of the tapered surface 46a of each female locking member 46.

[0033] Then, the outer surface 121a of the first top joint plate 121 and the outer surface 122a of the second top joint plate 122 come into surface contact by abutting against each other, and when the insertion of the male locking members 51 into the storage chambers 42 in the female coupling portion 40 is completed and further insertion of the male locking members 51 into the storage chambers 42 is stopped, each female locking member 46 is pushed back forward (toward the front) by the pressing force of the compression spring 44, and the female screw hole formed by the tapered surface 46a of each female locking member 46 reduces in diameter. As a result, as shown in Figure 9, the female threads 46b (female locking grooves) of each female locking member 46 in the female coupling portion 40 and the male threads 51c (male locking grooves) of the male locking members 51 in the male coupling portion 50 mesh with each other. As a result, the left-side steel support 10L and the right-side steel support 10R are connected together with the outer surface 121a of the first top joint plate 121 and the outer surface 122a of the second top joint plate 122 in surface contact with each other, as shown in Figure 1. In other words, the connecting structure 30 fastens the first top joint plate 121 and the second top joint plate 122 with a single touch.

[0034] As shown in FIG. 9, when an external force acts in a direction separating the first top joint plate 121 and the second top joint plate 122 while the female thread 46b of the female coupling portion 40 and the male thread 51c of the male coupling portion 50 (male locking member 51) are engaged, a pull-out force acts in a direction to pull the male locking member 51 out of the storage chamber 42 of the female coupling portion 40. This pull-out force is transmitted to each female locking member 46 via the mutually engaged male thread 51c and female thread 46b. The tapered surface 46a of each female locking member 46 has an outer diameter that gradually decreases from the rear side to the front side. Therefore, even if the pull-out force acts on each female locking member 46, displacement of each female locking member 46 toward the front of the tapered hole 43 is limited. That is, with the connecting structure 30 according to this embodiment, even if an external force acts in a direction that pulls the male locking member 51 out of the storage chamber 42 of the female connecting portion 40, the connected state can be maintained against the external force. Note that when the male locking member 51 of the male connecting portion 50 is locked to the female connecting portion 40, that is, when the female threads 46b of the female locking members 46 of the female connecting portion 40 and the male threads 51c of the male locking member 51 are engaged with each other, pulling out of the male locking member 51 from the casing 41 of the female connecting portion 40 is restricted as described above, but rotation of the male locking member 51 about the central axis CL2 of the male locking member 51 relative to the casing 41 is permitted.

[0035] According to the steel shoring connection structure 30 of this embodiment, simply by inserting the male coupling portion 50 (male locking member 51) axially through the insertion port 48 of the female coupling portion 40, the male coupling portion 50 is connected to the female coupling portion 40 with a single touch, thereby fastening the left steel shoring 10L and the right steel shoring 10R together. In other words, according to the steel shoring connection structure 30 of this embodiment, it is not necessary to perform the conventional connection work of placing personnel on a work platform set up near the tunnel wall or a man cage of an erector device, moving the personnel to the vicinity of the tunnel crown, and bolting the joint plates located at the top of the pair of steel shoring together. Therefore, according to the steel shoring connection structure 30 of this embodiment, the connection work of the left steel shoring 10L and the right steel shoring 10R can be performed more quickly and easily than conventional work. Furthermore, according to the steel support connection structure 30 in this embodiment, the left-side steel support 10L and the right-side steel support 10R can be connected by operating the hands 18L, 18R attached to the ends of a pair of booms 17L, 17R on the erector device 100, thereby avoiding manual work at the tunnel face and improving safety and workability.

[0036] The steel support connection structure 30 in this embodiment adopts a single-piece connection structure that connects a female connection portion 40 that is solely arranged on the first top joint plate 121 and a male connection portion 50 that is solely arranged on the second top joint plate 122.Therefore, by simply aligning the central axis CL1 of the casing 41 (storage chamber 42) with the central axis CL2 of the male locking member 51, even if the first top joint plate 121 and the second top joint plate 122 are in a planar twisted state (the outer edges of the first top joint plate 121 and the second top joint plate 122 are not overlapping but are misaligned), the left-side steel support 10L and the right-side steel support 10R can be connected more easily by inserting the male locking member 51 into the casing 41 (storage chamber 42). However, in the steel support connection structure 30, a structure may be adopted in which multiple female connection portions 40 are arranged on the first top end joint plate 121 and a corresponding number of male connection portions 50 are arranged on the second top end joint plate 122.

[0037] Furthermore, even after the left-side steel support 10L and the right-side steel support 10R are connected, rotational movement of the male locking member 51 about the central axis CL2 relative to the casing 41 is permitted, so after the above connection, position adjustment can be made so that the first top joint plate 121 and the second top joint plate 122 are in full surface contact. This makes it easy to adjust the position so that the upper edge 121c, lower edge 121d, first side edge 121e, and second side edge 121f of the first top joint plate 121 overlap the upper edge 122c, lower edge 122d, first side edge 122e, and second side edge 122f of the second top joint plate 122, respectively, when the female connecting portion 40 of the first top joint plate 121 and the male locking member 51 of the second top joint plate 122 are connected.

[0038] In this embodiment, a single female connector 40 is recessed at the center of the first top joint plate 121, and a single male connector 50 is protruded at the center of the second top joint plate 122. This allows the centers of the first top joint plate 121 and the second top joint plate 122 to be connected together, so the tunnel support 10 obtained by integrally connecting the left-side steel support 10L and the right-side steel support 10R can stably support loads in various load directions. However, in the steel support connection structure 30 of this embodiment, the female connector 40 may be eccentrically positioned at a position eccentric to the center of the first top joint plate 121. Similarly, the male connector 50 may be eccentrically positioned at a position eccentric to the center of the second top joint plate 122.

[0039] FIG. 10 is a diagram illustrating the tunnel support structure 1 according to the first embodiment. In FIG. 10, reference numeral 3 denotes a first shotcrete application, and reference numeral 6 denotes a second shotcrete application. Note that FIG. 10 illustrates a right-side steel support 10R of the tunnel support 10. In the tunnel construction method of this embodiment, the excavation of the face 8 causes the ground to be sprayed on the side of the tunnel T. After the mound 7 is exposed, primary concrete 3 is sprayed onto this natural ground 7. After that, arch-shaped tunnel supports 10 are erected inside the primary shotcrete 3. The tunnel supports 10 are installed at predetermined intervals (for example, about 1.0 m to 1.5 m) in the axial direction of the tunnel T.

[0040] FIG. 11 is a top view of the work vehicle 200 according to the first embodiment. FIG. 12 is a side view of the work vehicle 200 according to the first embodiment. The work vehicle 200 is equipped with an erector device 100 and a spraying device 600 that erect the tunnel support 10. The erector device 100 includes a machine body 100A mounted on the work vehicle 200 and a pair of booms 17L, 17R attached to the machine body 100A. The pair of booms 17L, 17R are attached so as to be movable relative to the machine body 100A. That is, each boom 17L, 17R is provided with various drive mechanisms, and can freely extend, retract, tilt, and swing by operation of the drive mechanisms. In addition, a pair of grippers 18L, 18R having the same configuration is attached to the tip of each boom 17L, 17R. The pair of gripping parts 18L, 18R can tilt, swing, and rotate freely by the operation of a drive mechanism attached to the pair of booms 17L, 17R, and can detachably clamp and grip (hold) the left steel support 10L and the right steel support 10R, respectively. As will be described in detail later, the parts of the pair of booms 17L, 17R that can be relatively driven, such as by the operation of the drive mechanism, to perform the predetermined telescopic movement, tilt, swing, rotation, etc., as described above, are called "joint parts."

[0041] Hereinafter, the boom indicated by the symbol 17L will be referred to as the "left boom," and the boom indicated by the symbol 17R will be referred to as the "right boom." Furthermore, the gripping portion indicated by the symbol 18L will be referred to as the "left gripping portion," and the gripping portion indicated by the symbol 18R will be referred to as the "right gripping portion." When the left boom 17L and the right boom 17R are not distinguished, they may be collectively referred to simply as "boom 17." Furthermore, when the left gripping portion 18L and the right gripping portion 18R are not distinguished, they may be collectively referred to simply as "gripping portion 18." The erector device 100 can detachably grip the left steel support 10L with the left gripping portion 18L, and detachably grip the right steel support 10R with the right gripping portion 18R. In this embodiment, the left-side steel support 10L and the right-side steel support 10R are a pair of supports formed by dividing the arch-shaped tunnel support 10 into two parts, and after being guided near the face 8, they are assembled at the face 8 to form the arch-shaped tunnel support 10.

[0042] The spraying device 600 is disposed between the left boom 17L and the right boom 17R, and includes an arm 601, a spraying robot 602 supported by the arm 601, and a spraying nozzle 603 provided at the tip of the spraying robot 602. The arm 601 is capable of extension and retraction, tilting, etc. The spraying robot 602 is also capable of tilting and rotating the spraying nozzle 603. In addition, the spraying device 600 includes a concrete pump, an accelerator supply device, a compressor, a high-pressure water pump, etc. The spraying robot 602 can discharge shotcrete supplied from the concrete pump from the spraying nozzle 603.

[0043] 13 is a schematic diagram of the erection system S for the tunnel support 10 according to embodiment 1. In the figure, reference numeral 15 denotes a control device for the erector device 100, reference numeral 300 denotes an automatic tracking total station which is a distance and angle measuring instrument (surveying instrument) using laser light, reference numeral 400 denotes a total station controller which controls the total station 300, and reference numeral 500 denotes a total station antenna which enables wireless transmission and reception with the total station controller 400.

[0044] The control device 15 is, for example, a computer installed in the cockpit of the erector device 100, and is equipped with an input device, a processing device, an output device, etc. In the configuration example shown in FIG. 15 has a monitor 101 which is a display device, an erector controller 102, an erector-side antenna 103, an operation panel 104, a keyboard 105, a pointing device 106, etc. The erector controller 102 can be configured to include a processor for executing various programs, a storage device (storage unit) for storing various programs and various information necessary for the operation of the processor, etc.

