control system for tunnel boring machines
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- JIM TECH CORP
- Filing Date
- 2023-12-22
- Publication Date
- 2026-05-26
Smart Images
Figure 0007865941000001 
Figure 0007865941000002 
Figure 0007865941000003
Abstract
Description
Technical Field
[0001] The present invention relates to a control system for a tunnel boring machine.
Background Art
[0002] Generally, a tunnel boring machine excavates a tunnel by rotating a cutter head and causing a plurality of cutter bits mounted on the front surface of the cutter head to excavate the front rock mass to form a face. The cutter head is attached to the front end of a cylindrical boring machine body, and the tunnel is excavated as the boring machine body is propelled forward. With respect to the forward movement of the boring machine body associated with this excavation, segments, which are structural members of the tunnel, are added to the front end of the existing segments in the rear part inside the boring machine body, and the tunnel is constructed.
[0003] The assembly work of the segments is performed by an erector device installed inside the boring machine body, for example, as disclosed in Patent Document 1. The segment is gripped by the gripping part of the erector device and assembled to the existing segment.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] As described above, the assembly work of the segments is performed by assembling the installation target segment gripped by the gripping part of the erector device to the existing segment. Here, the assembly work of the segments is generally performed by a plurality of workers in the vicinity of the installation target segment.
[0006] Specifically, the segment assembly work is carried out by a worker who operates the erector system and a worker who measures the position and orientation of the segments to be installed. The worker operating the erector system operates the system using a remote controller while visually observing the segments to be installed from nearby. In this process, the operator must monitor the operation of the erector system, which limits the opportunities to visually observe the segments to be installed, and they are unable to perform measurement work because they are holding the remote controller. The worker measuring the position and orientation of the segments to be installed measures the relative position and orientation of the segments to existing segments from nearby using a ruler or similar tool. In this process, the measuring worker uses a ruler or similar tool to specifically grasp the relationship between the position and orientation, which the operator cannot do, and communicates this to the operator. Note that this relationship between position and orientation can be grasped with greater accuracy at locations away from the center of the segment, such as the corners of the segments to be installed, so measurements are taken at corners and similar locations. Furthermore, when measuring corners and other such areas, the larger the segments become in large-diameter construction projects, making them further away from the operator. This makes it more difficult for the operator to take measurements, and visual confirmation from the operator is also impossible (due to the distance). Therefore, the measurement must be performed by the operator. Thus, currently, segment assembly work is carried out carefully through coordinated work by multiple workers to ensure safety. Therefore, improving the workability and safety of segment assembly work is desired.
[0007] Therefore, in view of these problems, the present invention aims to provide a control system for a tunnel boring machine that can improve the workability and safety of segment assembly work. [Means for solving the problem]
[0011] To solve the above problems, the control system for a tunnel boring machine of the present invention is a control system for a tunnel boring machine equipped with an erector device, comprising: a projection device; and a control device that performs a first projection control in which the projection device projects position and orientation information indicating at least one of the position and orientation of an installation target segment held by the erector device onto a specific location on the tunnel boring machine. The specific location is on the surface of the erector device. ru .
[0012] To solve the above problems, the control system for a tunnel boring machine of the present invention is a control system for a tunnel boring machine equipped with an erector device, comprising: a projection device; and a control device that performs a first projection control in which the projection device projects position and orientation information indicating at least one of the position and orientation of an installation target segment held by the erector device onto a specific location on the tunnel boring machine.In addition to the first projection control, the control device performs a second projection control, which involves projecting adjustment direction information indicating at least one of the adjustment directions for the position and orientation of the segment to be installed onto a specific location using a projection device. do .
[0013] To solve the above problems, the control system for a tunnel boring machine of the present invention is a control system for a tunnel boring machine equipped with an erector device, comprising: a projection device; and a control device that performs a first projection control in which the projection device projects position and orientation information indicating at least one of the position and orientation of an installation target segment held by the erector device onto a specific location on the tunnel boring machine. In addition to the first projection control, the control device performs a third projection control, which projects target position information indicating the installation target position of the target segment onto a specific location using a projection device. do .
[0014] To solve the above problems, the control system for a tunnel boring machine of the present invention is a control system for a tunnel boring machine equipped with an erector device, comprising: a projection device; and a control device that performs a first projection control in which the projection device projects position and orientation information indicating at least one of the position and orientation of an installation target segment held by the erector device onto a specific location on the tunnel boring machine. In addition to the first projection control, the control device performs a fourth projection control, which projects a determination result using a projection device onto a specific location, indicating whether or not the adjustment of at least one of the position and orientation of the target segment has been completed. do .
[0015] To solve the above problems, the control system for a tunnel boring machine of the present invention is a control system for a tunnel boring machine equipped with an erector device, comprising: a projection device; and a control device that performs a first projection control in which the projection device projects position and orientation information indicating at least one of the position and orientation of an installation target segment held by the erector device onto a specific location on the tunnel boring machine. In addition to the first projection control, the control device performs a fifth projection control, which projects light onto the movable parts of the erector device using a projection device. do .
[0016] The control device , the 5. In projection control, a projection device may project light representing drive direction information indicating the drive direction of the movable part onto the movable part. To solve the above problems, the control system for a tunnel boring machine of the present invention is a control system for a tunnel boring machine equipped with an erector device, comprising: a projection device; and a control device that performs a first projection control in which the projection device projects a position and orientation object, which is a character object representing the content of position and orientation information indicating at least one of the position and orientation of a target segment to be installed that is gripped by the erector device, onto a specific location on the tunnel boring machine. The specific location may be the surface of the segment to be installed. The specific location may be the surface of an existing segment.
[0017] The control device may further include a laser irradiation device, and the control device may perform irradiation control to irradiate the laser using the laser irradiation device so that the laser spans both the target segment and the existing segment, and acquire positional information based on the laser irradiation results in the irradiation control. [Effects of the Invention]
[0018] According to the present invention, it is possible to improve the workability and safety of segment assembly work. [Brief explanation of the drawing]
[0019] [Figure 1] It is a schematic cross-sectional view showing the overall configuration of a tunnel boring machine according to an embodiment of the present invention. [Figure 2] It is a front view showing an electra device according to an embodiment of the present invention. [Figure 3] It is an enlarged view showing the periphery of the gripping portion of the electra device according to an embodiment of the present invention. [Figure 4] It is a view showing a state in which an electra device according to an embodiment of the present invention grips an installation target segment. [Figure 5] It is a view showing an example of projection control according to an embodiment of the present invention. [Figure 6] It is a view showing an example of projection control according to an embodiment of the present invention. [Figure 7] It is a view showing an example of projection control according to an embodiment of the present invention. [Figure 8] It is a view showing an example of projection control according to an embodiment of the present invention. [Figure 9] It is a view showing an example of projection control according to an embodiment of the present invention. [Figure 10] It is a view showing an example of projection control according to an embodiment of the present invention. [Figure 11] It is a view showing an example of projection control according to an embodiment of the present invention. [Figure 12] It is a view showing an example of projection control according to an embodiment of the present invention.
