Shield tunnel construction evaluation system and shield tunnel construction evaluation method

Abstract

This invention provides a shield tunnel construction evaluation system and a shield tunnel construction evaluation method that can accurately evaluate the construction status even when the distance from the measurement means to the skin plate changes. [Solution] The shield tunnel construction evaluation system combines first point cloud data measured before assembling the segment ring 10 and second point cloud data measured after assembling the segment ring 10. Based on the position of the inner ridge portion 10d in the combined point cloud data, the position of the inner circumferential surface 2a of the skin plate 2 at location 2d corresponding to the ring joint surface 10c, and the pre-registered thickness h2 of the segment ring 10, the system calculates the tail clearance m1 at the ring joint surface 10c.

Description

[Technical Field]

[0001] The present invention relates to a shield tunnel construction evaluation system and a shield tunnel construction evaluation method. [Background Art]

[0002] When a shield excavator is propelled, the clearance between the skin plate disposed on the outer periphery of the shield excavator body and a newly installed segment inside the machine is appropriately grasped, and the orientation of the shield excavator is adjusted. By this means, management is performed to prevent occurrence of segment damage caused by contact with the segment during propulsion and defective segment assembly. Conventionally, measurement and management have generally been performed manually, but from the perspectives of labor shortage and improvement of construction efficiency, mechanical measurement methods are being proposed (see, for example, Patent Document 1).

[0003] The technology described in Patent Document 1 extracts the inner edge of a segment (near the ridgeline formed by the ring joint surface and the inner surface of the segment) from point cloud data acquired by surveying means (ToF sensors or LiDAR scanners) installed on a ring garter of a shield excavator, and calculates the radial distance from the surveying means to the inner surface of the segment. Then, the tail clearance is estimated on the basis of the "distance from the surveying means to the skin plate" and the "segment thickness" measured in advance. [Prior Art Documents] [Patent Documents]

[0004] [Patent Document 1] Japanese Unexamined Patent Application Publication No. 2024-162438 [Summary of the Invention] [Problems to be Solved by the Invention]

[0005] The skin plate of a shield tunneling machine deforms in accordance with the magnitude of the soil and water pressure acting on its outer surface. For example, in road tunnels where the tunnel starts with a small overburden and the longitudinal alignment changes to a great depth underground, the fluctuations in external pressure (soil and water pressure) are large, so it is expected that the skin plate will deform from the time the distance to the skin plate is measured in advance. In the technology described in Patent Document 1, the distance between the surveying means and the skin plate is kept constant, and the amount of deformation of the skin plate is not reflected in the measurement model, which leads to a problem in that an inevitable measurement error occurs that is different from the error caused by the measurement itself.

[0006] From this perspective, the present invention provides a shield tunnel construction evaluation system and a shield tunnel construction evaluation method that can accurately evaluate the construction status even when the distance from the measuring means to the skin plate changes. [Means for solving the problem]

[0007] The shield tunnel construction evaluation system according to the present invention is a system for evaluating the construction status of a shield tunneling machine in shield tunnel construction. This shield tunnel construction evaluation system comprises a three-dimensional measuring instrument installed inside the shield tunneling machine and a construction evaluation device that evaluates the construction status of the shield tunnel based on the measurement results of the three-dimensional measuring instrument. The three-dimensional measuring instrument is capable of acquiring first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine before the segment ring is assembled, and second point cloud data of the vicinity of the ring joint surface of the segment ring after the segment ring has been assembled. The first and second point cloud data are sets of three-dimensional coordinate values. The construction evaluation device uses the first point cloud data and the second point cloud data to calculate the tail clearance at the ring joint surface based on the position of the inner ridge line formed by the ring joint surface and the inner circumferential surface of the ring in the point cloud data, the position of the inner circumferential surface of the skin plate, and the thickness of the segment ring which has been registered in advance.

[0008] A first target is attached to the inner surface of the spreader of one or more shield jacks. The three-dimensional measuring instrument acquires the second point cloud data near the ring joint surface while the spreader is in contact with the segment ring. The construction evaluation device has information in advance that shows the positional relationship between the first target and the inner ridge portion while the spreader is in contact with the segment ring, and determines the position of the inner ridge portion based on the first target in the second point cloud data. Alternatively, a first target is attached to the inner surface of the spreader of three or more shield jacks. The three-dimensional measuring instrument acquires the second point cloud data near the ring joint surface while the spreader is in contact with the segment ring. The construction evaluation device has information in advance indicating the positional relationship between the first target and the ring joint surface while the spreader is in contact with the segment ring, and determines a first plane including the spreader based on three or more first targets in the second point cloud data. The construction evaluation device also determines a second plane including the ring joint surface by moving the first plane toward the tunnel entrance by a predetermined amount, and determines the position of the inner ridge and the position of the inner circumferential surface of the skin plate based on the second plane. In the shield tunnel construction evaluation system according to the present invention, the inner circumferential surface of the skin plate is measured. Therefore, it is possible to take into account the effect of deformation of the skin plate, and the tail clearance can be calculated with high accuracy even when the distance from the three-dimensional measuring instrument to the skin plate changes. Furthermore, instead of directly identifying the inner ridge line formed by the ring joint surface and the inner circumferential surface of the segment ring from the point cloud data, the inner ridge line can be estimated based on its positional relationship with a first target, which is easier to identify. Therefore, the tail clearance can be calculated with higher accuracy.

[0009] The shield tunneling machine is equipped with a second target attached to its fixed point. The first point cloud data and the second point cloud data include the second target. The construction evaluation device synthesizes the first point cloud data and the second point cloud data with the second target as a reference. In the shield tunnel construction evaluation system according to the present invention, the inner circumferential surface of the skin plate is measured. Therefore, it is possible to take into account the effect of deformation of the skin plate, and the tail clearance can be calculated accurately even when the distance from the three-dimensional measuring instrument to the skin plate changes. In addition, the first point cloud data and the second point cloud data can be accurately combined.

[0010] The construction evaluation device obtains the rolling angle from an inclinometer installed on the shield tunneling machine, and calculates the tail clearance by rotating and correcting the measurement position in the circumferential direction based on the rolling angle. In the shield tunnel construction evaluation system according to the present invention, the inner circumferential surface of the skin plate is measured. Therefore, it is possible to take into account the effect of deformation of the skin plate, and the tail clearance can be calculated accurately even when the distance from the three-dimensional measuring instrument to the skin plate changes. Furthermore, even if rolling occurs, the tail clearance at the appropriate position can be determined.