[0045] The total station 300 is a surveying device that uses a laser beam to automatically track a target, such as a prism, and measures the distance and angle of the target to measure (survey) the three-dimensional position coordinates of the target. The total station 300 is installed at a point in the tunnel T whose coordinates are known (known coordinate point). FIG. 14 is a diagram showing an example of a target 9 according to the first embodiment. The target 9 has a magnet 92 provided on a holder 91 and a prism 93 attached to the tip of the holder 91. The holder 91 may have, for example, a roughly cylindrical shape, and the magnet 92 may be embedded in its bottom surface 91A. In this embodiment, the targets 9 include machine-side survey targets 9A to 9C attached to the machine body 100A of the erector device 100, and support-side survey targets 9a to 9d attached to the left steel support 10L and the right steel support 10R held by a pair of grippers 18L, 18R (see FIG. 13). The support-side survey targets 9a-9d are detachably attached to the left steel support 10L and the right steel support 10R by the magnetic force of magnets 92. The attachment positions of the support-side survey targets 9a-9d to the left steel support 10L and the right steel support 10R are predetermined, and the support-side survey targets 9a-9d are attached to known positions on the left steel support 10L and the right steel support 10R. On the other hand, the machine-side survey targets 9A-9C do not need to be detachable from the machine body 100A, and the prism 93 shown in FIG. 14 may be fixed to an appropriate frame member installed on the machine body 100A. The prism 93 of each machine-side survey target 9A-9C is fixed to a predetermined known position on the machine body 100A.

[0046] As will be described in more detail later, when erecting the tunnel shoring 10 (left-side steel shoring 10L and right-side steel shoring 10R) using the erector device 100 located near the tunnel face 8, the three-dimensional position coordinates of the machine-side survey targets 9A-9C and the support-side survey targets 9a-9d are acquired by a total station 300 installed behind the erector device 100, and the left-side steel shoring 10L and the right-side steel shoring 10R are connected and installed based on the acquired three-dimensional position coordinates of the targets. The installation location of the total station 300 is not particularly limited, but it is recommended to install it in a location where there are no obstacles to automatic tracking and aiming of the machine-side survey targets 9A-9C and the support-side survey targets 9a-9d. For example, the total station 300 may be installed on the tunnel floor, or a platform may be erected on the ceiling and the total station 300 may be installed on the platform.

[0047] The total station controller 400 is configured to include, for example, a portable computer. The total station controller 400 automatically controls various mechanisms of the total station 300 using software installed in the computer, and processes surveying data from the total station 300. Furthermore, the total station controller 400 can send and receive data to and from the erector controller 102 via wireless communication, and can wirelessly remotely control various mechanisms of the total station 300 in response to commands from the erector controller 102.

[0048] In the example shown in Fig. 13, machine-side survey targets 9A to 9C are installed at the rear of the machine body 100A of the erector device 100. As an example, the machine-side survey targets 9A to 9C are fixed at specified positions on the left side, right side, and center of the rear of the machine body 100A. Also, the support-side survey targets 9a to 9d are attached to the left steel support 10L and the right steel support 10R when erecting the supports, as shown in Fig. 13. In the example shown in FIG. 13, a shoring-side survey target 9a is attached at a predetermined position at the upper end of the left-hand steel support 10L, and a shoring-side survey target 9b is attached at a predetermined position at the lower end. Furthermore, a shoring-side survey target 9c is attached at a predetermined position at the upper end of the right-hand steel support 10R, and a shoring-side survey target 9d is attached at a predetermined position at the lower end. In this embodiment, targets 9 are attached to the inner-space flanges 111c, 112c of the left-hand steel support 10L and the right-hand steel support 10R. In this embodiment, marks for attaching the shoring-side survey targets 9a to 9d are marked in advance with paint or the like on the inner-space flanges 111c, 112c of the left-hand steel support 10L and the right-hand steel support 10R. Furthermore, when each of the support-side survey targets 9a to 9d is attached to the inner space side flanges 111c, 112c of the left-side steel support 10L and the right-side steel support 10R, the height from the attachment surface to the center of the prism 93 is constant. However, there are no particular restrictions on the attachment locations of the support-side survey targets 9a to 9d and the number of targets.

[0049] Next, the detailed structure of the boom 17 in the erector apparatus 100 will be described. Fig. 15 is a side view of the boom 17 in the erector apparatus 100 according to the first embodiment. Fig. 16 is a top view of the boom 17 in the erector apparatus 100 according to the first embodiment. Fig. 17 is a front view of the gripping part 18 attached to the tip side of the boom 17 in the erector apparatus 100 according to the first embodiment. Each joint part of the boom 17 will be described with reference to Figs. 15 to 17.

[0050] Reference numeral 1700 denotes a base frame fixed by bolts or the like to a support frame 100B installed on the machine body 100A of the erector device 100. The base frame 1700 of the boom 17 is located at the base end of the boom 17, and the boom 17 is connected to the support frame 100B via the base frame 1700. The boom 17 mainly has, from the base end side, the base frame 1700, a revolving frame 1701, a first boom body 1702, a second stage boom body 1703, and a gripping part 18. Furthermore, the first boom body 1702 and the second stage boom body 1703 are collectively referred to as the "boom body BM."

[0051] Furthermore, the boom main body BM (first boom main body 1702 and second boom main body 1703) is, for example, a telescopic boom, and the second boom main body 1703 is freely extendable and retractable in the axial direction relative to the first boom main body 1702. However, the boom main body BM does not need to be multi-staged, and even if it is multi-staged, the number of stages is not particularly limited. Here, as an example, the boom main body BM will be described as a two-stage boom equipped with a first boom main body 1702 and a second boom main body 1703.

[0052] The base end of the revolving frame 1701 is connected to the base frame 1700 via a first revolving shaft 1705. The symbol AX1 denotes a first revolving axis (central axis) of the first revolving shaft 1705. The first revolving axis AX1 extends parallel to the height direction of the machine body 100A, and when the machine body 100A is in a horizontal position, the first revolving axis AX1 extends vertically. The revolving frame 1701 can freely revolve (pivot) around the first revolving axis AX1 relative to the base frame 1700. The first revolving shaft 1705, which enables the revolving movement, corresponds to a "joint." As shown in FIG. 16, a first telescopic jack 1706 serving as a drive mechanism is disposed between the revolving frame 1701 and the base frame 1700. One end of the first telescopic jack 1706 is connected to the base frame 1700, and the other end is connected to a portion of the revolving frame 1701 near the tip. By extending and contracting the first telescopic jack 1706, the revolving frame 1701 and the boom main body BM connected to the revolving frame 1701 can be rotated around the first revolving axis AX1 relative to the base frame 1700. The revolving operation here refers to an operation that changes the azimuth angle of the boom main body BM with the machine body 100A of the erector device 100 as the reference. The revolving operation of the boom main body BM around the first revolving axis AX1 ( The range RSb of the boom rotation operation (hereinafter referred to as "boom rotation operation") is not particularly limited, but an example is shown in FIG.

[0053] Furthermore, the base end of a first boom main body 1702 is connected to the tip end of the revolving frame 1701 via a first tilt shaft 1707. The symbol AX2 denotes a first tilt axis (central axis) of the first tilt shaft 1707. The first tilt axis AX2 extends in a direction perpendicular to the first revolving axis AX1. The first boom main body 1702 is capable of tilting (rotating) freely around the first tilt axis AX2 relative to the revolving frame 1701, with the first tilt axis AX2 as the revolving axis. The first tilt shaft 1707, which enables the tilting movement described above, corresponds to a "joint." As shown in FIG. 15, a second telescopic jack 1708 serving as a drive mechanism is disposed between the revolving frame 1701 and the first boom main body 1702. One end of the second telescopic jack 1708 is connected to the tip side of the revolving frame 1701, and the other end is connected to an intermediate section in the extension direction (longitudinal direction) of the first boom main body 1702. By extending and retracting the second telescopic jack 1708, the boom main body BM can be tilted about the first tilt axis AX2 relative to the revolving frame 1701. The tilt operation here refers to an operation that changes the elevation / depression angle of the boom main body BM with the machine body 100A of the erector device 100 as the reference. The range RTb of the tilt operation of the boom main body BM about the first tilt axis AX2 as the tilt axis (hereinafter referred to as "boom tilt operation") is not particularly limited, but an example is shown in FIG. 15.

[0054] The first boom body 1702 has a cylindrical shape that can accommodate the second boom body 1703, and the second boom body 1703 can be freely extended and retracted from the inside of the first boom body 1702 along its axial direction (longitudinal direction). As shown in FIG. 15 , a third telescopic jack 1709 serving as a drive mechanism is disposed between the first boom body 1702 and the second boom body 1703. One end of the third telescopic jack 1709 is connected to the middle of the first boom body 1702 in the axial direction (longitudinal direction), and the other end is connected to the leading end of the second boom body 1703 in the axial direction (longitudinal direction). By extending and retracting the third telescopic jack 1709, the amount of protrusion of the second boom body 1703 in the axial direction (longitudinal direction) relative to the first boom body 1702 is changed, and as a result, the boom body BM can be extended and retracted. Hereinafter, the operation of extending and contracting the boom main body BM will be referred to as the "boom extension and contraction operation," the operation of extending it will be referred to as the "boom extension operation," and the operation of shortening it will be referred to as the "boom shortening operation." The connection portion of the first boom main body 1702 and the second boom main body 1703 that enables these operations corresponds to the "joint portion."

[0055] Furthermore, a tilt connecting piece 1710 and a swivel connecting piece 1711 are provided on the tip side of the second boom main body 1703 to support the gripping unit 18. For example, in the example shown in Fig. 15 , the tilt connecting piece 1710 is fixed to the tip side of the second boom main body 1703, and the tip side of the tilt connecting piece 1710 and the base end side of the swivel connecting piece 1711 are connected via a second tilt shaft 1712. A second swivel shaft 1713 is provided on the tip side of the swivel connecting piece 1711, and the main body frame 181 of the gripping unit 18 is connected via the second swivel shaft 1713.