Embodiments for Carrying Out the Invention
[0020] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Dimensions, materials, and other specific numerical values shown in such embodiments are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same functions and configurations are denoted by the same reference numerals to omit redundant descriptions, and elements not directly related to the present invention are not shown.
[0021] First, the configuration of the tunnel boring machine 1 according to an embodiment of the present invention will be described with reference to Figures 1 and 2. Figure 1 is a schematic cross-sectional view showing the overall configuration of the tunnel boring machine 1. In Figure 1, arrow F indicates the forward direction (i.e., the direction of travel) of the tunnel boring machine 1, and arrow B indicates the rear direction of the tunnel boring machine 1. In other words, arrow F in Figure 1 points toward the tunnel face, and arrow B points toward the tunnel entrance.
[0022] The tunnel boring machine 1 is an earth pressure type (including mud pressure type) shield boring machine capable of excavating the ground. As shown in Figure 1, the tunnel boring machine 1 comprises a boring machine body 10. The boring machine body 10 is cylindrical (for example, cylindrical or rectangular cylindrical). The axial direction of the boring machine body 10 coincides with the front-rear direction of the tunnel boring machine 1. Hereinafter, the axial direction of the boring machine body 10 will be simply referred to as the axial direction, the radial direction of the boring machine body 10 will be simply referred to as the radial direction, and the circumferential direction of the boring machine body 10 will be simply referred to as the circumferential direction.
[0023] A cutter head 11 is provided at the front end of the excavator body 10. The cutter head 11 is a roughly disc-shaped rotating body. The front end of the cutter central shaft 12 is fitted into the center of the cutter head 11, and the cutter head 11 is pivotally supported so as to be rotatable around the cutter central shaft 12.
[0024] The cutter head 11 includes an outer ring 11a, an inner ring 11b, cutter spokes 11c, a fishtail cutter 11d, and cutter bits 11e. Of these, the outer ring 11a forms the outer circumference of the cutter head 11, and the inner ring 11b is positioned radially inward from the outer ring 11a. The multiple cutter spokes 11c are arranged radially around the cutter central axis 12 on the front surface of the cutter head 11. A fishtail cutter 11d is mounted in the center of the front surface of the cutter head 11. Furthermore, numerous cutter bits 11e are mounted on the front surface of the cutter spokes 11c. The fishtail cutter 11d and cutter bits 11e may or may not be detachable.
[0025] Furthermore, the cutter head 11 has multiple openings formed between the outer ring 11a, the inner ring 11b, and the cutter spokes 11c. These openings function as intake ports for excavated soil generated when the cutter head 11 excavates the ground (face) and take it into the excavator body 10 (into the chamber 17, which will be described later).
[0026] A partition wall 13 is positioned behind the cutter head 11 in the excavator body 10. The partition wall 13 is a plate-shaped (for example, disc-shaped) wall positioned perpendicular to the axial direction (tunnel extension direction), and its outer edge is attached to the inner surface of the excavator body 10. The cutter head 11 and the partition wall 13 are positioned at a predetermined distance apart in the axial direction (tunnel extension direction). Various equipment of the tunnel excavator 1 is positioned behind the partition wall 13, and the partition wall 13 isolates this equipment from the excavated soil generated at the tunnel face. An outlet 13a, which is an opening for discharging excavated soil, is formed at the bottom of the partition wall 13.
[0027] A cutter central shaft 12 is rotatably supported at the center of the partition wall 13. Furthermore, an annular rotating ring 14 is rotatably supported on the partition wall 13 about the cutter central shaft 12. Multiple connecting beams 15 are provided at predetermined intervals in the circumferential direction at the front of the rotating ring 14. The multiple connecting beams 15 connect the cutter head 11 and the rotating ring 14. The front ends of the connecting beams 15 are connected to the connection between the inner circumferential ring 11b and the cutter spoke 11c of the cutter head 11. On the other hand, a ring gear 14a is provided at the rear of the rotating ring 14. The ring gear 14a may be an external gear type or an internal gear type. Furthermore, a cutter rotation motor 16 is provided behind the partition wall 13. The drive gear 16a of this cutter rotation motor 16 meshes with the ring gear 14a of the rotating ring 14.
[0028] By driving the cutter rotation motor 16, the rotation of its drive gear 16a is transmitted from the ring gear 14a to the rotating ring 14 and the connecting beam 15. This allows the cutter head 11 to rotate around the cutter central axis 12. As a result, the front surface of the rotating cutter head 11 can be pressed against the ground (work face) using the shield jack 21 described later, enabling excavation of the ground.
[0029] A chamber 17 is defined between the cutter head 11 and the partition wall 13. The chamber 17 is a space (for example, a roughly cylindrical space) partitioned by the rear surface of the cutter head 11, the front surface of the partition wall 13, and the inner circumferential surface of the excavator body 10. Excavated soil generated as a result of excavating the ground by the cutter head 11 is taken into the chamber 17 through the opening (excavated soil intake port) formed through the cutter head 11. The chamber 17 functions as a space (chamber) for temporarily storing the excavated soil. The excavated soil taken into the chamber 17 is discharged from the chamber 17 into the screw conveyor 18 through the discharge port 13a located at the bottom of the partition wall 13.
[0030] The screw conveyor 18 is installed on the rear side of the partition wall 13 within the excavator body 10. Within the excavator body 10, the screw conveyor 18 is positioned at an upward incline as it approaches the rear. The opening at the front end of the screw conveyor 18 is connected to the discharge port 13a of the partition wall 13. As a result, the internal space of the screw conveyor 18 communicates with the chamber 17 through the discharge port 13a of the partition wall 13. Inside the screw conveyor 18 is a screw-shaped rotating body with helical blades, called a screw blade 18a. By rotating the screw blade 18a, excavated soil stored in the chamber 17 can be taken into the screw conveyor 18, transported toward the rear of the excavator body 10, and discharged.
[0031] Furthermore, an erector device 19 is provided behind the bulkhead 13 of the excavator body 10. The erector device 19 is capable of gripping the segments 20, which are lining members, and assembles the gripped segments 20 along the inner wall surface (tunnel wall) of the tunnel T. The segments 20 are ring-shaped pieces with a curved shape that conforms to the inner wall surface of the excavated tunnel T. By driving the erector device 19, multiple segments 20 can be assembled in a ring shape along the circumferential direction. As a result, the inner wall surface of the tunnel T is lined with multiple segments 20, preventing the collapse of the inner wall surface.
[0032] Here, the erector device 19 will be described in more detail with reference to Figure 2 in addition to Figure 1. Figure 2 is a front view of the erector device 19. Specifically, Figure 2 is a view of the erector device 19 from the rear. As shown in Figures 1 and 2, the erector device 19 comprises a ring frame 191, support rollers 192, suspension beams 193, guide rods 194, lifting jacks 195, and gripping parts 196.