[0011] The construction evaluation device estimates the position of the inner surface of the skin plate at the tail end based on the shape of the skin plate in the first point cloud data. The construction evaluation device also estimates the position of the outer surface of the ring at the tail end based on the position of the inner ridge and the longitudinal and transverse gradients and segment arrangement information in the design. The construction evaluation device calculates the tail end clearance at the tail end based on the estimated positions of the inner surface of the skin plate and the outer surface of the ring. In the shield tunnel construction evaluation system according to the present invention, the inner circumferential surface of the skin plate is measured. Therefore, it is possible to take into account the effect of skin plate deformation, and the tail clearance can be calculated accurately even when the distance from the three-dimensional measuring instrument to the skin plate changes. Furthermore, the tail end clearance can be determined.

[0012] The construction evaluation device may determine the roundness of the segment ring based on the position of the inner ridge in the second point cloud data. In this way, the roundness of the segment ring can be determined.

[0013] The shield tunnel construction evaluation method according to the present invention is a method for evaluating the construction status of a shield tunneling machine in shield tunnel construction. This shield tunnel construction evaluation method comprises a measurement step of taking measurements using a three-dimensional measuring instrument installed inside the shield tunneling machine, and a construction evaluation step of evaluating the construction status of the shield tunnel based on the measurement results of the three-dimensional measuring instrument. The measurement process comprises a pre-assembly measurement process and a post-assembly measurement process. In the pre-assembly measurement process, first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine is acquired before the segment ring is assembled. In the post-assembly measurement process, second point cloud data of the vicinity of the ring joint surface of the segment ring is acquired after the segment ring has been assembled. The first and second point cloud data are sets of three-dimensional coordinate values. The construction evaluation process includes a point cloud data synthesis process and a tail clearance calculation process. In the point cloud data synthesis process, the first point cloud data and the second point cloud data are synthesized. In the tail clearance calculation process, the tail clearance at the ring joint surface is calculated based on the position of the inner ridge line formed by the ring joint surface and the inner circumferential surface of the ring in the synthesized point cloud data, the position of the inner circumferential surface of the skin plate, and the thickness of the segment ring which has been registered in advance.

[0014] A first target is attached to the inner surface of the spreader of one or more shield jacks. Information is pre-existing indicating the positional relationship between the first target and the inner ridge when the spreader is in contact with the segment ring. In the post-assembly measurement step, the second point cloud data near the ring joint surface is acquired when the spreader is in contact with the segment ring. In the tail clearance calculation step, the position of the inner ridge is determined based on the first target in the synthesized point cloud data. Alternatively, a first target is attached to the inner surface of the spreader of three or more shield jacks. Information is pre-existing indicating the positional relationship between the first target and the ring joint surface when the spreader is in contact with the segment ring. In the post-assembly measurement step, the second point cloud data near the ring joint surface is acquired when the spreader is in contact with the segment ring. In the tail clearance calculation step, a first plane including the spreader is determined based on the three or more first targets in the synthesized point cloud data, a second plane including the ring joint surface is determined by moving the first plane toward the tunnel entrance by a predetermined amount, and the position of the inner ridge and the position of the inner circumferential surface of the skin plate are determined based on the second plane. In the shield tunnel construction evaluation method according to the present invention, the inner circumferential surface of the skin plate is measured. Therefore, it is possible to consider the effect of deformation of the skin plate, and the tail clearance can be calculated accurately even when the distance from the three-dimensional measuring instrument to the skin plate changes. Furthermore, instead of directly identifying the inner ridge line formed by the ring joint surface and the inner circumferential surface of the segment ring from the point cloud data, the inner ridge line can be estimated based on its positional relationship with a first target, which is easier to identify. Therefore, the tail clearance can be calculated with greater accuracy.

[0015] The shield tunneling machine is equipped with a second target attached to a fixed point. The first point cloud data and the second point cloud data include the second target. In the point cloud data synthesis process, the first point cloud data and the second point cloud data are synthesized with the second target as the reference. In the shield tunnel construction evaluation method according to the present invention, the inner circumferential surface of the skin plate is measured. Therefore, it is possible to take into account the effect of deformation of the skin plate, and the tail clearance can be calculated accurately even when the distance from the three-dimensional measuring instrument to the skin plate changes. In addition, the first point cloud data and the second point cloud data can be accurately combined.

[0016] In the tail clearance calculation step, the rolling angle is obtained from an inclinometer installed on the shield tunneling machine, and the tail clearance is calculated by rotating the measurement position in the circumferential direction based on the rolling angle. In the shield tunnel construction evaluation method according to the present invention, the inner circumferential surface of the skin plate is measured. Therefore, it is possible to take into account the effect of deformation of the skin plate, and the tail clearance can be calculated accurately even when the distance from the three-dimensional measuring instrument to the skin plate changes. Furthermore, even if rolling occurs, the tail clearance at the appropriate position can be determined.

[0017] In the tail clearance calculation step, the position of the inner circumferential surface of the skin plate at the tail end is estimated based on the shape of the skin plate in the synthesized point cloud data. Also in the tail clearance calculation step, the position of the outer circumferential surface of the ring at the tail end is estimated based on the position of the inner ridge and the longitudinal and transverse gradients and segment arrangement information in the design. In the tail clearance calculation step, the tail end clearance at the tail end is calculated based on the estimated positions of the inner circumferential surface of the skin plate and the outer circumferential surface of the ring. In the shield tunnel construction evaluation method according to the present invention, the inner circumferential surface of the skin plate is measured. Therefore, it is possible to take into account the effect of deformation of the skin plate, and the tail clearance can be calculated accurately even when the distance from the three-dimensional measuring instrument to the skin plate changes. Furthermore, the tail end clearance can be determined.

[0018] The construction evaluation step may include a roundness calculation step that determines the roundness of the segment ring based on the position of the inner ridge in the synthesized point cloud data. In this way, the roundness of the segment ring can be determined. Effects of the Invention

[0020] According to the present invention, the construction status can be accurately evaluated even when the distance from the measuring means to the skin plate changes. This reduces the risk of project delays due to construction problems, enabling both improved construction quality and shorter construction periods. [Brief explanation of the drawing]