[0056] The gripping unit 18 has a main body frame 181 that is generally L-shaped when viewed from above. The main body frame 181 includes a first frame portion 1811 that is rotatably connected via the swivel connecting piece 1711 and the second swivel shaft portion 1713, and a second frame portion 1812 that is connected to the first frame portion 1811 so as to extend in an orthogonal L-shape, and a pair of clamping portions 182 are installed on the second frame portion 1812. The pair of clamping portions 183 are provided at intervals along the second frame portion 1812 and can cooperate to clamp the right-side steel support 10R or the left-side steel support 10L described above.

[0057] In the example shown in FIG. 16, clamp portions 182 are provided near both ends of the second frame portion 1812. Each clamp portion 182 has a first clamp claw 183A and a second clamp claw 183B that are arranged opposite each other, and a support surface 184 that supports the inner space side flange 111c (inner space side flange 112c) of the right-side steel support 10R (left-side steel support 10L).

[0058] The distance between first clamp claw 183A and second clamp claw 183B can be changed within a predetermined range by a drive mechanism (not shown). The gripping unit 18 places the inner space flange 111c (inner space flange 112c) on the support surface 184 with the distance between first clamp claw 183A and second clamp claw 183B of each clamping unit 182 widened, and can then clamp the inner space flange 111c (inner space flange 112c) by narrowing the distance between first clamp claw 183A and second clamp claw 183B. Furthermore, the clamping of the inner space flange 111c (inner space flange 112c) can be released by widening the distance between first clamp claw 183A and second clamp claw 183B from this state.

[0059] As described above, the gripping portion 18 is supported by the boom main body BM via the tilt connecting piece 1710 and the swivel connecting piece 1711, and is therefore capable of tilting and swiveling relative to the boom main body BM (second boom main body 1703). The symbol AX3 shown in FIGS. 15 and 16 denotes the second tilt axis (central axis) of the second tilt shaft portion 1712. The second tilt axis AX3 extends in a direction perpendicular to the axial direction of the boom main body BM (hereinafter referred to as the "boom axis direction"). The swivel connecting piece 1711 is capable of tilting (rotating) freely around the second tilt axis AX3 relative to the tilt connecting piece 1710, with the second tilt axis AX3 as the tilt axis.

[0060] 15 denotes a second pivot axis (central axis) of the second pivot shaft portion 1713. The second pivot axis AX4 extends in a direction perpendicular to the boom axis direction of the boom main body BM and the second tilt axis AX3. The main body frame 181 (first frame portion 1811) of the gripping portion 18 is capable of pivoting (rotating) about the second pivot axis AX4 relative to the pivot coupling piece 1711.

[0061] In this embodiment, for example, a telescopic jack (not shown) serving as a drive mechanism is interposed between the second boom main body 1703 and the swivel coupling piece 1711. By controlling the extension and retraction of this telescopic jack, the swivel coupling piece 1711 tilts relative to the tilt coupling piece 1710 installed at the tip of the second boom main body 1703. This allows the gripper 18 to tilt relative to the boom main body BM (second boom main body 1703). Note that the tilt operation of the gripper 18 (hereinafter referred to as "grip tilt operation") here refers to an operation that changes the elevation / depression angle of the gripper 18 relative to the boom main body BM. The range RTg of the gripper tilt operation of the gripper 18 around the second tilt axis AX3 as the tilt axis is not particularly limited, and an example is shown in FIG. 15. The second tilt axis 1712 that enables the gripper tilt operation of the gripper 18 corresponds to the "joint."

[0062] 16, a fourth telescopic jack 1714 serving as a drive mechanism is interposed between the main body frame 181 (first frame portion 1811) of the gripper 18 and the swivel coupling piece 1711. By extending or contracting the fourth telescopic jack 1714, the main body frame 181 of the gripper 18 can be rotated about the second rotation axis AX4 relative to the swivel coupling piece 1711. This allows the gripper 18 to rotate relative to the boom main body BM (second boom main body 1703). Note that the rotation of the gripper 18 (hereinafter referred to as "grip rotation") here refers to an operation that changes the azimuth angle of the gripper 18 relative to the boom main body BM. The range RSg of the gripper rotation of the gripper 18 about the second rotation axis AX4 is not particularly limited, but an example is shown in FIG. 16. The second pivot shaft 1713 that enables the grip portion 18 to pivot is equivalent to the "joint portion."

[0063] Furthermore, in the gripping unit 18, a first frame portion 1811 and a second frame portion 1812 that constitute a main body frame 181 are connected via a connecting shaft portion 185 so as to be rotatable relative to each other. Reference symbol AX5 shown in FIG. 17 is the rotation axis (center axis) of the connecting shaft portion 185. The rotation axis AX5 of the connecting shaft portion 185 extends parallel to the axial direction in which the first frame portion 1811 extends. Also, as shown in FIG. 17, a fifth telescopic jack 186 serving as a drive mechanism is interposed between the first frame portion 1811 and the second frame portion 1812 in the main body frame 181 of the gripping unit 18. By extending or retracting the fifth telescopic jack 186, the second frame portion 1812 can be rotated about the rotation axis AX5 relative to the first frame portion 1811. Here, because the rotation axis AX5 is parallel to the axial direction of the first frame portion 1811, by operating the fifth telescopic jack 186, the second frame portion 1812, which holds the pair of clamp portions 182, is rotated within a plane perpendicular to the axial direction of the first frame portion 1811. Note that the grip portion rotation range RRg of the grip portion 18, which rotates around the rotation axis AX5, is not particularly limited, but an example is shown in Figure 17. The connecting shaft portion 185, which enables the rotational movement of the grip portion 18 described above, corresponds to the "joint portion."

[0064] Furthermore, the boom 17 in this embodiment is provided with a first boom sensor S1 to a sixth boom sensor S6 that detect the control amount of the drive mechanism at each of the above-mentioned joints. Figure 18 is a diagram illustrating the first boom sensor S1 to the sixth boom sensor S6 mounted on the boom 17 according to the first embodiment.

[0065] The first boom sensor S1 detects the amount of rotation of the boom main body BM (hereinafter referred to as the "boom main body rotation amount") QBs by detecting the amount of rotation of the rotating frame 1701, which rotates relative to the base frame 1700 around the first rotation axis AX1 as the rotation axis.

[0066] The second boom sensor S2 detects the tilt amount of the boom main body BM (hereinafter referred to as the "boom main body tilt amount") QBt by detecting the tilt amount of the first boom main body 1702, which performs tilt operation relative to the revolving frame 1701 using the first tilt axis AX2 as the tilt axis.

[0067] The third boom sensor S3 detects the amount of extension and contraction of the boom main body BM (hereinafter referred to as the "boom main body extension and contraction amount") QBe by detecting the amount of axial (longitudinal) protrusion of the second boom main body 1703 relative to the first boom main body 1702.

[0068] The fourth boom sensor S4 detects the tilt amount of the swivel connecting piece 1711, which performs tilt operation relative to the tilt connecting piece 1710 using the second tilt axis AX3 as the tilt axis, thereby detecting the tilt amount QGt of the gripping portion 18 relative to the boom main body BM (hereinafter referred to as the "clamp tilt amount").

[0069] The fifth boom sensor S5 detects the amount of rotation of the main frame 181 (first frame portion 1811) which rotates relative to the rotating connecting piece 1711 around the second rotation axis AX4, thereby detecting the amount of rotation of the gripping portion 18 relative to the boom main body BM (hereinafter referred to as the "clamp rotation amount") QGs.

[0070] The sixth boom sensor S6 detects the amount of rotation (hereinafter referred to as "clamp rotation amount") QGr of the second frame portion 1812 that rotates relative to the first frame portion 1811 of the gripper 18 around the rotation axis AX5.

[0071] The first boom sensor S1 to the sixth boom sensor S6 described above may be sensors that include appropriate encoders and detect the amount of mechanical movement, direction, angle, etc. of the mechanical parts that make up the joints, and output the detected information as an electrical signal. 6 can communicate by wire or wirelessly with the erector controller 102 of the control device 15. The erector controller 102 of the control device 15 can acquire the real-time boom main body rotation amount QBs, boom main body tilt amount QBt, boom main body extension / contraction amount QBe, clamp tilt amount QGt, clamp rotation amount QGs, and clamp rotation amount QGr based on the detection information output from the first boom sensor S1 to the sixth boom sensor S6.

[0072] Next, a method for erecting the tunnel shoring 10 in this embodiment will be described. The NATM method is a construction method for extending the tunnel T in the axial direction by repeating one cycle of: (1) excavating the tunnel face 8 by blasting or mechanically → (2) removing the rubble → (3) spraying the first shotcrete, erecting the tunnel shoring, spraying the second shotcrete → (4) placing rock bolts.

[0073] In this embodiment, after the debris removal process is completed, the work vehicle 200 is driven to the new section of the tunnel support structure 1 while the left steel support 10L and the right steel support 10R are gripped along the tunnel axis (tunnel extension direction) by the gripping portions 18L and 18R of the pair of booms 17LR and 17R of the erector device 100 (see the positions of the left steel support 10L and the right steel support 10R shown by the dotted lines in Figure 19).