[0033] The ring frame 191 is an annular member provided along the inner circumferential surface of the excavator body 10. The ring frame 191 extends in the circumferential direction of the excavator body 10. The central axis of the ring frame 191 is positioned coaxially with the central axis of the excavator body 10. The ring frame 191 is supported by a plurality of support rollers 192 so as to be rotatable about its central axis. The support rollers 192 are mounted on the inner circumferential surface of the excavator body 10 parallel to the central axis of the excavator body 10. As shown in Figure 2, a plurality of support rollers 192 are arranged at intervals in the circumferential direction of the excavator body 10. The rotation direction D3 of the ring frame 191 shown in Figure 2 coincides with the circumferential direction of the excavator body 10. The ring frame 191 is driven to rotate by an actuator such as a drive motor (not shown).
[0034] The suspension beam 193 is attached to the ring frame 191 via guide rods 194. Specifically, a bracket 191a projecting backward is provided at the rear of the ring frame 191. A guide rod 194 is attached to the tip of the bracket 191a so as to be able to move up and down radially. As shown in Figure 2, guide rods 194 are provided on each of two radially separated portions of the ring frame 191. The circumferential positions on the ring frame 191 where each guide rod 194 is installed are, for example, offset by approximately 180°. The two guide rods 194 extend in a direction perpendicular to the direction of separation between them and are extendable and retractable in that direction. The suspension beam 193 is stretched between the two guide rods 194.
[0035] Furthermore, as shown in Figure 1, lifting jacks 195 are attached to the bracket 191a near each guide rod 194 along the extending direction of each guide rod 194. The tip of each lifting jack 195 abuts against the suspension beam 193. The suspension beam 193 moves in the direction of extension and contraction of the lifting jack 195 as the lifting jack 195 extends and contracts. The direction of movement D1 of the suspension beam 193 (i.e., the direction of extension and contraction of the lifting jack 195) coincides with the radial direction of the excavator body 10.
[0036] The suspension beam 193 extends circumferentially along the ring frame 191 between two guide rods 194. A support frame 193a is provided on the central side of the suspension beam 193 in the direction of its extension. The support frame 193a protrudes axially rearward from the other parts of the suspension beam 193 toward the excavator body 10. The support frame 193a extends on a plane substantially perpendicular to the direction of movement D1 of the suspension beam 193. A gripping portion 196 is attached to the radially outer side of the support frame 193a. The gripping portion 196 is supported by the support frame 193a so as to be movable in the axial direction of the excavator body 10. The direction of movement D2 of the gripping portion 196 shown in Figure 1 coincides with the axial direction of the excavator body 10. The movement of the gripping portion 196 in the direction of movement D2 is driven by an actuator such as a jack (not shown).
[0037] A twist lock 196a is provided on the gripping portion 196. The twist lock 196a is provided on the radially outer side (lower side in Figure 2) of the gripping portion 196. The gripping portion 196 can grip the segment 20 by engaging the twist lock 196a with the gripping hole H of the segment 20. For example, the twist lock 196a has a substantially T shape. The gripping hole H is formed on the inner circumferential surface of the segment 20 and has a substantially T shape.
[0038] Here, the orientation of the twist lock 196a relative to the other parts of the gripping portion 196 is changeable. For example, the orientation of the twist lock 196a can be changed in three directions: the roll direction (i.e., the direction of rotation around the axial axis (i.e., the front-to-back direction) of the tunnel boring machine 1), the pitch direction (i.e., the direction of rotation around the circumferential axis (left-to-right direction in Figure 2) of the tunnel boring machine 1), and the yaw direction (i.e., the direction of rotation around the radial axis (up-to-down direction in Figure 2) of the tunnel boring machine 1). In this case, changing the orientation in the above three directions can be achieved, for example, by using spherical bearings and various actuators. The mechanism for changing the orientation of the twist lock 196a in each direction is not particularly limited and can be designed as appropriate. Furthermore, the orientation of the twist lock 196a may be changeable in some of the above three directions.
[0039] Furthermore, the twist lock 196a can be moved radially to D1 by moving the gripping portion 196 itself radially (in the direction of arrow D1 in Figure 2). However, in this embodiment, the twist lock 196a can also be moved radially to D1 by extending or retracting the twist lock 196a radially to D1 relative to other parts of the gripping portion 196. This is because, in gripping the segment 20, moving only the twist lock 196a is more compact than moving the entire gripping portion 196, which is an advantage in that it results in a more compact movement of the device. The change in posture and extension / retraction of the twist lock 196a is achieved by actuators such as jacks (not shown).
[0040] By appropriately changing the posture and position of the twist lock 196a, the twist lock 196a can be inserted into the gripping hole H of the segment 20 and engaged with the gripping hole H. This allows the segment 20 to be gripped and moved by the twist lock 196a. While the segment 20 is gripped by the twist lock 196a, the posture and position of the segment 20 gripped by the twist lock 196a can be adjusted by adjusting the posture and position of the twist lock 196a.
[0041] The erector device 19 can move the segment 20 to a desired position by moving the gripping part 196 (specifically, the twist lock 196a) while the segment 20 is gripped by the gripping part 196. Specifically, by moving the suspension beam 193 in the movement direction D1, the gripping part 196 and the gripped segment 20 can be moved radially to the excavator body 10. Also, by moving the gripping part 196 in the movement direction D2, the gripping part 196 and the gripped segment 20 can be moved axially to the excavator body 10. Furthermore, by rotating the ring frame 191 in the rotation direction D3, the gripping part 196 and the gripped segment 20 can be moved circumferentially to the excavator body 10. Note that the mechanism for moving the gripping part 196 in each direction is not particularly limited to the example described with reference to Figures 1 and 2, and can be designed as appropriate.
[0042] In the following, among the segments 20, the existing segments 20 that are already used to line the inner wall surface of tunnel T will be specifically referred to as existing segments 20a. Furthermore, among the segments 20, those that have not yet been used to line the inner wall surface of tunnel T and that are to be newly installed in addition to the existing segments 20a (i.e., the segments to be installed) will be specifically referred to as installation target segments 20b.
[0043] As shown in Figures 1 and 2, the existing segments 20a are assembled in a ring shape along the circumferential direction. The segment to be installed 20b is transported from the tunnel entrance side to the tunnel face side and placed on the lower, face-side existing segment 20a among the multiple existing segments 20a. A segment transport device (not shown) is provided inside the excavator body 10, and the segment to be installed 20b is transported by this segment transport device. The transported segment to be installed 20b is then gripped by the erector device 19 and attached to the existing segment 20a, thereby assembling the segment 20.
[0044] As shown in Figure 1, multiple shield jacks 21 are provided inside the excavator body 10, spaced apart from each other in the circumferential direction. Each shield jack 21 is positioned spaced apart along the inner circumferential surface of the excavator body 10 and extends in the axial direction of the excavator body 10. The shield jacks 21 are, for example, hydraulic jacks, but other types of jacks, actuators, etc., may be used as long as they can generate thrust for the tunnel boring machine 1.