[0021] [Figure 1] This is an example of a shield tunneling machine according to the first embodiment of the present invention, and a cross-sectional view is shown. [Figure 2] This is an example of a shield tunneling machine according to the first embodiment of the present invention, and is a cross-sectional view corresponding to line II-II in Figure 1. [Figure 3] This is a diagram showing the configuration of a shield tunnel construction evaluation system according to the first embodiment of the present invention. [Figure 4] This image shows the detection range of a 3D-LiDAR, with (a) being an oblique view and (b) being a cross-sectional view. [Figure 5] This figure shows an example of a target. [Figure 6] This diagram shows the target positioned inside the shield tunneling machine. [Figure 7] This is a schematic diagram of a construction evaluation device according to the first embodiment of the present invention. [Figure 8] The following are examples of tail clearance measurement locations: (a) shows the case when no rolling occurs in the shield tunneling machine, and (b) shows the case when rolling occurs in the shield tunneling machine. [Figure 9] This figure illustrates a tail clearance calculation method (without using a target) according to the first embodiment of the present invention, where (a) shows the state before assembling the segment ring and (b) shows the state after assembling the segment ring. [Figure 10] This figure illustrates a tail clearance calculation method (when using a target) according to the first embodiment of the present invention, where (a) shows the state before assembling the segment ring and (b) shows the state after assembling the segment ring. [Figure 11]This is an example of point cloud data (second point cloud data) obtained when a spreader with a target attached is pressed against a segment ring. [Figure 12] This figure illustrates variations of the tail clearance calculation method according to the first embodiment of the present invention. [Figure 13] This is an example flowchart illustrating a shield tunnel construction evaluation method according to the first embodiment of the present invention. [Figure 14] This is a schematic diagram of a construction evaluation device according to a second embodiment of the present invention. [Figure 15] This figure illustrates a tail clearance calculation method (without using a target) according to a second embodiment of the present invention, showing the state after the segment ring has been assembled. [Figure 16] This figure illustrates a tail clearance calculation method (when using a target) according to a second embodiment of the present invention, showing the state after the segment ring has been assembled. [Figure 17] This is an example flowchart illustrating a shield tunnel construction evaluation method according to a second embodiment of the present invention. [Modes for carrying out the invention]

[0022] Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings as appropriate. Each figure is only a schematic representation to the extent that the present invention can be fully understood. Therefore, the present invention is not limited to the illustrated examples. In each figure, common or similar components are denoted by the same reference numerals, and their redundant descriptions may be omitted.

[0023] [First Embodiment] <Configuration of the shield tunneling machine using the shield tunnel construction evaluation system according to the first embodiment> Referring to Figures 1 and 2, a shield tunneling machine 1 using the shield tunneling construction evaluation system 90 (see Figure 3) according to the first embodiment will be described. Figures 1 and 2 are examples of the shield tunneling machine 1 and show cross-sectional views. Figure 2 is a cross-sectional view corresponding to line II-II in Figure 1. In the description of the shield tunneling machine 1, the tunnel excavation direction is set to the forward direction (forward direction), and up, down, left, and right are defined. As shown in Figure 1, in this embodiment, an earth pressure balance type shield tunneling machine 1 is assumed and described, but the type of shield tunneling machine 1 is not limited to this. In other words, the shield tunneling construction evaluation system 90 can also perform construction evaluation of shield tunneling machines using construction methods other than the earth pressure balance type.

[0024] As shown in Figure 1, the shield tunneling machine 1 comprises a front drum 3 and a rear drum 4. The front drum 3 and the rear drum 4 are connected by a folding jack 5. The folding jacks 5 are arranged at intervals from each other in the circumferential direction of the front drum 3 (only those arranged on the upper side of the shield tunneling machine 1 are shown in Figure 1). The folding jack 5 is a hydraulic jack composed of a cylinder and a retractable rod. Note that the shield tunneling machine 1 shown in Figure 1 is merely an example, and a single-drum shield tunneling machine without the folding jack 5 (folding mechanism) may also be used.

[0025] As shown in Figure 1, the front drum 3 has a cutter head 6. The cutter head 6 is a rotating part that excavates the ground and is located at the front end of the front drum 3. The rear drum 4 has shield jacks 7 and erectors 8. The shield jacks 7 are hydraulic jacks composed of a cylinder 7a and a retractable rod 7b, and multiple jacks are arranged at predetermined pitches in the circumferential direction of the rear drum 4 (Figure 2 only shows those arranged on the upper and lower sides of the shield tunneling machine 1). The erectors 8 are devices that grip and rotate the segments 9 and transport the segments 9 to predetermined assembly positions. The shield tunneling machine 1 excavates the ground by obtaining thrust force while rotating the cutter head 6 and pressing the shield jacks 7 against the ring joint surface 10c of the segment ring 10 assembled at the rear.

[0026] <Configuration of the shield tunnel construction evaluation system according to the first embodiment> Referring to Figure 3 (and Figures 1 and 2 as appropriate), the configuration of the shield tunnel construction evaluation system 90 according to the first embodiment will be described. Figure 3 is a configuration diagram of the shield tunnel construction evaluation system 90. The shield tunnel construction evaluation system 90 is a system for evaluating the construction status of a shield tunnel, and in this embodiment, it evaluates the tail clearance and the roundness of the segment ring 10 and the skin plate 2 of the rear shell 4 (see Figure 1). The tail clearance is the distance between the inner circumferential surface 2a of the skin plate 2 of the rear shell 4 and the outer circumferential surface 10b of the segment ring 10.

[0027] As shown in Figure 3, the shield tunnel construction evaluation system 90 mainly comprises a three-dimensional measuring instrument 20, a joint box 30, and a construction evaluation device 40. The three-dimensional measuring instrument 20 and the construction evaluation device 40 can communicate with each other via the joint box 30. The joint box 30 functions as an AC / DC converter for power supply and as a Gigabit Ethernet hub.

[0028] The three-dimensional measuring instrument 20 shown in Figure 3 is a device capable of detecting the distance to an object (the position of the object). The three-dimensional measuring instrument 20 is fixed inside the shield tunneling machine 1, and the relative position of the shield tunneling machine 1 with respect to a reference point has been measured in advance. For example, the three-dimensional measuring instrument 20 is equipped with a sighting object (one example being a prism), and the relative position of the three-dimensional measuring instrument 20 with respect to the reference point of the shield tunneling machine 1 is determined by measuring the sighting object using a surveying instrument. The measurement of the three-dimensional measuring instrument 20 is performed, for example, before the operation of the shield tunneling machine 1 begins.

[0029] The three-dimensional measuring instrument 20 is, for example, a 3D-LiDAR (Light Detection And Ranging), and in this embodiment, we will explain assuming a 3D-LiDAR. A 3D-LiDAR is a measuring instrument that can acquire highly accurate three-dimensional coordinate values ​​as a point cloud in a short time from a distance. A 3D-LiDAR has an irradiation unit that emits laser light and a receiving unit that receives the laser light reflected from the target, and measures the time it takes for the laser light to hit the object and bounce back. The irradiation unit of the 3D-LiDAR emits laser light densely (at intervals of "0.1 to 0.4°") in the horizontal direction while rotating with a motor, for example. As a result, the 3D-LiDAR has a planar detection range and can acquire the shape of the target object as point cloud data. In other words, a 3D-LiDAR can measure the shape of the surface of an object as a set of coordinate values ​​of points that cover the entire surface. An image of the detection range of a 3D-LiDAR is shown in Figure 4. Figure 4(a) is a perspective view, and (b) is a cross-sectional view.