[0074] In this embodiment, the gripping portions 18 of the pair of booms 17LR, 17R are configured to grip predetermined positions of the left steel support 10L and the right steel support 10R, respectively. Specifically, as shown in the enlarged view of FIG. 19, a positioning portion 11 is attached to the interior flange 111c (112c) of the left steel support 10L (right steel support 10R). The positioning portion 11 is formed, for example, by an angle member, and has a positioning wall 11A erected in the normal direction of the flange surface from the interior flange 111c (112c). Furthermore, the positioning portion 11 is detachable from the interior flange 111c (112c) using bolts or the like. When the gripping portion 18 grips the left-side steel support 10L (right-side steel support 10R), it can grip the left-side steel support 10L (right-side steel support 10R) with the positioning surface 11B of the positioning wall 11A in the positioning portion 11 abutting against the flat clamp-side abutment surface 187 of the clamp portion 182. This allows the gripping portion 18 to accurately grip a predetermined position of the left-side steel support 10L (right-side steel support 10R), and when the gripping portion 18 grips the left-side steel support 10L (right-side steel support 10R), the relative positional relationship between the gripping portion 18 and the first top joint plate 121 (second top joint plate 122) can always be kept constant.

[0075] Note that there are no particular limitations on the form of the positioning portion 11, as long as it can fix the gripping position when the gripping portion 18 grips the left-side steel support 10L (right-side steel support 10R). For example, the positioning portion 11 may be a recess or notch formed in a portion of the inner space side flange 111c (112c) of the left-side steel support 10L (right-side steel support 10R) that engages with the clamp claws 183A (183B) of each clamp portion 182 when gripped by the gripping portion 18.

[0076] In the method of erecting the tunnel shoring 10 according to this embodiment, after the work vehicle 200 is driven to the new section of the tunnel shoring structure 1 as described above, the left gripping portion 18L of the left boom 17L and the right gripping portion 18R of the right boom 17R are rotated 90° about the second pivot shaft 1713 (see FIG. 19 ) so that the sides of the left steel shoring 10L and the right steel shoring 10R face the tunnel face 8 (see the positions of the left steel shoring 10L and the right steel shoring 10R shown by solid lines in FIG. 19 ). At this time, it is preferable to extend the boom of either the left boom 17L or the right boom 17R before rotating the left gripping portion 18L and the right gripping portion 18R, so that the left steel shoring 10L and the right steel shoring 10R do not collide with each other. For example, first, the boom body BM of the right boom 17R is extended by a predetermined distance (for example, about 1000 mm), and then the right grip portion 18R of the right boom 17R is rotated by 90°. This causes the side of the right-side steel support 10R to face the working face 8 (see reference symbol (1) in FIG. 11). In addition, in conjunction with the boom extension operation of the right-side boom 17R described above, a boom tilt operation of the right-side boom 17R may be performed to tilt up the boom main body BM by a predetermined angle (for example, about 5°). Thereafter, as shown by reference symbol (2) in FIG. 19, the gripping portion of the left gripping portion 18L of the left-side boom 17L may be rotated to cause the side of the left-side steel support 10L to face the working face 8.

[0077] From this state, the work vehicle 200 is positioned near the face 8 (erector positioning process). Next, the spraying device 600 is used to spray the primary concrete 3 onto the exposed natural ground 7 in the new construction section of the tunnel shoring structure 1, and then the top ends of the left-side steel shoring 10L and the right-side steel shoring 10R are connected to each other to erect the tunnel shoring 10. The tunnel shoring 10 erection system S in this embodiment can erect the left-side steel shoring 10L and the right-side steel shoring 10R fully automatically when erecting the tunnel shoring 10. Below, we will explain the fully automatic shoring erection control executed by the erector controller 102 of the control device 15.

[0078] Prior to the fully automatic erection control described below, the erector controller 102 of the control device 15 acquires the shoring erection design position coordinates (three-dimensional coordinates in an absolute coordinate system) where the tunnel shoring 10 should be erected in the new section. The designed erection position may be acquired by accepting an input operation by a worker via an input device such as the keyboard 105 or a tablet terminal. For example, the tablet terminal may be capable of communicating with the erector controller 102 of the control device 15, and data regarding the designed erection position entered by the worker into the tablet terminal may be transmitted to the erector controller 102. The fully automatic shoring erection control may be started by the erector controller 102 of the control device 15 by accepting a request to start the fully automatic shoring erection control via an input operation by a worker via an input device such as the keyboard 105 or a tablet terminal.

[0079] The fully automatic support erection control roughly includes primary operation control and secondary operation control. The primary operation control, during erection of the tunnel support 10, controls the left boom 17L and the right boom 17R to guide the left steel support 10L and the right steel support 10R to their respective first target positions based on at least the three-dimensional coordinates of the machine-side survey target acquired from the total station 300 as a surveying device and the detection results of the first boom sensor S1 to the sixth boom sensor S6. The secondary operation control, after the primary operation control, controls the left boom 17L and the right boom 17R to guide the left steel support 10L and the right steel support 10R from their respective first target positions to their respective second target positions based on at least the three-dimensional coordinates of the support-side survey target acquired from the total station 300. The above-described primary operation control can be performed independently and in parallel on the left boom 17L and the right boom 17R. The secondary movement control for the left boom 17L is performed after the completion of the primary movement control for the left boom 17L, and the secondary movement control for the right boom 17R is performed after the completion of the primary movement control for the right boom 17R.

[0080] The first target position and second target position described above are set for the left-side steel support 10L and the right-side steel support 10R, respectively. The first target position and second target position set for the left-side steel support 10L are called the "left-side first target position" and the "left-side second target position," respectively. The first target position and second target position set for the right-side steel support 10R are called the "right-side first target position" and the "right-side second target position," respectively. Here, the left-side second target position and the right-side second target position are defined as positions where, when the left-side steel support 10L and the right-side steel support 10R are aligned with these target positions, the female connector 40 recessed in the first top joint plate 121 and the male connector 50 protruded in the second top joint plate 122 are connected to form an integrated tunnel support 10, and the tunnel support 10 is installed in the correct erection position. It is set to such a position.

[0081] On the other hand, the left-side first target position is set to, for example, a position different from the left-side second target position but relatively close to the left-side second target position. Similarly, the right-side first target position is set to, for example, a position different from the right-side second target position but relatively close to the right-side second target position. The primary motion control controls the boom 17 based on the detection results of the first boom sensor S1 to the sixth boom sensor S6, which are successively detected during the automatic operation of the left-side steel support 10L and the right-side steel support 10R. This is characterized by the ability to quickly guide the left-side steel support 10L (right-side steel support 10R) to the left-side first target position (right-side first target position). On the other hand, the secondary motion control controls the boom 17 while checking the position of the left-side steel support 10L (right-side steel support 10R) based on the three-dimensional coordinates of the support-side survey target. This is characterized by the ability to accurately guide the left-side steel support 10L (right-side steel support 10R) to the second target position. In other words, primary motion control is a control that emphasizes speed over accuracy, while secondary motion control is a control that emphasizes accuracy over speed. By combining these two types of control, it is possible to achieve a good balance between setup speed and accuracy.

[0082] First, the details of the primary operation control will be described. When the primary operation control is started, the erector controller 102 of the control device 15 wirelessly remotely controls the total station 300 via the total station controller 400, and acquires from the total station 300 the three-dimensional position coordinates (absolute coordinate system) of the aircraft-side survey targets 9A-9C attached to the aircraft 100A of the erector apparatus 100. The total station 300 is installed at a location with known coordinates. By irradiating a laser beam from the total station 300 installed at the known coordinates in this way, and aiming at each of the aircraft-side survey targets 9A-9C to measure distances and angles, these three-dimensional position coordinates (absolute coordinate system) can be obtained. The erector controller 102 acquires the aircraft-side reference coordinates (absolute coordinate system) Cm and the tilt attitude (pitch, roll, yaw) of the aircraft 100A based on the position information of each of the aircraft-side survey targets 9A-9C acquired from the total station 300. Here, the aircraft body reference coordinates Cm are three-dimensional coordinates (absolute coordinate system) of a reference point PB of the aircraft body 100A (hereinafter referred to as "aircraft body reference point").

[0083] 20 is a diagram illustrating the machine reference point PB of the machine body 100A and the machine body coordinate system (X, Y, Z) with the machine body reference point PB as its origin. The machine body reference point PB is set, for example, as the center point connecting the base ends of the boom main bodies BM of the left boom 17L and the right boom 17R. The machine body coordinate system (X, Y, Z) is a three-dimensional Cartesian coordinate system with the machine body reference point PB as its origin coordinate, and the X axis is parallel to the fore-and-aft direction of the machine body 100A, the Y axis is parallel to the left-right direction (width direction) of the machine body 100A, and the Z axis is parallel to the up-and-down direction (height direction) of the machine body 100A.

[0084] The erector controller 102 of the control device 15 converts the machine body reference coordinates (absolute coordinate system) Cm, the tilt attitude (pitch, roll, yaw) of the machine body 100A, and the support erection design position coordinates (absolute coordinate system) acquired in advance into coordinates in the machine body coordinate system (X, Y, Z) with the machine body reference coordinates (absolute coordinate system) Cm as the origin coordinates, and calculates the support erection design position coordinates (machine body coordinate system) Ct. Furthermore, the erector controller 102 calculates the left side first target position coordinates, right side first target position coordinates, left side second target position coordinates, and right side second target position coordinates in the machine body coordinate system based on the support erection design position coordinates (machine body coordinate system) Ct. The relative positional relationship of each of these target position coordinates (machine body coordinate system) can be determined in advance when the support erection design position coordinates (machine body coordinate system) Ct are used as the reference, and once the support erection design position coordinates (machine body coordinate system) Ct are determined, each target position coordinate (machine body coordinate system) can be calculated.

[0085] The erector controller 102 of the control device 15 detects the position of the left boom 17L and the right boom 17R based on the first boom sensor S1 to the sixth boom sensor S6 mounted on the left boom 17L and the right boom 17R, respectively. The current boom main body swing amount QBs, boom main body tilt amount QBt, boom main body extension / contraction amount QBe, clamp tilt amount QGt, clamp swing amount QGs, and clamp rotation amount QGr for each of the left boom 17L and the right boom 17R are acquired. Hereinafter, these boom main body swing amount QBs, boom main body tilt amount QBt, boom main body extension / contraction amount QBe, clamp tilt amount QGt, clamp swing amount QGs, and clamp rotation amount QGr may be collectively referred to as the "parameter control amount."