[0045] A retractable drive rod 21a is provided at the rear end of the shield jack 21. The tip of the drive rod 21a faces the front end surface of the existing segment 20a. By extending the drive rod 21a of the shield jack 21 backward and pressing against the existing segment 20a, a propulsive reaction force (i.e., thrust) can be applied to the excavator body 10. In other words, the thrust generated when the shield jack 21 presses against the existing segment 20a allows the excavator body 10 to move forward.
[0046] A tail brush 22 is provided between the inner circumference of the rear end of the excavator body 10 and the outer circumference of the existing segment 20a. The tail brush 22 is attached to the inner circumference of the rear end of the excavator body 10 and slides against the outer circumference of the existing segment 20a. The tail brush 22 is provided to prevent water, soil, or backfill material from entering the excavator body 10.
[0047] As described above, the assembly of segment 20 is performed by attaching the segment 20b to be installed, which is held by the gripping portion 196 of the erector device 19, to the existing segment 20a. Here, the assembly of segment 20 is generally performed by multiple workers in the vicinity of the segment 20b to be installed.
[0048] Specifically, the assembly of the segment 20 is carried out by a worker who operates the erector device 19 and a worker who measures the position and orientation of the segment 20b to be installed. The worker who operates the erector device 19 operates the erector device 19 using a remote controller while visually observing the segment 20b to be installed in its vicinity. The worker who measures the position and orientation of the segment 20b measures the relative position and orientation of the segment 20b to the existing segment 20a using a ruler or the like, in its vicinity. In this way, currently, the assembly of the segment 20 is carried out carefully through coordinated work by multiple workers to ensure safety. In this embodiment, a control system 200, which will be described later, is provided on the tunnel boring machine 1 in order to improve the workability and safety of the assembly of the segment 20.
[0049] Figure 3 is an enlarged view showing the area around the gripping portion 196 of the erector device 19. As shown in Figure 3, the control system 200 includes a laser irradiation device 210, a camera 220, a projection device 230, and a control device 240.
[0050] The laser irradiation device 210 irradiates the segment 20 with a laser. Specifically, as will be described later, the laser irradiation device 210 irradiates the laser so as to span the segment 20b to be installed and the existing segment 20a. The laser irradiation device 210 is, for example, a device having a laser oscillator. However, the laser irradiation device 210 may be a device other than one having a laser oscillator, for example, a device that projects a figure with an intended shape and color onto an object by passing light emitted from a light source through a filter.
[0051] In the example shown in Figure 3, two laser irradiation devices, laser irradiation device 210a and laser irradiation device 210b, are provided on the erector device 19. Laser irradiation device 210a is attached to the upper right end of the gripping section 196. Laser irradiation device 210b is attached to the upper left end of the gripping section 196. However, the number and arrangement of the laser irradiation devices 210 are not limited to the example in Figure 3. For example, the number of laser irradiation devices 210 may be one or three or more. Also, for example, the laser irradiation devices 210 may be located in parts of the erector device 19 other than the gripping section 196 (for example, the suspension beam 193).
[0052] As will be described later, the laser irradiation device 210 is used to acquire position and orientation information (hereinafter also simply referred to as position and orientation information of the target segment 20b) that is held by the erector device 19.
[0053] Camera 220 images segment 20. Specifically, as will be described later, camera 220 images the portion of segment 20 that is illuminated by the laser irradiation device 210.
[0054] In the example shown in Figure 3, cameras 220a and 220b are provided on the erector device 19. Camera 220a is mounted on the right side of the suspension beam 193, above the support frame 193a. Camera 220b is mounted on the left side of the suspension beam 193, above the support frame 193a. However, the number and arrangement of cameras 220 are not limited to the example in Figure 3. For example, there may be one or more cameras 220. Also, for example, cameras 220 may be located on parts of the erector device 19 other than the suspension beam 193 (e.g., the gripping section 196).
[0055] As will be described later, the camera 220 is used to acquire positional orientation information of the installation target segment 20b, similar to the laser irradiation device 210.
[0056] The projection device 230 projects various information onto specific locations on the tunnel boring machine. Specifically, the projection device 230 projects various information onto the surface of the segment 20. However, as will be described later, the projection device 230 may also project various information onto locations other than the surface of the segment 20. The projection device 230 projects objects such as character objects that indicate various information onto the surface of the segment 20 by irradiating it with light such as a laser.
[0057] In the example shown in Figure 3, projection devices 230a and 230b are provided on the erector device 19 as projection devices 230. Projection device 230a is attached to the portion of the suspension beam 193 to the right of the support frame 193a. Projection device 230b is attached to the portion of the suspension beam 193 to the left of the support frame 193a. However, the number and arrangement of projection devices 230 are not limited to the example in Figure 3. For example, the number of projection devices 230 may be one or three or more. Also, for example, projection devices 230 may be arranged in a portion of the erector device 19 other than the suspension beam 193 (for example, the gripping portion 196, etc.).
[0058] As will be described later, in this embodiment, the projection device 230 projects various types of information, thereby improving the workability and safety of the assembly work of the segment 20.
[0059] The control device 240 includes a CPU (Central Processing Unit) which is an arithmetic processing unit, a ROM (Read Only Memory) which is a memory element that stores programs and arithmetic parameters used by the CPU, and a RAM (Random Access Memory) which is a memory element that temporarily stores parameters that change as appropriate during the execution of the CPU.
[0060] Specifically, the control device 240 controls the operation of the laser irradiation device 210, the camera 220, and the projection device 230. The control device 240 can also acquire images captured by the camera 220.
[0061] Figure 4 shows the erector device 19 gripping the segment 20b to be installed. As shown in Figure 4, the segment 20b to be installed is gripped by the twist lock 196a by inserting the twist lock 196a into the gripping hole H of the segment 20 and engaging it with the gripping hole H. In this state, the segment 20b to be installed can be moved to the desired position by moving the gripping part 196. In this way, the segment 20b to be installed is moved and the segment 20b to be installed is sequentially assembled to the existing segment 20a, thereby advancing the assembly work of the segment 20.
[0062] In this embodiment, during the assembly of segment 20, when attaching the target segment 20b to the existing segment 20a, the control device 240 performs projection control, projecting various information onto a specific location on the tunnel boring machine 1 using the projection device 230. This improves the workability and safety of the segment 20 assembly work, as will be described later.
[0063] The following describes various examples of projection control with reference to Figures 5 to 12. Figures 5 to 12 are diagrams illustrating various examples of projection control.