[0030] The number and arrangement of the three-dimensional measuring instruments 20 are not particularly limited, but it is preferable that the number and arrangement be such that the point cloud data acquired by the three-dimensional measuring instruments 20 can appropriately measure the vicinity of the inner circumferential surface 2a of the skin plate 2 and the ring joint surface 10c of the segment ring 10. The number and arrangement of the three-dimensional measuring instruments 20 should be determined considering the presence of obstacles (for example, shield jacks 7, erectors 8, screw conveyors 12, etc.).

[0031] In this embodiment, as shown in Figure 2, six three-dimensional measuring instruments 20 are arranged in a ring shape within the rear body 4. The three-dimensional measuring instruments 20 are fixed, for example, to the rear work deck 11. By measuring the relative position of each three-dimensional measuring instrument 20 in advance, the measurement results (in this case, point cloud data) of the six three-dimensional measuring instruments 20 can be combined into one based on their positional relationship. In other words, by measuring the relative position of each three-dimensional measuring instrument 20 in advance, all the point cloud data can be combined into one, allowing for free selection of the installation location of the three-dimensional measuring instruments 20.

[0032] The three-dimensional measuring instrument 20 may be capable of measuring not only the distance to the object (the position of the object) but also the reflection intensity of the laser light reflected from the object. In this case, the point cloud data will include information about the reflection intensity.

[0033] The target 60 shown in Figure 1 is a marker whose spatial position can be recognized by a three-dimensional measuring instrument 20 (or an imaging device not shown). The three-dimensional measuring instrument 20 can measure the three-dimensional coordinate values ​​of the relevant part without using the target 60, but by using the target 60, the three-dimensional coordinate values ​​of the relevant part can be measured more accurately. The target 60 includes retroreflective sheets, prisms, optical markers, light-emitting markers, and other optical markers with equivalent functions. An example of the target 60 is shown in Figure 5. The target 60 shown in Figure 5 is a square-shaped reflective sheet that has the function of reflecting light back in the direction from which it came (retroreflection). The target 60 has a higher reflectivity of the irradiated laser light compared to other parts. Therefore, when the three-dimensional measuring instrument 20 measures the target 60, the reflectivity of the target 60 is higher than that of the surrounding area. As a result, the target 60 is highlighted in the point cloud data. The target 60 shown in Figure 5 has a mark 61 drawn on its surface. The mark 61 consists of a circular shape and a cross-shaped shape. For example, by measuring the mark 61 using a surveying instrument, it is possible to determine the relative position of the target 60 with respect to the reference point of the shield tunneling machine 1.

[0034] In this embodiment, targets 60 are denoted as 60A and 60B to distinguish and explain their different roles. A single target 60 may perform both roles without distinguishing between the roles of target 60A and target 60B. Figure 6 shows the target 60 installed inside the shield tunneling machine 1.

[0035] Target 60A is a reference point for determining the position of the inner ridge portion 10d (see Figure 1) of the segment ring 10. Target 60A is preferably installed near the inner ridge portion 10d, and in this embodiment, as shown in Figure 6, Target 60A is attached to the inner surface of the spreader 7c of the shield jack 7. The construction evaluation device 40 may identify Target 60A from the point cloud data instead of identifying the inner ridge portion 10d from the point cloud data (or together with identifying the inner ridge portion 10d). In that case, the construction evaluation device 40 has information indicating the positional relationship between Target 60A and the inner ridge portion 10d in advance. Thus, Target 60A (first target) is a sighting point used to determine the position of the ring joint surface (end face) (for end face determination).

[0036] Target 60B is a reference point for combining point cloud data measured at different times. Target 60B is often installed on a stationary part of the shield tunneling machine 1, and in this embodiment, as shown in Figure 1, it is attached to the rear work deck 11, or as shown in Figure 6, to the cylinder 7a of the shield jack 7. The construction evaluation device 40 combines, for example, the first point cloud data acquired before the assembly of the segment ring 10 and the second point cloud data acquired after the assembly of the segment ring 10, using Target 60B as a reference. Thus, Target 60B (the second target) is a reference marker used for combining (coordinate matching) point clouds at different points in time (for coordinate matching).

[0037] The construction evaluation device 40 shown in Figure 3 evaluates the construction status of the shield tunnel based on the detection results of the three-dimensional measuring instrument 20. In this embodiment, the construction evaluation device 40 evaluates the tail clearance and the roundness of the segment rings 10 and the skin plates 2 of the rear shell 4. The construction evaluation device 40 may evaluate only one of the tail clearance and the roundness of the segment rings 10.

[0038] The construction evaluation device 40 is, for example, a personal computer (PC) or a server (including a cloud system configuration) connected to the personal computer in a manner that enables communication with it. In this embodiment, a personal computer is assumed to be installed in the driver's cab of the shield tunneling machine 1 and capable of communicating with the three-dimensional measuring instrument 20 without going through the internet. Since it does not go through the internet, a high level of confidentiality can be achieved, and problems such as communication failures can be avoided.

[0039] The configuration of the construction evaluation device 40 will be described with reference to Figure 7. Figure 7 is a schematic diagram of the construction evaluation device 40. The construction evaluation device 40 mainly comprises a storage unit 41, a control unit 42, a communication unit 43, an input unit 44, and an output unit 45.

[0040] The communication unit 43 is a component that enables communication with other equipment, devices, and systems (for example, the three-dimensional measuring instrument 20, the operation management system for the shield tunneling machine 1, etc.). The communication unit 43 is composed of a network interface, etc.

[0041] The input unit 44 is a component that enables the input of information. The input unit 44 consists of a keyboard equipped with various function keys, a pointing device equipped with various buttons (for example, a mouse or touchpad), and the like.

[0042] The output unit 45 is a component that realizes the output of the result. The output unit 45 is composed of a display, a speaker, etc.

[0043] The memory unit 41 is a component that stores information necessary for calculating tail clearance and roundness. The memory unit 41 is, for example, a storage medium such as RAM (Random Access Memory), ROM (Read Only Memory), HDD (Hard Disk Drive), SSD (Solid State Drive), or flash memory.