[0086] The erector controller 102 of the control device 15 calculates a first required left parameter control amount, which is a parameter control amount of the left boom 17L required to guide the left steel shoring 10L to the left first target position, based on the current parameter control amount of the left boom 17L and the left first target position coordinate (machine body coordinate system). Similarly, the erector controller 102 calculates a first required right parameter control amount, which is a parameter control amount of the right boom 17R required to guide the right steel shoring 10R to the right first target position, based on the current parameter control amount of the right boom 17R and the right first target position coordinate (machine body coordinate system). Furthermore, the erector controller 102 controls the drive mechanisms (telescopic jacks that drive each joint) mounted on each of the left boom 17L and the right boom 17R based on the calculated first left-side parameter required control amount and first right-side parameter required control amount, and drives the left boom 17L (including the left-side gripping portion 18L) and the right boom 17R (including the right-side gripping portion 18R), thereby guiding the left-side steel support 10L and the right-side steel support 10R to the left-side first target position and the right-side first target position, respectively.

[0087] During the primary movement control, the erector controller 102 of the control device 15 may acquire the current parameter control amounts for each of the left boom 17L and the right boom 17R at predetermined time intervals, calculate a first required left parameter control amount and a first required right parameter control amount each time, and drive-control the left boom 17L and the right boom 17R based on the calculation results. The left steel support 10L and the right steel support 10R may then be guided to approximately the first left target position and the first right target position, respectively, and the primary movement control for the left boom 17L and the right boom 17R may be terminated when the first required left parameter control amount and the first required right parameter control amount become smaller than specified amounts. Furthermore, the erector controller 102 of the control device 15 may display the first required left parameter control amount and the first required right parameter control amount during the primary movement control in real time on an output device such as the monitor 101 or a tablet terminal monitor.

[0088] Of course, the primary movement control for the left boom 17L and the right boom 17R can be performed independently, and the start and end timings of each do not need to be simultaneous. For example, the primary movement control for the left boom 17L and the primary movement control for the right boom 17R may start simultaneously, or the primary movement control for one boom may start with a time lag. Also, the end timings of the primary movement control for the left boom 17L and the right boom 17R are usually different from each other.

[0089] Furthermore, in the primary operation control, the erector controller 102 of the control device 15 does not need to control all six parameters, namely, the boom main body swing amount QBs, the boom main body tilt amount QBt, the boom main body extension / contraction amount QBe, the clamp tilt amount QGt, the clamp swing amount QGs, and the clamp rotation amount QGr, and may guide the left steel support 10L and the right steel support 10R to the left first target position and the right first target position, respectively, by controlling only some of the parameters. For example, the parameters controlled in the primary operation control may be only the boom main body swing amount QBs, the boom main body tilt amount QBt, the boom main body extension / contraction amount QBe, and the clamp rotation amount QGr.

[0090] Next, the secondary operation control will be described in detail. Secondary operation control for the left boom 17L is started at an appropriate timing after the primary movement control of the left boom 17L is completed. Similarly, the secondary movement control of the right boom 17R is started at an appropriate timing after the primary movement control of the right boom 17R is completed. FIG. 21 is a timing chart of the primary movement control and the secondary movement control of each boom 17 according to the first embodiment. Tr1 shown in FIG. 21 is the start timing of the primary movement control of the right boom 17R, and Tr2 is the end timing of the primary movement control of the right boom 17R. Tr3 is the start timing of the secondary movement control of the right boom 17R, and Tr4 is the end timing of the secondary movement control of the right boom 17R. Furthermore, Tl1 is the start timing of the primary movement control of the left boom 17L, and Tl2 is the end timing of the primary movement control of the left boom 17L. Tl3 is the start timing of the secondary movement control of the left boom 17L, and Tl4 is the end timing of the secondary movement control of the left boom 17L.

[0091] In the example shown in FIG. 21 , primary motion control for the right boom 17R is initiated before that for the left boom 17L. Then, in Tr2, while primary motion control for the left boom 17L is ongoing, primary motion control for the right boom 17R ends and simultaneously secondary motion control for the right boom 17R is initiated. When secondary motion control for the right boom 17R is initiated, the erector controller 102 of the control device 15 first wirelessly remotely controls the total station 300 via the total station controller 400 to initiate dynamic tracking of the support-side survey targets 9c and 9d attached to the right steel support 10R and acquire the three-dimensional position coordinates (absolute coordinate system) of the support-side survey targets 9c and 9d. Note that during secondary motion control for the right boom 17R, the total station 300 is pre-programmed with a sighting range that allows it to quickly sight the support-side survey targets 9c and 9d on the right steel support 10R that has been guided to the right-side first target position.

[0092] The erector controller 102 converts the three-dimensional position coordinates (absolute coordinate system) of the support-side survey targets 9c and 9d acquired from the total station 300 into a machine body coordinate system (X, Y, Z) with the machine body reference point PB as the origin. Then, based on the three-dimensional position coordinates (machine body coordinate system) of the support-side survey targets 9c and 9d in the machine body coordinate system (X, Y, Z), it calculates the difference (deviation amount) between the current three-dimensional position coordinates (machine body coordinate system) of the right-side steel support 10R and the right-side second target position coordinates (machine body coordinate system), and calculates a second right-side required parameter control amount, which is a parameter control amount of the right boom 17R required to guide the right-side steel support 10R to the right-side second target position. The erector controller 102 then controls the drive mechanism (the telescopic jack that drives each joint) mounted on the right boom 17R based on the calculated second right-side parameter required control amount, and performs control to guide the right-side steel support 10R to the second right target position by changing each parameter (boom main body swing amount QBs, boom main body tilt amount QBt, boom main body extension / contraction amount QBe, clamp tilt amount QGt, clamp swing amount QGs, and clamp rotation amount QGr). Note that when driving the right boom 17R (including the right gripper 18R) based on the second right-side parameter required control amount in the secondary operation control of the right boom 17R, first, the clamp rotation amount QGr may be controlled to match the target value, and then the remaining boom main body swing amount QBs, boom main body tilt amount QBt, boom main body extension / contraction amount QBe, clamp tilt amount QGt, and clamp swing amount QGs may be controlled to match their respective target values.

[0093] In the secondary movement control of the right boom 17R, the erector controller 102 may calculate the second right-side parameter required control amount based on the three-dimensional position coordinates of the support-side survey targets 9c, 9d at predetermined time intervals, and drive-control the right boom 17R based on the calculation result each time.Then, the secondary movement control for the right boom 17R may be terminated when the second right-side parameter required control amount becomes smaller than the specified amount to the extent that the position of the right steel support 10R is considered to match the right-side second target position.

[0094] In the example shown in FIG. 21, the secondary operation control for the right boom 17R is completed at the same time as the left boom 17R is completed. Secondary movement control for the left boom 17L is initiated. Secondary movement control for the left boom 17L is also performed in a manner basically similar to that for the right boom 17R. That is, the erector controller 102 of the control device 15 wirelessly remotely controls the total station 300 to initiate tracking of the support-side survey targets 9a and 9b attached to the left steel support 10L, and acquires the three-dimensional position coordinates (absolute coordinate system) of the support-side survey targets 9a and 9b. Note that during secondary movement control for the left boom 17L, the total station 300 is programmed with a sighting range that allows it to quickly sight the support-side survey targets 9a and 9b on the left steel support 10L that has been guided to the left first target position.

[0095] The erector controller 102 converts the acquired three-dimensional position coordinates (absolute coordinate system) of the support-side survey targets 9a and 9b into a machine body coordinate system (X, Y, Z) with the machine body reference point PB as the origin. Then, based on the three-dimensional position coordinates (machine body coordinate system) of the support-side survey targets 9a and 9b in the machine body coordinate system (X, Y, Z), it calculates the difference (deviation amount) between the current three-dimensional position coordinates (machine body coordinate system) of the left steel support 10L and the left second target position coordinates (machine body coordinate system), and calculates a second left parameter required control amount, which is a parameter control amount of the left boom 17L required to guide the left steel support 10L to the left second target position. The erector controller 102 then controls the drive mechanism (the telescopic jack that drives each joint) mounted on the left boom 17L based on the calculated second left-side parameter required control amount, and performs control to guide the left-side steel support 10L to the second left target position by changing each parameter (boom main body swing amount QBs, boom main body tilt amount QBt, boom main body extension / contraction amount QBe, clamp tilt amount QGt, clamp swing amount QGs, and clamp rotation amount QGr). Note that when driving the left boom 17L (including the left gripper 18L) based on the second left-side parameter required control amount in the secondary movement control of the left boom 17L, first, the clamp rotation amount QGr may be controlled to match the target value, and then the remaining boom main body swing amount QBs, boom main body tilt amount QBt, boom main body extension / contraction amount QBe, clamp tilt amount QGt, and clamp swing amount QGs may be controlled to match their respective target values.

[0096] In the secondary movement control of the left boom 17L, the erector controller 102 may calculate the second left-side parameter required control amount based on the three-dimensional position coordinates of the support-side survey targets 9a, 9b at predetermined time intervals, and drive-control the left boom 17L based on the calculation result each time.Then, the secondary movement control of the left boom 17L may be terminated when the second left-side parameter required control amount becomes smaller than the specified amount to the extent that the position of the left steel support 10L is considered to match the left second target position.

[0097] In this control example, the female connector 40 recessed into the first top joint plate 121 of the left-side steel support 10L and the male connector 50 protruding from the second top joint plate 122 of the right-side steel support 10R are connected to form an integrated tunnel support 10, and the left-side second target position and the right-side second target position are set as positions where the tunnel support 10 is installed at the support erection design position coordinates. Therefore, during the secondary operation control of the left-side boom 17L described above, the male locking member 51 protruding from the second top joint plate 122 of the right-side steel support 10R is inserted into the insertion port 48 of the female connector 40 provided in the first top joint plate 121 of the left-side steel support 10L, and the top ends of the left-side steel support 10L and the right-side steel support 10R are fastened together by connecting the male connector 50 and the female connector 40. Then, when the left-side steel support 10L is guided to the left-side second target position, erection of the tunnel support 10 to the support erection design position coordinates is completed.