[0064] Figures 5 and 6 illustrate examples of projection control when assembling the target segment 20b to an existing segment 20a located to the right of the target segment 20b. Figure 5 shows the position of the target segment 20b before the position adjustment is completed. Figure 6 shows the position of the target segment 20b after the position adjustment is completed. In this example, projection control is performed using the right-side laser irradiation device 210a, the right-side camera 220a, and the right-side projection device 230a. When assembling the target segment 20b to an existing segment 20a located to the left of the target segment 20b, projection control is performed using the left-side laser irradiation device 210b, the left-side camera 220b, and the left-side projection device 230b.
[0065] In the example shown in Figure 5, the control device 240 first performs irradiation control to irradiate the laser LS using the laser irradiation device 210a so that it spans both the target segment 20b and the existing segment 20a. As shown in Figure 5, the laser irradiation device 210a irradiates, for example, a line-shaped laser LS. However, as will be described later, the shape of the laser LS is not limited to the example in Figure 5. In the example in Figure 5, during irradiation control, a line-shaped laser LS is irradiated so that it spans both the target segment 20b and the existing segment 20a. Therefore, as shown in Figure 5, the laser LS is divided into a line segment L1 that irradiates the target segment 20b and a line segment L2 that irradiates the existing segment 20a.
[0066] Next, the control device 240 acquires positional orientation information of the target segment 20b based on the irradiation results of the laser LS in the irradiation control. In the example in Figure 5, the positional orientation information acquired is information indicating the magnitude of the step difference between the target segment 20b and the existing segment 20a. The magnitude of the step difference corresponds to the distance in the thickness direction (D1 direction) of the segment 20 between the inner surface of the target segment 20b and the inner surface of the existing segment 20a.
[0067] Specifically, the control device 240 causes the camera 220a to capture an image showing the laser LS irradiating the target segment 20b and the existing segment 20a. The control device 240 then performs image processing on the image captured by the camera 220a to obtain information indicating the magnitude of the step difference between the target segment 20b and the existing segment 20a as positional information. For example, as shown in Figure 5, when viewing the portion of the target segment 20b and the existing segment 20a irradiated by the laser LS from the radially inward and rearward, the greater the step difference, the greater the deviation of line segment L2 relative to the extension of line segment L1. Therefore, by considering the positional relationship between line segments L1 and L2 on the image captured by the camera 220a, the magnitude of the step difference in the D1 direction can be calculated.
[0068] Then, as shown in Figure 5, in projection control, the control device 240 projects a position and orientation object oj1, which represents the content of the position and orientation information of the segment 20b to be installed, onto the surface (for example, the inner surface) of the segment 20b to be installed using the projection device 230a. This type of projection control, which projects position and orientation information, is also called first projection control. In the example in Figure 5, a character object representing the magnitude of the step in the D1 direction is projected as the position and orientation object oj1.
[0069] Furthermore, as shown in Figure 5, the control device 240 may, in projection control, further project an adjustment direction object oj2, which represents the content of adjustment direction information indicating at least one of the adjustment directions of the position and orientation of the segment 20b to be installed, onto the surface (e.g., side) of the segment 20b to be installed using the projection device 230a. This type of projection control, which projects adjustment direction information, is also called second projection control. In the example in Figure 5, an arrow object representing the adjustment direction (D1 downward in Figure 5) for eliminating the step is projected as the adjustment direction object oj2.
[0070] Furthermore, as shown in Figure 5, the control device 240 may, in projection control, further project a target position object oj3, which represents the content of target position information indicating the target installation position of the target segment 20b (such as the installation order and the location where it should be installed), onto the surface (e.g., the inner circumferential surface) of the target segment 20b using the projection device 230a. This type of projection control, which projects target position information, is also called third projection control. In the example in Figure 5, the target position object oj3 projects a text object indicating which ring of the multiple rings of the segment 20 arranged in the axial direction of the excavator body 10 corresponds to the target installation position of the target segment 20b, and which piece of that ring it is. By doing this, it is possible to confirm whether the target installation position matches the actual operating position before joining the target segment 20b to the existing segment 20a, thereby enabling error-free and reliable assembly. This is effective because if the target segment 20b is selected incorrectly or the operating position of the target segment 20b is wrong, and the connection to the existing segment 20a is attempted, it will require time and effort to redo the process.
[0071] In the example shown in Figure 5, the worker can adjust the position of the segment 20b by operating the erector device 19 with a remote control or the like while visually confirming the position and orientation object oj1, adjustment direction object oj2, and target position object oj3 projected onto the surface of the segment 20b to be installed. This eliminates the need for the worker to measure the relative position and orientation of the segment 20b to the existing segment 20a using a ruler or the like near the segment 20b. The worker operating the erector device 19 can easily grasp the various information necessary to operate the erector device 19 and operate it accordingly. This improves the work efficiency and safety of the segment 20 assembly work.
[0072] From the state shown in Figure 5, the state shown in Figure 6 is achieved by moving the target segment 20b in the direction indicated by the adjustment direction object oj2 so that the step difference indicated by the position / orientation object oj1 becomes less than or equal to a predetermined value. In the state shown in Figure 6, the position adjustment of the target segment 20b has been completed. For example, as shown in Figure 6, when viewing the portion of the target segment 20b and the existing segment 20a that is irradiated by the laser LS from the radially inward and rearward, line segment L2 is located on the extension of line segment L1. Therefore, the step difference is almost eliminated.
[0073] As shown in Figure 6, in projection control, the control device 240 may further project a determination result object oj4, which represents the content of the determination result of whether or not the adjustment of at least one of the position and orientation of the segment 20b to be installed has been completed, onto the surface (e.g., inner surface) of the segment 20b to be installed using the projection device 230a. This type of projection control, in which the above determination result is projected, is also called fourth projection control. In the example in Figure 6, the determination result object oj4 is a text object that indicates that it has been determined that the position adjustment of the segment 20b to be installed with respect to the radial direction D1 has been completed. For example, with respect to the position adjustment of the segment 20b to be installed with respect to the radial direction D1, the control device 240 may determine that the position adjustment is complete when the step difference becomes less than or equal to a predetermined value.
[0074] As described above, the control system 200 according to this embodiment includes a projection device 230 and a control device 240 that performs a first projection control (in the above example, projection control that projects a position and orientation object oj1) in which the projection device 230 projects position and orientation information indicating at least one of the position and orientation of the segment 20b to be installed, which is held by the erector device 19, onto a specific location on the tunnel boring machine 1 (in the above example, the surface of the segment 20b to be installed). This eliminates the need for the worker to measure the relative position and orientation of the segment 20b to be installed with respect to the existing segment 20a using a ruler or the like in the vicinity of the segment 20b to be installed, and allows the worker operating the erector device 19 to operate the erector device 19 with easy access to position and orientation information. This improves the workability and safety of the segment 20 assembly work.
[0075] In the examples shown in Figures 5 and 6 above, we have illustrated an example in which, in the first projection control, information indicating the magnitude of the step difference between the target segment 20b and the existing segment 20a is projected as position and orientation information. However, as will be described later, the position and orientation information projected in the first projection control is not limited to the above example.