[0044] The memory unit 41 stores, for example, the thickness of the segment ring 10 (thickness of segment 9), the position information of the target 60, and an offset file. The offset file is information for converting coordinate values ​​in one coordinate system to coordinate values ​​in a different coordinate system. The offset file may be, for example, the displacement in the x, y, z axis directions and the rotation (pitching, rolling, yawing) around the x, y, z axis of the origin of other coordinate systems (second coordinate system, third coordinate system, etc.) with respect to a reference coordinate system (first coordinate system). Note that a device other than the construction evaluation device 40 may have the offset file, and the construction evaluation device 40 may acquire the converted coordinates.

[0045] By using an offset file, the position of an object can be appropriately transformed to, for example, the coordinate system of the three-dimensional measuring instrument 20, the machine coordinate system, the tunnel coordinate system, or the absolute coordinate system. The coordinate system of the three-dimensional measuring instrument 20 is a coordinate system with the three-dimensional measuring instrument 20 as the origin. The machine coordinate system is a coordinate system whose origin is any point on the rear section 4 of the shield tunneling machine 1. The tunnel coordinate system is a local coordinate system where the x-axis represents the direction of travel, the y-axis represents the horizontal direction, and the z-axis represents the vertical direction. The absolute coordinate system (plane rectangular coordinate system) is a coordinate system developed for surveying within Japan and is the coordinate system adopted for public surveying in Japan.

[0046] The control unit 42 is a component that calculates and evaluates tail clearance and roundness through arithmetic processing. The control unit 42 is composed of, for example, a CPU (Central Processing Unit) and its peripheral devices, reads various processing programs, loads them into RAM, and performs various processing in cooperation with those programs. Through program execution processing, the control unit 42 realizes functions such as the measurement result processing unit 42a, the tail clearance calculation unit 42b, and the roundness calculation unit 42c. Here, only an overview of each function is described; the details of each function will be described later.

[0047] The measurement result processing unit 42a is a function that processes the measurement results of the three-dimensional measuring instrument 20. The measurement result processing unit 42a combines the measurement results (in this case, point cloud data) of multiple three-dimensional measuring instruments 20 into one. For example, the measurement result processing unit 42a combines the point cloud data acquired by six three-dimensional measuring instruments 20 based on the positional relationship of each three-dimensional measuring instrument 20. The measurement result processing unit 42a also combines point cloud data measured at different times based on the target 60B. In this embodiment, the measurement result processing unit 42a combines the first point cloud data acquired before assembling the segment ring 10 and the second point cloud data acquired after assembling the segment ring 10, using the target 60B as a reference. The measurement result processing unit 42a may also perform processing of the measurement results (for example, deleting unnecessary point clouds or supplementing necessary point clouds) to facilitate processing by other functions.

[0048] The tail clearance calculation unit 42b uses point cloud data acquired by the three-dimensional measuring instrument 20 to calculate the tail clearance, which is the distance between the outer ring surface 10b of the segment ring 10 (see Figure 1) and the inner circumferential surface 2a of the skin plate 2. In this embodiment, the calculation of the tail clearance at the ring joint surface 10c (see Figure 1) and the tail end clearance at the tail end portion 2c of the skin plate 2 (see Figure 1) will be explained. The circumferential position for calculating the tail clearance is not particularly limited, and in this embodiment, as shown in Figure 8(a), the calculation of the tail clearance at the vertical position corresponding to the vertical direction and the horizontal position corresponding to the horizontal direction will be explained. Figure 8 is an example of the tail clearance measurement position, where (a) shows the case when no rolling occurs in the shield tunneling machine 1, and (b) shows the case when rolling occurs in the shield tunneling machine 1.

[0049] As shown in Figure 8(b), the three-dimensional measuring instrument 20 rotates as the shield tunneling machine 1 rolls, but its relative position to the shield tunneling machine 1 does not change, so the calculation position for the tail clearance also rotates (see the white star mark in Figure 8(b)). For this reason, an inclinometer 19 (see Figure 8) is installed on the rear drum 4 of the shield tunneling machine 1 to measure the amount of rolling (angle) and convert it into a measured value for the tail clearance at the original calculation position (see the hatched star mark in Figure 8(b)). For example, the tail clearance calculation unit 42b obtains the rolling angle from the inclinometer 19 installed on the shield tunneling machine 1 and rotates the measurement position in the circumferential direction based on the rolling angle. In the case of shield tunneling machines that do not have a folding mechanism, it is also possible to obtain and apply the measured value of the standard-equipped inclinometer via the tunneling management system.

[0050] The roundness calculation unit 42c shown in Figure 7 calculates the roundness of the skin plate 2 and the segment ring 10. For example, the roundness calculation unit 42c determines the roundness of the skin plate 2 based on the position of the inner surface 2a of the skin plate 2 in the point cloud data. The roundness calculation unit 42c also determines the roundness of the segment ring 10 based on the position of the inner edge portion 10d in the point cloud data.

[0051] (Method for calculating tail clearance according to the first embodiment) Next, with reference to Figures 9 and 10, the specific process for calculating the tail clearance will be explained. In this embodiment, two types will be described: one in which target 60A is used and one in which target 60A is not used.

[0052] (If no target is used) Referring to Figure 9, the tail clearance calculation method according to the first embodiment, "without using a target," will be described. Figure 9 is a diagram illustrating the tail clearance calculation method according to the first embodiment, where (a) shows the state before assembling the segment ring 10, and (b) shows the state after assembling the segment ring 10. As shown in Figure 9(a), the three-dimensional measuring instrument 20 acquires first point cloud data in the state before assembling the segment ring 10. The first point cloud data includes position information of the inner circumferential surface 2a of the skin plate 2 of the shield tunneling machine 1 (in particular, the location 2d corresponding to the ring joint surface 10c of the segment ring 10 to be assembled next), and position information of the target 60B.

[0053] Furthermore, as shown in Figure 9(b), the three-dimensional measuring instrument 20 acquires second point cloud data in the assembled state of the segment ring 10. The second point cloud data includes positional information of objects near the ring joint surface 10c of the segment ring 10 (in particular, the inner ridge portion 10d formed by the ring joint surface 10c and the inner circumferential surface 10a of the ring), and positional information of the target 60B. Note that in Figure 9(b), point cloud data of the inner circumferential surface 2a of the skin plate 2 at location 2d, which corresponds to the ring joint surface 10c that could be measured in Figure 9(a), cannot be acquired because it is obstructed by the assembled segment ring 10.