[0098] However, the set positions of the left second target position and the right second target position are not limited to the above setting example. For example, the right second target position may be set to the designed erection position of the right steel support 10R, and the left second target position may be set to the Y-axis direction (machine body coordinate system) relative to the designed erection position of the left steel support 10L. The coordinates of the right boom 17R and the left boom 17L may be shifted by several tens to 150 mm in the negative direction (see FIG. 20). In this setting example, when the secondary movement control of the right boom 17R and the left boom 17L is completed, the positions of the female coupling portion 40 of the first top joint plate 121 and the male coupling portion 50 (male locking member 51) of the second top joint plate 122 coincide with each other on the XZ plane of the machine body coordinate system, and the outer surface 121a of the first top joint plate 121 and the outer surface 122a of the second top joint plate 122 are spaced apart by several tens to 150 mm. From this state, the erector controller 102 may perform a boom swing operation of the boom main body BM of the left boom 17L to the right. As a result, the top ends of the left steel shoring 10L and the right steel shoring 10R are fastened, and the tunnel shoring 10 can be erected at the shoring erection design position coordinates.

[0099] Of course, the left-side second target position may be set to the designed erection position of the left-side steel shoring 10L, and the right-side second target position may be set to a position whose coordinate in the Y-axis direction (machine body coordinate system) is shifted in the positive direction (see FIG. 20) by several tens to 150 mm relative to the designed erection position of the right-side steel shoring 10R. In such a setting example, after the secondary operation control of the right boom 17R and the left boom 17L is completed, the erector controller 102 may perform a boom swing operation of the boom main body BM of the right boom 17R to the left. This allows the top ends of the left-side steel shoring 10L and the right-side steel shoring 10R to be fastened, and the tunnel shoring 10 can be erected to the shoring erection design position coordinates.

[0100] Furthermore, in the above control example, the primary operation control for the right boom 17R is started before the left boom 17L, but the primary operation control for the left boom 17L may also be started before the right boom 17R. Of course, in this embodiment, instead of recessing the female coupling portion 40 in the first top joint plate 121 of the left steel support 10L, a male coupling portion 50 may be protruded, and instead of protruding the male coupling portion 50 in the second top joint plate 122 of the right steel support 10R, a female coupling portion 40 may be recessed.

[0101] As described above, the fully automatic support erection control in this embodiment includes primary motion control for each boom 17 and subsequent secondary motion control. This allows the left steel support 10L and the right steel support 10R to be quickly guided to the left-side first target position and the right-side first target position by the primary motion control. In other words, the primary motion control allows the left steel support 10L and the right steel support 10R to be quickly guided to positions relatively close to their respective designed erection positions. Then, by performing secondary motion control following the primary motion control, the left steel support 10L and the right steel support 10R can be accurately guided to the left-side second target position and the right-side second target position. This allows the female connector 40 and the male connector 50 to be accurately and reliably connected, even when the booms 17 are controlled fully automatically, and the tunnel support 10 can be accurately erected at the designed position coordinates for erection of the shoring. In other words, it is possible to improve both the speed and accuracy of erecting the tunnel support 10.

[0102] Furthermore, in this embodiment, the positioning portion 11 is provided on the left-side steel support 10L (right-side steel support 10R), so when it is gripped by the gripping portion 18, the relative positional relationship between the gripping portion 18 and the first top joint plate 121 (second top joint plate 122) can always be kept constant. Therefore, when performing primary operation control or secondary operation control of each boom 17, the left-side steel support 10L (right-side steel support 10R) can be guided with high precision to the left-side first target position (right-side first target position) or the left-side second target position (right-side second target position).

[0103] As explained in FIG. 2, the tip 51d of the male locking member 51 is formed with a tapered surface 51e that narrows in diameter toward the tip. Therefore, when connecting the left steel support 10L and the right steel support 10R (female connecting portion 40 and male connecting portion 50), the insertion opening of the female connecting portion 40 is Even if the central positions of the insertion opening 48 of the female coupling portion 40 and the male locking member 51 are slightly misaligned relative to each other, the tapered surface 51e of the male locking member 51 can be slid along the edge of the opening 1212 of the first top joint plate 121 to guide the male locking member 51 in a direction that reduces the amount of misalignment between the centers of the insertion opening 48 of the female coupling portion 40 and the male locking member 51. In other words, by providing the tapered surface 51e on the tip 51d of the male locking member 51, when connecting the left steel support 10L and the right steel support 10R (female coupling portion 40 and male coupling portion 50), even if the planar positions of the insertion opening 48 of the female coupling portion 40 and the male locking member 51 are slightly misaligned, the male locking member 51 can be smoothly guided into the insertion opening 48 of the female coupling portion 40. The details of the tapered surface 51e formed on the tip 51d of the male locking member 51 can be changed as appropriate. For example, the tip 51d of the male locking member 51 may be formed in a conical shape. In this case, the side surface of the conical shape is formed as a tapered surface 51e.

[0104] Furthermore, in this embodiment, a tapered surface 1215 is also formed on the edge of the opening hole 1212 in the first top joint plate 121. Therefore, when connecting the left-side steel support 10L and the right-side steel support 10R (female coupling portion 40 and male coupling portion 50), even if the center positions of the insertion opening 48 of the female coupling portion 40 and the male locking member 51 are slightly misaligned relative to each other, the male locking member 51 can slide along the tapered surface 1215 in the opening hole 1212 of the first top joint plate 121, thereby guiding the male locking member 51 in a direction that reduces the amount of misalignment between the centers of the insertion opening 48 of the female coupling portion 40 and the male locking member 51. This allows the male locking member 51 to be smoothly guided into the insertion opening 48 of the female coupling portion 40.

[0105] 22, guide members 12A and 12B may be provided on the outer peripheral edge of the first top joint plate 121 in which the female coupling portion 40 is recessed. The guide member 12A is erected at the center of the upper edge 121c of the first top joint plate 121. The guide member 12B is erected at the center of the second side edge 121f of the first top joint plate 121. The width dimensions of the guide members 12A and 12B are set smaller than the lengths of each side of the upper edge 121c and the second side edge 121f of the first top joint plate 121, and a gap is formed between the guide members 12A and 12B. The protruding dimension of the guide members 12A and 12B from the outer surface 121a of the first top joint plate 121 is set to be equal to or greater than the protruding length of the male locking member 51 protruding from the outer surface 122a of the second top joint plate 122.

[0106] According to the above aspect, when fully automatic shoring erection control is executed to connect the top ends of the left-side steel shoring 10L and the right-side steel shoring 10R, the upper edge 122c and the second side edge 121f of the second top joint plate 122 of the right-side steel shoring 10R can be guided by the guide members 12A, 12B so that the positions of the insertion opening 48 (opening 1212 of the first top joint plate 121) of the female coupling portion 40 and the male locking member 51 of the male coupling portion 50 in the YZ plane (machine body coordinate system) are easily aligned. As a result, during fully automatic shoring erection control, the male locking member 51 can be smoothly guided into the insertion opening 48 (opening 1212 of the first top joint plate 121) of the female coupling portion 40, making it easier to achieve automatic top connection of the left-side steel shoring 10L and the right-side steel shoring 10R. Furthermore, according to the above embodiment, the lower edge 121d of the first top joint plate 121 and the first side edge 121e on the side not facing the working face 8 (i.e., the side facing the erector device 100) are not covered by the guide members 12A, 12B and are open. Therefore, when the left-side steel support 10L and the right-side steel support 10R are connected fully automatically, the connection status can be easily visually observed from the cockpit of the erector device 100.

[0107] Another embodiment of the above-mentioned guide members 12A, 12B is shown in Figure 23. Figure 23 is a view of the top end side of the left-side steel support 10L viewed from the inner space side flange 111c side. The guide members 12A, 12B include a straight section SP formed on the base end side and an inclined section IP formed on the tip end side. The protruding dimension of the straight section SP from the outer surface 121a of the first top end joint plate 121 is set to a dimension equal to or greater than the protruding length of the male locking member 51 from the outer surface 122a of the second top end joint plate 122. According to the guide members 12A, 12B of this aspect, even if the positions of the first top joint plate 121 and the second top joint plate 122 in the YZ plane (machine body coordinate system) are misaligned during fully automatic support erection control, the upper edge 122c and the second side edge 121f facing the working face 8 of the second top joint plate 122 can be guided along the inclined portions IP of the guide members 12A, 12B, thereby more suitably eliminating the misalignment.

[0108] In this embodiment, when the fully automatic support erection control described above is completed, the tunnel support structure 1 for the new section is completed by spraying secondary shotcrete and installing rock bolts in the new section by an appropriate method. The procedure and manner of spraying the secondary shotcrete are not particularly limited. For example, the procedure and manner disclosed in Patent Documents 1 and 2 filed by the applicant may be adopted to spray the secondary shotcrete, or any other appropriate manner may be adopted.

[0109] <Boom deflection compensation control> Next, we will explain the boom deflection compensation control during fully automatic support erection control. For example, although the boom 17 of the erector device 100 is hydraulically driven, the boom 17 may deflect due to the weight (load weight) of the left-side steel support 10L (right-side steel support 10R) held by the gripper 18 or the weight (fixed weight) of the boom 17 itself, including the gripper 18. The primary operation control included in the fully automatic support erection control controls the boom 17 based on the detection results of the boom sensor mounted on the boom 17, without aiming at the support-side survey target, as described above. Therefore, if the boom 17 deflects, it is considered that the positioning accuracy when guiding the left-side steel support 10L and the right-side steel support 10R to their respective first target positions during primary operation control will decrease. Furthermore, the degree of deflection of the boom 17 is affected by the boom body extension / retraction amount QBe. Therefore, the following describes the boom deflection compensation control that takes the deflection of the boom 17 into account.