[0076] In particular, in the examples of Figures 5 and 6 above, the specific location on which information is projected by the projection device 230 in projection control is the surface of the installation target segment 20b. More specifically, the surface of the installation target segment 20b that can be the specific location is the surface of the installation target segment 20b that is visible to the worker (for example, the inner surface or side surface). As a result, the worker operating the erector device 19 can easily grasp the information projected by the projection device 230 by visually checking the surface of the installation target segment 20b located near the worker. Thus, the workability and safety of the segment 20 assembly work are appropriately improved.
[0077] However, as will be described later, the specific location on which information is projected by the projection device 230 in projection control may be other than the surface of the installation target segment 20b.
[0078] In particular, in the examples of Figures 5 and 6 above, the control device 240 performs a second projection control (in the example above, projection control that projects an adjustment direction object oj2) in addition to the first projection control, by projecting adjustment direction information indicating at least one of the adjustment directions of the position and orientation of the segment 20b to be installed onto a specific location (in the example above, the surface of the segment 20b to be installed) using the projection device 230. As a result, the operator operating the erector device 19 can operate the erector device 19 with easy access to the adjustment direction information. Therefore, the workability and safety of the assembly work of the segment 20 can be more effectively improved.
[0079] However, the control device 240 does not have to perform the second projection control. For example, in the example of Figure 5, the projection of the adjustment direction object oj2 may be omitted.
[0080] In particular, in the examples of Figures 5 and 6 above, the control device 240 performs a third projection control (in the example above, projection control that projects the target position object oj3) in addition to the first projection control, by projecting target position information indicating the target installation position of the segment 20b onto a specific location (in the example above, the surface of the segment 20b to be installed) using the projection device 230. As a result, the operator of the erector device 19 can operate the erector device 19 with easy access to the target position information. Therefore, the workability and safety of the segment 20 assembly work can be more effectively improved.
[0081] However, the control device 240 does not have to perform the third projection control. For example, in the examples of Figures 5 and 6, the projection of the target position object oj3 may be omitted.
[0082] In particular, in the examples of Figures 5 and 6 above, the control device 240 performs a fourth projection control (in the example above, projection control that projects the determination result object oj4) in addition to the first projection control, by projecting the determination result of whether or not the adjustment of at least one of the position and orientation of the segment 20b to be installed has been completed onto a specific location (in the example above, the surface of the segment 20b to be installed) using the projection device 230. As a result, the operator of the erector device 19 can operate the erector device 19 in a state where they can easily grasp the above determination result. Therefore, the workability and safety of the assembly work of the segment 20 can be more effectively improved.
[0083] However, the control device 240 does not have to perform the fourth projection control. For example, in the example in Figure 6, the projection of the determination result object oj4 may be omitted.
[0084] In particular, in the examples shown in Figures 5 and 6 above, the control device 240 performs irradiation control by irradiating the laser LS with the laser irradiation device 210 so that the laser LS spans both the installation target segment 20b and the existing segment 20a, and acquires position and orientation information based on the irradiation results of the laser LS in the irradiation control. This allows for the appropriate acquisition of position and orientation information of the existing segment 20a.
[0085] However, the method for acquiring positional orientation information of the existing segment 20a is not limited to the above example. For example, the shape of the laser LS irradiated by the laser irradiation device 210 may be a shape other than a line segment (for example, a two-dimensional shape with a two-dimensional extent). In that case as well, the control device 240 can perform the irradiation control described above and acquire positional orientation information of the existing segment 20a based on the irradiation result of the laser LS in the irradiation control. Furthermore, the control device 240 may acquire positional orientation information of the existing segment 20a without using the laser irradiation device 210 and the camera 220, for example. For example, the control device 240 may acquire positional orientation information of the existing segment 20a using a distance measuring device such as a contact-type sensor or an ultrasonic sensor that directly contacts the surface of the existing segment 20a.
[0086] As described above, in the first projection control, information other than the information indicating the magnitude of the step difference between the segment to be installed 20b and the existing segment 20a may be projected as positional orientation information. Examples of this are shown below in Figure 7 and Figure 8.
[0087] The example in Figure 7 shows projection control when assembling the target segment 20b to an existing segment 20a located to the right of the target segment 20b. Figure 7 shows the position of the target segment 20b before the position adjustment is completed.
[0088] In the example in Figure 7, unlike the example in Figure 5, the step difference between the segment to be installed 20b and the existing segment 20a is almost eliminated. On the other hand, in the example in Figure 7, the gap between the segment to be installed 20b and the existing segment 20a is larger compared to the example in Figure 5. The size of the above gap corresponds to the distance D3 in the rotational direction between the right end face of the segment to be installed 20b and the left end face of the existing segment 20a.
[0089] In the example in Figure 7, as in the example in Figure 5, first, the control device 240 performs irradiation control by irradiating the laser LS with the laser irradiation device 210a so that it spans the target segment 20b and the existing segment 20a. Next, the control device 240 acquires position and orientation information of the target segment 20b based on the irradiation result of the laser LS in the irradiation control. Here, in the example in Figure 7, the position and orientation information acquired is information indicating the size of the gap in the rotational direction D3 between the target segment 20b and the existing segment 20a. For example, as shown in Figure 7, when viewing the parts of the target segment 20b and the existing segment 20a that are irradiated by the laser LS from the radially inward and rearward, the larger the gap, the shorter the line segment L2 becomes. Therefore, the size of the gap can be calculated by considering the length of the line segment L2 on the image captured by the camera 220a. For example, the control device 240 can obtain positional information indicating the size of the gap in the rotational direction D3 between the segment to be installed 20b and the existing segment 20a by performing image processing on the image captured by the camera 220a.
[0090] In the example shown in Figure 7, the control device 240, in the first projection control, projects a character object representing the size of the gap in the rotational direction D3 between the segment 20b to be installed and the existing segment 20a as a position and orientation object oj1 onto the surface of the segment 20b to be installed using the projection device 230a. This allows the operator of the erector device 19 to easily understand the gap in the rotational direction D3 between the segment 20b to be installed and the existing segment 20a, and to operate the erector device 19 in this state.
[0091] Furthermore, in the example shown in Figure 7, the control device 240 may, in the second projection control, further project an arrow object representing the adjustment direction (to the right in Figure 7) to eliminate gaps on the surface of the installation target segment 20b as an adjustment direction object oj2 using the projection device 230a. This allows the operator of the erector device 19 to operate the erector device 19 while easily grasping the adjustment direction information.
[0092] In addition, in the example in Figure 7, a third projection control is also performed to project the target position object oj3, similar to the example in Figure 5.
[0093] The example in Figure 8 shows projection control when assembling the target segment 20b to an existing segment 20a located to the right of the target segment 20b. Figure 8 shows the target segment 20b before the orientation adjustment is completed.