[0054] The measurement result processing unit 42a combines the first point cloud data acquired before assembling the segment ring 10 and the second point cloud data acquired after assembling the segment ring 10, using the target 60B as a reference. As a result, the combined point cloud data includes position information of the inner circumferential surface 2a of the skin plate 2 at location 2d corresponding to the ring joint surface 10c, and position information of the inner ridge portion 10d of the ring joint surface 10c. The tail clearance calculation unit 42b then calculates the tail clearance m1 at the ring joint surface 10c based on the position of the inner ridge portion 10d, the position of the inner circumferential surface 2a of the skin plate 2 at location 2d, and the pre-registered thickness h2 of the segment ring 10 in the combined point cloud data (see Figure 9(b)). The tail clearance calculation unit 42b calculates the distance from the outer ridge portion 10e to location 2d (tail clearance m1) by subtracting the thickness h2 of the segment ring 10 from the distance h1 from the inner ridge portion 10d to location 2d.

[0055] (When using targets) Referring to Figure 10, the tail clearance calculation method according to the first embodiment, "when using target 60A," will be described. Figure 10 is a diagram illustrating the tail clearance calculation method according to the first embodiment, where (a) shows the state before assembling the segment ring 10, and (b) shows the state after assembling the segment ring 10 and with the spreader 7c of the shield jack 7 in contact with the segment ring 10. The method using target 60A described in Figure 10 is effective when the position of the inner ridge portion 10d described in Figure 9(b) cannot be accurately measured.

[0056] As shown in Figure 10(a), the three-dimensional measuring instrument 20 acquires first point cloud data in the state before the segment ring 10 is assembled. The first point cloud data includes position information of the inner circumferential surface 2a of the skin plate 2 of the shield tunneling machine 1 (in particular, location 2d corresponding to the ring joint surface 10c of the segment ring 10 to be assembled next), and position information of the target 60B.

[0057] Furthermore, as shown in Figure 10(b), the three-dimensional measuring instrument 20 acquires second point cloud data in the assembled state of the segment ring 10. The second point cloud data includes the position information of target 60A and target 60B attached to the inside of the spreader 7c. Note that in Figure 10(b), point cloud data of the inner circumferential surface 2a of the skin plate 2 at location 2d, which corresponds to the ring joint surface 10c that could be measured in Figure 10(a), cannot be acquired because it is obstructed by the assembled segment ring 10.

[0058] Figure 11 shows an example of point cloud data (second point cloud data) when the spreader 7c with target 60A attached is pressed against the segment ring 10. In Figure 11, the reflectance intensity is shown as contrast, with stronger reflectances approaching white and weaker reflectances approaching black. As shown in Figure 11, target 60A is measured continuously in the circumferential direction near the ring joint surface 10c. Target 60B is measured near the rear work deck 11.

[0059] The measurement result processing unit 42a combines the first point cloud data acquired before the segment ring 10 is assembled and the second point cloud data acquired after the segment ring 10 is assembled, using the target 60B as a reference. As a result, the combined point cloud data includes position information of the inner circumferential surface 2a of the skin plate 2 at location 2d corresponding to the ring joint surface 10c, and position information of the target 60A attached to the spreader 7c. The tail clearance calculation unit 42b has information indicating the positional relationship between the target 60A and the inner ridge portion 10d when the spreader 7c is in contact with the segment ring 10. The tail clearance calculation unit 42b determines the position of the inner ridge portion 10d based on the target 60A in the combined point cloud data.

[0060] The tail clearance calculation unit 42b then calculates the tail clearance m1 at the ring joint surface 10c based on the position of the inner ridge portion 10d, the position of the inner circumferential surface 2a of the skin plate 2 at location 2d, and the pre-registered thickness h2 of the segment ring 10 (see Figure 10(b)). The tail clearance calculation unit 42b then calculates the distance from the outer ridge portion 10e to location 2d (tail clearance m1) by subtracting the thickness h2 of the segment ring 10 from the distance h1 from the inner ridge portion 10d to location 2d.

[0061] The tail clearance calculation unit 42b may also contain information indicating the positional relationship between the target 60A and the ring joint surface 10c when the spreader 7c is in contact with the segment ring 10. In that case, as shown in Figure 12, the target 60A is attached to the inner surface of three or more spreaders 7c. Figure 12 is a diagram illustrating variations of the tail clearance calculation method according to the first embodiment.

[0062] The tail clearance calculation unit 42b determines a first plane k2 including the spreader 7c based on three or more targets 60A in the synthesized point cloud data. Next, the tail clearance calculation unit 42b determines a second plane k1 including the ring joint surface 10c by moving the first plane k2 toward the tunnel entrance by a predetermined amount. Next, the tail clearance calculation unit 42b determines the position of the inner ridge portion 10d (see Figure 10(b)) and the position of the inner circumferential surface 2a of the skin plate 2 at location 2d, using the second plane k1 as a reference. Then, the tail clearance calculation unit 42b calculates the tail clearance m1 at the ring joint surface 10c based on the position of the inner ridge portion 10d, the position of the inner circumferential surface 2a of the skin plate 2 at location 2d, and the pre-registered thickness h2 of the segment ring 10 (see Figure 10(b)).

[0063] (Method for calculating tail end clearance) Next, the process for calculating the tail end clearance will be explained with reference to Figure 12. The tail clearance calculation unit 42b extends the inner circumferential surface 2a of the skin plate 2, which was obtained when calculating the tail clearance at the ring joint surface 10c, in the direction of the tunnel entrance to determine the inner circumferential surface 2a of the skin plate 2 at the tail end portion 2c. Subsequently, the tail clearance calculation unit 42b determines the position and direction of the segment ring 10 several segments ahead, based on the direction of the segment ring 10 and the assembly history of the segment 9, which were obtained when calculating the tail clearance at the ring joint surface 10c.

[0064] For example, the tail clearance calculation unit 42b estimates the position of the inner circumferential surface 2a of the skin plate 2 at the tail end portion 2c based on the shape of the skin plate 2 in the point cloud data, and also estimates the position of the outer ring surface 10b at the tail end portion 2c based on the longitudinal and transverse gradients and segment arrangement information in the design, using the position of the inner ridge portion 10d as a reference, and calculates the tail end clearance m2 at the tail end portion 2c based on the estimated positions of the inner circumferential surface 2a of the skin plate 2 and the outer ring surface 10b.

[0065] <Shield tunnel construction evaluation method according to the first embodiment> Referring to Figure 13 (and Figures 1 to 12 as appropriate), the shield tunnel construction evaluation method according to the first embodiment will be described. Figure 13 is an example of a flowchart showing the shield tunnel construction evaluation method according to the first embodiment.

[0066] (S11 is a signal receiving step indicating completion of excavation or assembly, and S12 is a received signal determination step) The construction evaluation device 40 monitors for the completion of excavation and the completion of assembly of the segment ring 10, and receives a signal when excavation and assembly are completed. The construction evaluation device 40 determines whether the received signal is for excavation completion or assembly completion.