[0110] As described above, in the primary movement control, the erector controller 102 of the control device 15 acquires current parameter control amounts based on the first boom sensor S1 to the sixth boom sensor S6 of each of the left boom 17L and the right boom 17R at predetermined time intervals, and calculates a first required left parameter control amount and a first required right parameter control amount each time. At this time, the first required left parameter control amount and the first required right parameter control amount are calculated based on the current parameter control amount and the first target position coordinates (machine body coordinate system). In the boom deflection correction control, when calculating the first required left parameter control amount and the first required right parameter control amount, the Z-axis coordinate (machine body coordinate system) of the first target position is corrected in the positive direction so as to cancel out the deflection amount of the boom 17, and then the calculation is performed based on the current parameter control amount and the corrected first target position coordinates (machine body coordinate system).

[0111] Fig. 24 is a diagram illustrating an example of the relationship between the boom main body extension / contraction amount QBe and the boom deflection amount Qd of the boom 17. Fig. 25 is a diagram illustrating an example of the relationship between the boom main body extension / contraction amount QBe of the boom 17 and the deflection correction amount Qc.

[0112] Figure 24 shows the results of measuring the amount of boom deflection Qd in response to the amount of boom extension / contraction QBe when a steel support weighing 330 kg is gripped by the gripping portion 18 of the boom 17. The amount of boom deflection Qd was measured at the center position in the axial direction of the second tilt axis AX3. As shown in Figure 24, it can be seen that as the amount of boom extension / contraction QBe increases, the amount of boom deflection Qd also increases.

[0113] Therefore, in the boom deflection compensation control of this embodiment, the deflection compensation amount Qc determined according to the boom main body extension / contraction amount QBe is added to the Z-axis coordinate (machine body coordinate system) of the first target position to cancel out the boom deflection amount Qd, as shown in Figure 25. Of course, the relationship between the boom main body extension / contraction amount QBe and the boom deflection amount Qd depends on the weight (load weight) of the steel support grasped by the grasping portion 18. The deflection compensation amount Qc fluctuates depending on the load weight of the boom 17. Therefore, the relationship between the boom main body extension / contraction amount QBe and the deflection compensation amount Qc as shown in FIG. 25 is determined in advance for each combination of the fixed weight and the load weight of the boom 17. Then, a control table (hereinafter referred to as a "deflection compensation table") storing the relationship between the boom main body extension / contraction amount QBe and the deflection compensation amount Qc as shown in FIG. 25 may be stored in advance in the storage device of the erector controller 102 for each load weight of the boom 17. In this case, for example, prior to the start of fully automatic support erection control, the load weight of the boom 17 (weight of the steel support) may be accepted as an input operation by an operator via an input device such as the keyboard 105 or a tablet terminal. The erector controller 102 may determine the control table to be used in the boom deflection compensation control based on the input information acquired via the input device. Note that if the weight of the steel support used in tunnel construction does not change, acceptance of the input operation via the input device may be omitted.

[0114] In boom deflection compensation control, when the erector controller 102 acquires the parameter control amount of the boom 17 at predetermined time intervals, it accesses the deflection compensation table stored in the storage device and reads out the deflection compensation amount Qc corresponding to the current boom main body extension / contraction amount QBe. In this way, the erector controller 102 calculates the first corrected target position coordinate (machine body coordinate system) by adding the deflection compensation amount Qc read out from the deflection compensation table to the Z-axis coordinate of the first target position coordinate (machine body coordinate system) that does not take deflection compensation into account. The first corrected target position coordinate (machine body coordinate system) is calculated as a coordinate whose Z-axis coordinate is higher in the positive direction by the deflection compensation amount Qc than the first target position coordinate (machine body coordinate system) that does not take deflection compensation into account. This boom deflection compensation control makes it possible to control the boom 17 by offsetting the deflection amount of the boom 17 driven during primary movement control, and therefore it is possible to accurately guide the left steel support 10L and the right steel support 10R to the left first target position and the right first target position, respectively. Furthermore, by repeatedly performing boom deflection correction control at predetermined time intervals, it is possible to perform appropriate deflection correction in accordance with the boom main body extension / contraction amount QBe of the boom 17, which changes from moment to moment.

[0115] Next, a method for implementing more detailed boom deflection compensation control will be described. Even when the boom main body extension / contraction amount QBe is the same, the boom 17 may be affected by differences in the angle of elevation of the boom main body BM. FIG. 26 is a diagram showing the relationship between the boom main body extension / contraction amount QBe and the boom deflection amount Qd when the angle of elevation of the boom main body BM is changed to 0°, 15°, and 30°. The measurement conditions for the boom deflection amount Qd and the weight of the steel support are the same as those described in FIG. 24. As shown in FIG. 26, even under conditions where the boom main body extension / contraction amount QBe is the same, the boom deflection amount Qd tends to increase as the angle of elevation of the boom main body BM decreases, and the boom deflection amount Qd is largest when the angle of elevation of the boom main body BM is 0°, that is, when the boom main body BM is in a horizontal position.

[0116] Therefore, boom deflection compensation control may take into account the elevation angle of the boom 17 driven during primary movement control. In this case, the relationship between the boom main body extension / contraction amount QBe, the deflection compensation amount Qc, and the elevation angle of the boom main body BM is stored in the deflection compensation table described above. The elevation angle of the boom main body BM can be obtained based on the boom main body tilt amount QBt detected by the second boom sensor S2. The erector controller 102 obtains the parameter control amount of the boom 17 at predetermined time intervals during boom deflection compensation control. Then, the erector controller 102 accesses the deflection compensation table stored in the storage device and obtains the deflection compensation amount Qc corresponding to the combination of the elevation angle of the boom main body BM and the boom main body extension / contraction amount QBe obtained based on the current boom main body tilt amount QBt. Then, the erector controller 102 calculates the first left parameter required control amount and the first right parameter required control amount based on the obtained deflection compensation amount Qc. This allows the deflection of the boom 17 driven during primary operation control to be more accurately offset, and the left steel support 10L and the right steel support 10R to be guided to the left first target position and the right first target position.

[0117] In the above embodiment, the support-side survey targets 9a to 9d are each held by Although the targets were attached to the steel supports 10L, 10R held by the grippers 18L, 18R in the above example, they may be attached to each of the grippers 18L, 18R. That is, during the above-mentioned secondary operation control, one or more support-side survey targets attached to the grippers 18L, 18R may be sighted by the total station 300, and the three-dimensional position coordinates of each of the steel supports 10L, 10R may be obtained based on the survey results.

[0118] In addition, in the above-described embodiment, an example was described in which a total station 300 was used as a surveying device to obtain the three-dimensional coordinates of the aircraft-side surveying target and the support-side surveying target, but a motion capture camera may be used as the surveying device instead of the total station 300 to obtain the three-dimensional coordinates of the support-side surveying target.

[0119] <Embodiment 2> 27 is a schematic diagram of a system S for erecting a tunnel support 10 according to embodiment 2. The same components as those in embodiment 1 are given the same reference numerals and detailed explanations will be omitted.

[0120] In this embodiment, when erecting the tunnel shoring 10, multiple shoring-side survey targets 4 are attached to the tunnel shoring 10 to acquire three-dimensional position coordinates of the tunnel shoring 10. In the example shown in FIG. 27, shoring-side survey targets 4A-4C are attached to the top end (upper end), bottom end, and intermediate section located halfway between the top and bottom ends of the left-side steel shoring 10L, respectively. Similarly, shoring-side survey targets 4D-4F are attached to the top end (upper end), bottom end, and intermediate section located halfway between the top and bottom ends of the right-side steel shoring 10R, respectively. Note that in this specification, the shoring-side survey targets 4A-4F may be collectively referred to simply as the shoring-side survey target 4. The shoring-side survey targets 4 in this embodiment are motion capture markers installed at predetermined fixed points on the steel shoring.

[0121] The installation positions for installing each support-side survey target 4 on the left-side steel support 10L and the right-side steel support 10R are predetermined fixed points, and these positions are marked in advance with paint, stickers, etc. In this embodiment, the support-side survey targets 4 are installed on the web 111a of the left-side steel support 10L and the web 112a of the right-side steel support 10R.

[0122] Here, the top end (upper end), bottom end, and middle portion of the left-side steel support 10L and the right-side steel support 10R refer to areas with a certain degree of spread. Therefore, the support-side survey target 4A (4D) may be placed at a predetermined position near the top end of the first main body 111 (second main body 112) of the left-side steel support 10L (right-side steel support 10R). Furthermore, the support-side survey target 4B (4E) may be placed at a predetermined position near the bottom end of the first main body 111 (second main body 112) of the left-side steel support 10L (right-side steel support 10R). Furthermore, the support-side surveying target 4C (4F) may be placed at a predetermined position sandwiched between the top and bottom ends of the first main body portion 111 (second main body portion 112) of the left-side steel support 10L (right-side steel support 10R).

[0123] It should be noted that known reflective markers (motion capture markers) used in general motion capture technology can be appropriately used as the support-side survey target 4. Furthermore, the shape of the support-side survey target 4 is not particularly limited, and it may be, for example, hemispherical, spherical, or sheet-shaped.

[0124] In addition, a plurality of motion capture cameras 5 (surveying devices) are installed at predetermined positions on the front side of the erector device 100. 27, the motion capture cameras 5A, 5B, 5C, 5D, 5E, 5F, 5G, 5H, 5I, 5J, 5J, 5J, 5J, 5J, 5J, 5K ... The motion capture camera 5 is installed in the aircraft 100A. The motion capture cameras 5A to 5C are installed at fixed points determined for the purpose of capturing images of the support-side survey targets 4 attached to the left-side steel shoring 10L and the right-side steel shoring 10R from different angles. In this specification, the motion capture cameras 5A to 5C may be collectively referred to simply as the motion capture cameras 5. In this embodiment, the movement of the support-side survey targets 4 is measured by the principle of triangulation based on the image data captured by the three motion capture cameras 5A to 5C, and three-dimensional position information of the support-side survey targets 4 can be obtained.