[0094] In the example in Figure 8, the orientation of the segment 20b to be installed is deviated from the desired target orientation. The target orientation is the orientation that the segment 20b should take in order to properly attach it to the existing segment 20a, and is shown by the dashed line in Figure 8. By adopting the target orientation, the inner surface of the segment 20b and the inner surface of the existing segment 20a can be smoothly connected. Therefore, it is necessary to adjust the orientation of the segment 20b to the target orientation. In the example in Figure 8, the orientation of the segment 20b to be installed is deviated in the pitch direction from the target orientation.
[0095] In the example in Figure 8, as in the example in Figure 5, first, the control device 240 performs irradiation control by irradiating the target segment 20b with the laser irradiation device 210a so that the laser LS spans both the target segment 20b and the existing segment 20a. Next, the control device 240 acquires position and orientation information of the target segment 20b based on the irradiation results of the laser LS in the irradiation control. In the example in Figure 8, the position and orientation information acquired is information indicating the magnitude of the tilt of the target segment 20b in the pitch direction relative to the target orientation. For example, the magnitude of the tilt can be calculated by considering the positional relationship between line segments L1 and L2 on the image captured by the camera 220a. For example, the control device 240 can acquire information indicating the magnitude of the tilt of the target segment 20b in the pitch direction relative to the target orientation as position and orientation information by performing image processing on the image captured by the camera 220a. If it is difficult (or impossible) to calculate the tilt (or orientation) deviation with only one laser irradiation point, the number of laser irradiation points may be increased.
[0096] In the example shown in Figure 8, the control device 240, in the first projection control, projects a character object representing the magnitude of the pitch-direction inclination of the orientation of the segment 20b to be installed relative to the target orientation as a position orientation object oj1 onto the surface of the segment 20b to be installed using the projection device 230a. This allows the operator of the erector device 19 to easily understand the pitch-direction inclination of the orientation of the segment 20b to be installed relative to the target orientation and to operate the erector device 19 accordingly.
[0097] In addition, in the example in Figure 8, similar to the example in Figure 5, a second projection control is performed to project the adjustment direction object oj2, and a third projection control is performed to project the target position object oj3.
[0098] The above describes projection control performed when assembling the target segment 20b to an existing segment 20a adjacent to it in the rotational direction D3. However, projection control may also be performed when assembling the target segment 20b to an existing segment 20a adjacent to it in the axial direction D2. An example of this is shown in Figure 9.
[0099] The example in Figure 9 shows projection control when assembling the target segment 20b to an existing segment 20a located behind the target segment 20b. Figure 9 shows the state before the position adjustment of the target segment 20b is completed. In the example in Figure 9, projection control is performed using, for example, a laser irradiation device 210, a camera 220, and a projection device 230, which are positioned near the rear end of the gripped target segment 20b in the erector device 19.
[0100] In the example shown in Figure 9, the control device 240, in the first projection control, projects a character object representing the size of the axial gap D2 between the segment 20b to be installed and the existing segment 20a onto the surface of the segment 20b to be installed using the projection device 230 as a position and orientation object oj1. This allows the operator of the erector device 19 to easily understand the axial gap D2 between the segment 20b to be installed and the existing segment 20a, and to operate the erector device 19 in this state.
[0101] Furthermore, in the example shown in Figure 9, the control device 240 may, in the second projection control, further project an arrow object representing the adjustment direction (rearward in Figure 9) to eliminate gaps on the surface of the installation target segment 20b as an adjustment direction object oj2 using the projection device 230. This allows the operator of the erector device 19 to easily grasp the adjustment direction information and operate the erector device 19.
[0102] In addition, in the example in Figure 9, a third projection control is also performed to project the target position object oj3, similar to the example in Figure 5.
[0103] The above describes an example in which the specific location onto which information is projected by the projection device 230 in projection control is the surface of the installation target segment 20b. However, the above-mentioned specific location may be other than the surface of the installation target segment 20b. Below, the example in Figure 10 and the example in Figure 11 will be described as such examples.
[0104] In the example shown in Figure 10, during projection control, information is projected onto the surface of the existing segment 20a by the projection device 230. For example, in the example shown in Figure 10, the control device 240, in the first projection control, projects a character object representing the magnitude of the step difference between the segment 20b to be installed and the existing segment 20a as a position and orientation object oj1 using the projection device 230a onto the surface of the existing segment 20a adjacent to the segment 20b to be installed in the rotation direction D3 with respect to the segment 20b to be installed. As a result, the operator of the erector device 19 can operate the erector device 19 while easily understanding the step difference between the segment 20b to be installed and the existing segment 20a.
[0105] As described above, in the example of Figure 10, the specific location where information is projected by the projection device 230 in projection control is the surface of the existing segment 20a. As a result, the operator operating the erector device 19 can easily grasp the information projected by the projection device 230 by visually inspecting the surface of the existing segment 20a located near the operator. Thus, improvements in the workability and safety of the segment 20 assembly work are appropriately achieved. For example, this is particularly effective when there are segments 20 with small division angles (short arc lengths) in the segment 20 configuration, or when there is no projection location on the target segment 20b.
[0106] In the example shown in Figure 11, during projection control, information is projected onto the surface of the erector device 19 by the projection device 230. For example, in the example shown in Figure 11, the control device 240, in the first projection control, projects a character object representing the size of the step difference between the segment to be installed 20b and the existing segment 20a as a position and orientation object oj1 onto the surface of the gripping portion 196 of the erector device 19, excluding the twist lock 196a, using the projection device 230. This allows the operator of the erector device 19 to easily grasp the step difference between the segment to be installed 20b and the existing segment 20a and operate the erector device 19 accordingly.
[0107] In the example shown in Figure 11, the projection device 230 must be positioned so that information can be projected onto the surface of the erector device 19. Therefore, the projection device 230 may be installed on the erector device 19, or it may be installed on a part of the tunnel boring machine 1 other than the erector device 19.
[0108] As described above, in the example shown in Figure 11, the specific location where information is projected by the projection device 230 in projection control is the surface of the erector device 19. This allows, for example, in cases where the surface of the segment 20 is not smooth, such as with steel segments, and information cannot be projected onto the surface of the segment 20, the operator of the erector device 19 can easily grasp the information projected by the projection device 230 by visually inspecting the surface of the erector device 19. Thus, improvements in the workability and safety of the segment 20 assembly work are appropriately achieved.
[0109] In the above, the second, third, and fourth projection controls were described as projection controls that can be performed in addition to the first projection control. However, projection controls other than those described above may also be performed in addition to the first projection control. Below, an example of such a case is described in Figure 12.
[0110] The example in Figure 12, as in the example in Figure 5, shows a case where there is a step between the segment 20b to be installed and the existing segment 20a, and it is necessary to adjust the segment 20b to be installed downwards in order to eliminate the step in the segment 20b.