[0067] (Pre-assembly measurement process S13) When the signal indicating completion of excavation is received, the three-dimensional measuring instrument 20 performs measurements and acquires the first point cloud data of the inner circumferential surface 2a of the skin plate 2 (see Figures 9(a) and 10(a)). This process can be performed before assembling the segment ring 10. When the pre-assembly measurement process S13 is completed, the process returns to the signal reception process S11, and the construction evaluation device 40 waits until it receives the signal indicating completion of assembly.

[0068] (Measurement process after assembly S14) Next, upon receiving a signal indicating completion of assembly, the three-dimensional measuring instrument 20 performs measurements and acquires second-order point cloud data near the ring joint surface 10c (see Figures 9(b) and 10(b)). This process only needs to be performed before excavation begins. When using target 60A (see Figure 10(b)), the three-dimensional measuring instrument 20 performs measurements after the segment ring 10 has been assembled and with the spreader 7c of the shield jack 7 in contact with the assembled segment ring 10. For example, the three-dimensional measuring instrument 20 performs measurements immediately before excavation begins, or by bringing the shield jack 7 into contact with the segment ring 10 for measurement purposes.

[0069] (Point cloud data synthesis process S15) Next, the measurement result processing unit 42a performs a synthesis process to combine the first point cloud data measured before assembling the segment ring 10 and the second point cloud data measured after assembling the segment ring 10. The measurement result processing unit 42a synthesizes the point cloud data based on the target 60B.

[0070] (Tail clearance calculation process S16) Next, the tail clearance calculation unit 42b calculates the tail clearance at the ring joint surface 10c using the synthesized point cloud data. The tail clearance calculation unit 42b also calculates the tail end clearance at the tail end portion 2c using the synthesized point cloud data.

[0071] (Roundness calculation process S17) Next, the roundness calculation unit 42c calculates the roundness of the skin plate 2 and segment ring 10 using the synthesized point cloud data. The timing for calculating tail clearance and roundness is not particularly limited. It may be calculated each time a segment 9 (equivalent to one ring) is assembled, or it may be calculated at intervals of several rings. Alternatively, several rings may be calculated together at a later date.

[0072] As described above, in the shield tunnel construction evaluation system 90 according to the first embodiment, the inner circumferential surface 2a of the skin plate 2 is measured. Therefore, it is possible to take into account the effect of deformation of the skin plate 2, and the tail clearance can be calculated accurately even when the skin plate 2 is deformed.

[0073] Furthermore, in the shield tunnel construction evaluation system 90 according to the first embodiment, by using target 60A, the inner ridge portion 10d can be estimated based on its positional relationship with target 60A, which is easier to identify, rather than directly identifying the inner ridge portion 10d from point cloud data. As a result, the tail clearance can be calculated with greater accuracy.

[0074] [Second Embodiment] In the first embodiment, measurements are taken at two points in time: before assembly and after assembly, to obtain two point cloud data sets (first point cloud data and second point cloud data). Then, the two point cloud data sets are combined using target 60B, and the tail clearance and roundness are calculated using the combined point cloud data. In the second embodiment, measurements are not taken before assembly of the segment ring 10, but only after assembly.

[0075] In the second embodiment, the target 60B, which is a reference for combining point cloud data measured at different times, is not required. Also, the process for calculating the tail clearance differs from that of the first embodiment. The following will focus on explaining the differences from the first embodiment.

[0076] Referring to Figure 14, the configuration of the construction evaluation device 140 according to the second embodiment will be described. Figure 14 is a schematic diagram of the construction evaluation device 140 according to the second embodiment. The construction evaluation device 140 mainly comprises a storage unit 41, a control unit 142, a communication unit 43, an input unit 44, and an output unit 45.

[0077] The control unit 142 is a component that calculates and evaluates tail clearance and roundness through arithmetic processing. The control unit 142 is composed of, for example, a CPU (Central Processing Unit) and its peripheral devices, reads various processing programs, loads them into RAM, and performs various processing in cooperation with those programs. Through program execution processing, the control unit 142 realizes functions such as the measurement result processing unit 142a, the tail clearance calculation unit 142b, and the roundness calculation unit 142c.

[0078] (Method for calculating tail clearance according to the second embodiment) Next, with reference to Figures 15 and 16, the specific process for calculating the tail clearance will be described. In this embodiment, two types will be described: one in which target 60A is used and one in which target 60A is not used.

[0079] (If no target is used) Referring to Figure 15, the tail clearance calculation method according to the second embodiment, "when target 60A is not used," will be explained. Figure 15 is a diagram illustrating the tail clearance calculation method according to the second embodiment, and shows the state after the segment ring 10 has been assembled.

[0080] As shown in Figure 15, the three-dimensional measuring instrument 20 acquires point cloud data in the assembled state of the segment ring 10. The point cloud data includes positional information of objects near the ring joint surface 10c of the segment ring 10 (particularly the inner ridge portion 10d), and positional information of the inner circumferential surface 2a of the skin plate 2 in the face-side range beyond the ring joint surface 10c.

[0081] The tail clearance calculation unit 142b estimates the position of the inner circumferential surface 2a of the skin plate 2 at location 2d, which corresponds to the ring joint surface 10c, based on the position (or shape) of the inner circumferential surface 2a of the skin plate 2 at multiple locations 2e in the face-side range. Then, the tail clearance calculation unit 142b calculates the tail clearance m1 at the ring joint surface 10c based on the position of the inner ridge portion 10d in the point cloud data, the position of the inner circumferential surface 2a of the skin plate 2 at location 2d, and the pre-registered thickness h2 of the segment ring 10 (see Figure 15). For example, the tail clearance calculation unit 142b obtains the distance from the outer ridge portion 10e to location 2d (tail clearance m1) by subtracting the thickness h2 of the segment ring 10 from the distance h1 from the inner ridge portion 10d to location 2d.

[0082] (When using targets) Referring to Figure 16, the tail clearance calculation method according to the second embodiment, "when using target 60A," will be described. Figure 16 is a diagram illustrating the tail clearance calculation method according to the second embodiment, and shows the state after the segment ring 10 has been assembled and the spreader 7c of the shield jack 7 is in contact with the segment ring 10.

[0083] As shown in Figure 16, the three-dimensional measuring instrument 20 acquires point cloud data in the assembled state of the segment ring 10. The point cloud data includes positional information of the target 60A attached to the inside of the spreader 7c, and positional information of the inner circumferential surface 2a of the skin plate 2 in the face-side range beyond the ring joint surface 10c.