[0125] As shown in FIG. 28, the motion capture camera 5 includes an imaging element 5a and a light irradiation device 5b that irradiates a light beam onto the support-side survey target 4. Also, reference numeral 5c in FIG. 28 denotes a camera holder that is attached to the camera installation section P2 of the erector device 100. The motion capture camera 5 is an infrared camera that irradiates infrared light from the light irradiation device 5b and receives the light reflected from the support-side survey target 4 via the imaging element 5a. The surface of each of the support-side survey targets 4A to 4F is formed from a material that reflects the infrared light irradiated from the light irradiation device 5b. An optical filter corresponding to the spectral characteristics of the light beam emitted from the light irradiation device 5b may be attached to the light incident surface of the imaging element 5a of the motion capture camera 5. Furthermore, the orientation and angle of view of each motion capture camera 5 are adjusted when installed on the erector device 100 so that all of the support-side surveying targets 4A to 4F attached to the left-side steel support 10L and the right-side steel support 10R are included in the imaging range. Furthermore, when each motion capture camera 5 is installed on the erector device 100, the height from the installation surface to the center of the imaging element 5a is constant.

[0126] The motion capture camera 5 can also transmit and receive data via wireless communication with the erector-side antenna 103 of the erector device 100, and the captured image data of the support-side survey target 4 taken in time series is transmitted from the motion capture camera 5 to the erector controller 102 of the control device 15. The erector controller 102 of the control device 15 functions as an image processing device that performs image processing on the captured image data received from the motion capture camera 5, and determines the three-dimensional position coordinates at each time (each frame) of the support-side survey targets 4A to 4F attached to the left-side steel support 10L and the right-side steel support 10R. The relative positional relationships between the machine-side survey targets 9A to 9C installed in the erector device 100 and the motion capture cameras 5A to 5C are known, and data relating to these positions is stored in advance in the storage device of the erector controller 102 of the control device 15.

[0127] Next, the fully automatic erection control according to this embodiment will be described. The primary operation control in the fully automatic erection control is the same as in the first embodiment. In the secondary operation control, the erector controller 102 of the control device 15 remotely controls each of the motion capture cameras 5A to 5C, and causes each of the motion capture cameras 5A to 5C to photograph the left steel shoring 10L and the right steel shoring 10R to which the shoring-side survey targets 4A to 4F are attached. Each of the motion capture cameras 5A to 5C simultaneously and chronologically photographs the left steel shoring 10L and the right steel shoring 10R so that all of the shoring-side survey targets 4A to 4F are included in each photographing range. Hereinafter, the images photographed by each of the motion capture cameras 5A to 5C will be referred to as "motion capture photographed images." Note that the erector controller 102 The controller 102 emits infrared light from the light irradiation device 5b when each motion capture camera 5A-5C takes a motion capture image. In this way, the image sensor 5a receives the light reflected from each of the support-side survey targets 4A-4F, whose surfaces are made of a material that reflects infrared light, and only the support-side survey targets 4A-4F appear bright in the motion capture image (other objects appear dark). As a result, the positions of the support-side survey targets 4A-4F can be accurately extracted from the motion capture image.

[0128] The erector controller 102 stores the motion capture images received from each of the motion capture cameras 5A to 5C in a storage device. Then, the erector controller 102 performs image processing on each of the motion capture images taken at the same time by each of the motion capture cameras 5A to 5C, and calculates the three-dimensional coordinates of each of the support-side survey targets 4A to 4F based on the two-dimensional coordinates of each of the support-side survey targets 4A to 4F extracted on each motion capture image and the three-dimensional coordinates of each of the motion capture cameras 5A to 5C, for example, using the principle of triangulation.

[0129] In addition, data regarding the relative positional relationships between each of the aircraft-side surveying targets 9A to 9C installed on the erector device 100 and each of the motion capture cameras 5A to 5C is stored in the memory device of the erector controller 102, so the erector controller 102 can determine the three-dimensional position coordinates (absolute coordinate system) of each of the motion capture cameras 5A to 5C based on the three-dimensional position coordinates (absolute coordinate system) of each of the aircraft-side surveying targets 9A to 9C obtained from the total station 300.

[0130] The method of calculating the three-dimensional coordinates of markers in a motion capture system such as the one described above is well known, and a detailed explanation will not be given here; however, a method of calculating the three-dimensional coordinates of markers in a motion capture system is known, for example, by performing a labeling process on a binary image obtained by binarizing a motion capture image and utilizing an epipolar matching algorithm, and in this embodiment, the three-dimensional position coordinates (absolute coordinate system) of each support side survey target 4A to 4F can be calculated and obtained based on such a calculation method.

[0131] When performing secondary movement control for the left boom 17L, the erector controller 102 converts the three-dimensional position coordinates (absolute coordinate system) of the support-side survey targets 4A to 4C on the left steel shoring 10L obtained as described above into a machine body coordinate system (X, Y, Z) with the machine body reference point PB as the origin. Then, based on the three-dimensional position coordinates (machine body coordinate system) of the support-side survey targets 4A to 4C in the machine body coordinate system (X, Y, Z), the erector controller 102 calculates the difference (deviation amount) between the current three-dimensional position coordinates (machine body coordinate system) of the left steel shoring 10L and the left second target position coordinates (machine body coordinate system), and calculates a second left-side required parameter control amount, which is the parameter control amount of the left boom 17L required to guide the left steel shoring 10L to the left second target position. Then, based on the required control amount of the second left parameter, the drive mechanism (telescopic jack that drives each joint) mounted on the left boom 17L can be controlled to guide the left steel support 10L to the second left target position.

[0132] Similarly, when performing secondary motion control for the right boom 17R, the three-dimensional position coordinates (absolute coordinate system) of the support-side survey targets 4D to 4F on the right steel support 10R obtained as described above are converted into a machine coordinate system (X, Y, Z) with the machine reference point PB as the origin. Then, based on the three-dimensional position coordinates (machine coordinate system) of the support-side survey targets 4D to 4F in the machine coordinate system (X, Y, Z), the difference (amount of deviation) between the current three-dimensional position coordinates (machine coordinate system) of the right steel support 10R and the right second target position coordinates (machine coordinate system) is calculated, and the parameters of the right boom 17R required to guide the right steel support 10R to the right second target position are calculated. A second right-side parameter required control amount, which is a control amount, is calculated. Then, based on the second right-side parameter required control amount, the drive mechanism (an extension jack that drives each joint) mounted on the right boom 17R is controlled, and the right-side steel support 10R can be guided to the right-side second target position. In this embodiment, a support-side survey target may be attached to the gripping portion 18 of each boom 17L, 17R, and the support-side survey target may be photographed by a motion capture camera installed on the erector device 100.

[0133] Although the embodiments of the present invention have been described above, these are merely examples, and the present invention is not limited to these. Various modifications based on the knowledge of those skilled in the art are possible without departing from the spirit of the claims. For example, in the above-described embodiments, six joints are illustrated as joints provided on each boom 17, but the number of joints is merely illustrative and may be increased or decreased. Furthermore, tilting, swinging, extension and retraction, and rotation are illustrated as examples of the movements of the joints on each boom 17, but movements other than these may also be performed by the joints, and such embodiments are also included in the scope of the technical idea of ​​the present invention. [Explanation of symbols]

[0134] 1. Tunnel support structure 10. Tunnel support 9A~9C Aircraft side survey target 9a~9d···Support side survey target 10L...Left side steel shoring 10R...Steel shoring on the right side 17L···Left boom 17R Right boom 18L...Left grip part 18R...Right grip part 40...Female connection part 50...Male connection part 51...Male locking member 100 Erector device 100A... Airframe 121···First top joint plate 122···Second top joint plate

Claims

1. A support erection system that erects the steel support using an erector device equipped with a boom having a gripping portion at the tip end that can grip the steel support and a joint portion that can perform a predetermined driving operation by operating an attached drive mechanism, a control device that controls a drive mechanism in the joint portion; a boom sensor for detecting a control amount of the drive mechanism at the joint; a body-side survey target attached to the body of the erector device; The steel support held by the holding portion or a support-side survey target attached to the holding portion; a surveying device for acquiring three-dimensional coordinates of the aircraft-side survey target and the support-side survey target; Equipped with The control device performs primary operation control to control the boom so as to guide the steel support to a first target position based on at least the three-dimensional coordinates of the aircraft-side survey target acquired from the surveying device and the detection results of the boom sensor during erection of the steel support, and after the primary operation control, performs secondary operation control to control the boom so as to guide the steel support from the first target position to a second target position based on at least the three-dimensional coordinates of the support-side survey target acquired from the surveying device. Shoring erection system.

2. the control device performs boom deflection compensation control to control the boom so as to offset the amount of deflection of the boom during primary movement control. The support erection system according to claim 1.

3. The control device acquires an amount of extension and contraction of the boom during primary operation control based on a detection result of the boom sensor, and performs the boom deflection correction control in accordance with the amount of extension and contraction of the boom. The support erection system according to claim 2.

4. the control device acquires the boom elevation angle during primary operation control based on the detection result of the boom sensor, and performs the boom deflection correction control in accordance with the boom elevation angle. The support erection system according to claim 2 or 3.

5. In the boom deflection correction control, the control device calculates corrected first target position coordinates by correcting the coordinates of the first target position in a direction that offsets the amount of deflection of the boom, and controls the boom based on the corrected first target position coordinates. A support erection system according to any one of claims 2 to 4.

6. The support-side survey target includes a motion capture marker installed on the steel support, the surveying device includes a motion capture camera attached to a body of the erector device and adapted to photograph the motion capture marker, the control device acquires three-dimensional coordinates of the motion capture marker based on a captured image acquired by photographing the motion capture marker with the motion capture camera; A support erection system according to any one of claims 1 to 5.

Images