[0111] In the example shown in Figure 12, the control device 240, in projection control, projects a drive direction object oj5, which represents the content of drive direction information indicating the drive direction of the twist lock 196a, onto the twist lock 196a, which corresponds to an example of a movable part of the erector device 19, using the projection device 230. This type of projection control, which projects light representing drive direction information, is also called fifth projection control. In the example shown in Figure 12, the drive direction object oj5 is an arrow object representing the drive direction (downward in Figure 12) to eliminate the step.
[0112] The fifth projection control is a control method in which light is projected by the projection device 230 onto the movable parts of the erector device 19 that are to be driven for position adjustment or attitude adjustment of the erector device 19. Therefore, in the fifth projection control, drive direction information may not be projected onto the movable parts, and the movable parts may simply be illuminated by the projection device 230. Also, in the fifth projection control, light may be projected onto the movable parts of the erector device 19 other than the twist lock 196a.
[0113] In the example shown in Figure 12, the projection device 230 must be positioned so that it can project light onto the movable part of the erector device 19. Therefore, the projection device 230 may be installed on the erector device 19, or it may be installed on a part of the tunnel boring machine 1 other than the erector device 19.
[0114] As described above, in the example of Figure 12, the control device 240 performs a fifth projection control (in the example above, projection control that projects the drive direction object oj5) in addition to the first projection control, by projecting light onto the movable part of the erector device 19 (in the example above, the twist lock 196a) using the projection device 230. As a result, the operator operating the erector device 19 can operate the erector device 19 while easily being able to grasp the movable part of the erector device 19 that needs to be driven for position or posture adjustment. Therefore, the workability and safety of the assembly work of the segment 20 can be more effectively improved.
[0115] In particular, in the example shown in Figure 12 above, the control device 240, in the fifth projection control, projects light representing drive direction information indicating the drive direction of the movable part of the erector device 19 (twist lock 196a in the example above) onto the movable part of the erector device 19 using the projection device 230 (in the example above, it projects a drive direction object oj5). As a result, the operator of the erector device 19 can easily grasp the movable part of the erector device 19 that needs to be driven for position or posture adjustment, and can also easily grasp the drive direction information, allowing them to operate the erector device 19. Therefore, the workability and safety of the assembly work of the segment 20 can be further effectively improved.
[0116] Preferred embodiments of the present invention have been described above with reference to the attached drawings. However, it goes without saying that the present invention is not limited to the embodiments described above, and that various modifications or alterations within the scope of the claims also fall within the technical scope of the present invention.
[0117] For example, although the above describes a tunnel boring machine 1 of the earth pressure type (including the mud pressure type), the tunnel boring machine according to the present invention may also be of the slurry type.
[0118] Furthermore, although the above description of the components of the tunnel boring machine 1 was given with reference to the drawings, the dimensions and positional relationships of the components in the drawings are merely illustrative examples, and the dimensions and positional relationships of the components of the tunnel boring machine 1 are not limited to the examples shown in the drawings. In addition, components may be added, deleted, or modified as appropriate for the tunnel boring machine 1 illustrated in the drawings. [Explanation of Symbols]
[0119] 1. Tunnel boring machine 10 Excavator body 11 cutter heads 12 Cutter central axis 13 Bulkhead 14 Rotating Rings 15 Linked beams 16 Cutter Swivel Motor 17 Chambers 18 Screw conveyor 19 Erecta equipment 20 segments 20a Existing segment 20b Installation target segment 21 Shield Jack 22 Tail Brush 191 Ring Frame 191a Bracket 192 Support roller 193 Suspension beam 193a Support frame 194 Guide Rod 195 Lifting Jack 196 Gripping part 196a Twist lock (movable part) 200 Control Systems 210 Laser irradiation device 220 Cameras 230 Projection device 240 Control devices H gripping hole LS laser oj1 Position and Orientation Object oj2 Adjustment Direction Object oj3 Target position object oj4 Judgment result object oj5 Drive Direction Object T Tunnel
Claims
1. A control system for a tunnel boring machine equipped with an erector device, Projection device and A control device that performs a first projection control, which projects position and orientation information indicating at least one of the position and orientation of the installation target segment gripped by the erector device onto a specific location in the tunnel boring machine using the projection device, It has, The aforementioned specific location is the surface of the erector device. Control system for a tunnel boring machine.
2. A control system for a tunnel boring machine equipped with an erector device, Projection device and A control device that performs a first projection control, which projects position and orientation information indicating at least one of the position and orientation of the installation target segment gripped by the erector device onto a specific location in the tunnel boring machine using the projection device, It has, In addition to the first projection control, the control device performs a second projection control, in which it projects adjustment direction information indicating at least one of the adjustment directions of the position and orientation of the installation target segment onto the specific location using the projection device. Control system for a tunnel boring machine.
3. A control system for a tunnel boring machine equipped with an erector device, Projection device and A control device that performs a first projection control, which projects position and orientation information indicating at least one of the position and orientation of the installation target segment gripped by the erector device onto a specific location in the tunnel boring machine using the projection device, It has, In addition to the first projection control, the control device performs a third projection control, which projects target position information indicating the installation target position of the installation target segment onto the specific location using the projection device. Control system for a tunnel boring machine.
4. A control system for a tunnel boring machine equipped with an erector device, Projection device and A control device that performs a first projection control, which projects position and orientation information indicating at least one of the position and orientation of the installation target segment gripped by the erector device onto a specific location in the tunnel boring machine using the projection device, It has, In addition to the first projection control, the control device performs a fourth projection control, which projects a determination result of whether or not the adjustment of at least one of the position and orientation of the installation target segment has been completed onto the specific location using the projection device. Control system for a tunnel boring machine.
5. A control system for a tunnel boring machine equipped with an erector device, Projection device and A control device that performs a first projection control, which projects position and orientation information indicating at least one of the position and orientation of the installation target segment gripped by the erector device onto a specific location in the tunnel boring machine using the projection device, It has, In addition to the first projection control, the control device performs a fifth projection control, which projects light onto the movable part of the erector device using the projection device. Control system for a tunnel boring machine.
6. In the fifth projection control, the control device projects light representing drive direction information indicating the drive direction of the movable part onto the movable part using the projection device. The control system for a tunnel boring machine according to claim 5.
7. A control system for a tunnel boring machine equipped with an erector device, Projection device and A control device that performs a first projection control, which projects a position and orientation object, which is a character object representing the content of position and orientation information indicating at least one of the position and orientation of the installation target segment gripped by the erector device, onto a specific location in the tunnel boring machine using the projection device, Having, Control system for a tunnel boring machine.
8. The specified location is the surface of the segment to be installed. A control system for a tunnel boring machine according to any one of claims 2 to 7.
9. The specified location is the surface of an existing segment. A control system for a tunnel boring machine according to any one of claims 2 to 7.
10. Equipped with a laser irradiation device, The control device performs irradiation control to irradiate the laser with the laser irradiation device so that the laser is irradiated across the target segment and the existing segment, and acquires the position and orientation information based on the irradiation result of the laser in the irradiation control. A control system for a tunnel boring machine according to any one of claims 1 to 7.