[0084] The tail clearance calculation unit 142b estimates the position of the inner circumferential surface 2a of the skin plate 2 at location 2d corresponding to the ring joint surface 10c, based on the position (or shape) of the inner circumferential surface 2a of the skin plate 2 at multiple locations 2e in the face-side range. The tail clearance calculation unit 142b also has information indicating the positional relationship between the target 60A and the inner ridge portion 10d when the spreader 7c is in contact with the segment ring 10. The tail clearance calculation unit 142b determines the position of the inner ridge portion 10d based on the target 60A in the point cloud data.

[0085] The tail clearance calculation unit 142b then calculates the tail clearance m1 at the ring joint surface 10c based on the position of the inner ridge portion 10d, the position of the inner circumferential surface 2a of the skin plate 2 at location 2d, and the pre-registered thickness h2 of the segment ring 10 (see Figure 16). The tail clearance calculation unit 142b obtains the distance from the outer ridge portion 10e to location 2d (tail clearance m1) by subtracting the thickness h2 of the segment ring 10 from the distance h1 from the inner ridge portion 10d to location 2d. The tail clearance calculation unit 142b may also have information indicating the positional relationship between the target 60A and the ring joint surface 10c when the spreader 7c is in contact with the segment ring 10.

[0086] <Shield tunnel construction evaluation method according to the second embodiment> Referring to Figure 17 (and Figures 14 to 16 as appropriate), the shield tunnel construction evaluation method according to the second embodiment will be described. Figure 17 is an example of a flowchart showing the shield tunnel construction evaluation method according to the second embodiment.

[0087] (Assembly completion signal reception process S21) The construction evaluation device 140 monitors the completion of the assembly of the segment ring 10 and receives a signal when the assembly is complete.

[0088] (Measurement process S22) When the assembly completion signal is received, the three-dimensional measuring instrument 20 performs measurements and acquires point cloud data including positional information of objects near the ring joint surface 10c and positional information of the inner circumferential surface 2a of the skin plate 2 in the face-side range beyond the ring joint surface 10c (see Figures 15 and 16). This process can be performed before excavation begins. When using target 60A (see Figure 16), the three-dimensional measuring instrument 20 performs measurements after the segment ring 10 has been assembled and with the spreader 7c of the shield jack 7 in contact with the assembled segment ring 10. For example, the three-dimensional measuring instrument 20 performs measurements immediately before excavation begins, or by bringing the shield jack 7 into contact with the segment ring 10 for measurement purposes.

[0089] (Unmeasured range estimation process S23) Next, the tail clearance calculation unit 142b estimates the position of the inner circumferential surface 2a of the skin plate 2 at location 2d corresponding to the ring joint surface 10c, based on the position (or shape) of the inner circumferential surface 2a of the skin plate 2 at multiple locations 2e in the face-side range.

[0090] (Tail clearance calculation process S24) Next, the tail clearance calculation unit 142b calculates the tail clearance at the ring joint surface 10c using point cloud data. The tail clearance calculation unit 142b also calculates the tail end clearance at the tail end portion 2c using point cloud data.

[0091] (Roundness calculation process S25) Next, the roundness calculation unit 142c calculates the roundness of the skin plate 2 and segment ring 10 using the point cloud data. The timing for calculating tail clearance and roundness is not particularly limited. It may be calculated each time a segment 9 (equivalent to one ring) is assembled, or it may be calculated at intervals of several rings. Alternatively, several rings may be calculated together at a later date.

[0092] As described above, the second embodiment can achieve the same effects as the first embodiment. In other words, since the inner circumferential surface 2a of the skin plate 2 is measured, it is possible to take into account the effect of deformation of the skin plate 2, and the tail clearance can be calculated accurately even when the skin plate 2 is deformed.

[0093] Although embodiments of the present invention have been described above, the present invention is not limited thereto and can be implemented without changing the spirit of the claims. <Note> The claims of this application as of the time of filing are as follows: [Claim 1] A shield tunnel construction evaluation system for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A three-dimensional measuring instrument installed inside the aforementioned shield tunneling machine, The system includes a construction evaluation device that evaluates the construction status of a shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned three-dimensional measuring instrument is It is possible to acquire first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine before assembling the segment ring, and to acquire second point cloud data of the vicinity of the ring joint surface of the segment ring after assembling the segment ring. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation device, Using the first and second point cloud data, the tail clearance at the ring joint surface is calculated based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring, the position of the inner circumferential surface of the skin plate, and the pre-registered thickness of the segment ring. A shield tunnel construction evaluation system characterized by the following features. [Claim 2] A shield tunnel construction evaluation system for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A three-dimensional measuring instrument installed inside the aforementioned shield tunneling machine, The system includes a construction evaluation device that evaluates the construction status of a shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned three-dimensional measuring instrument is Point cloud data can be acquired from the inner circumferential surface of the skin plate of the shield tunneling machine in the face-side range of the segment ring on the face side, and from the vicinity of the ring joint surface. The aforementioned point cloud data is a set of three-dimensional coordinate values, The aforementioned construction evaluation device, Based on multiple positions in the face-side range in the point cloud data, the position of the inner surface of the skin plate at the location corresponding to the ring joint surface is estimated, and the tail clearance at the ring joint surface is calculated based on the position of the inner ridge formed by the ring joint surface and the inner surface of the ring, the position of the inner surface of the skin plate at the location corresponding to the ring joint surface, and the thickness of the segment ring which has been registered in advance. A shield tunnel construction evaluation system characterized by the following features. [Claim 3] One or more shield jack spreaders have a first target attached to their inner surface. The three-dimensional measuring instrument acquires point cloud data near the ring joint surface while the spreader is in contact with the segment ring. The construction evaluation device has information in advance indicating the positional relationship between the first target and the inner ridge portion when the spreader is in contact with the segment ring, and determines the position of the inner ridge portion based on the first target in the point cloud data. A shield tunnel construction evaluation system according to claim 1 or 2, characterized by the features described above. [Claim 4] The inner surface of the spreader of three or more shield jacks is fitted with a first target. The three-dimensional measuring instrument acquires point cloud data near the ring joint surface while the spreader is in contact with the segment ring. The construction evaluation device has information in advance indicating the positional relationship between the first target and the ring joint surface when the spreader is in contact with the segment ring, and determines a first plane including the spreader based on three or more first targets in the point cloud data, determines a second plane including the ring joint surface by moving the first plane toward the tunnel entrance by a predetermined amount, and determines the position of the inner ridge and the position of the inner circumferential surface of the skin plate based on the second plane. A shield tunnel construction evaluation system according to claim 1 or 2, characterized by the features described above. [Claim 5] The shield tunneling machine further comprises a second target attached to its fixed point, The first point cloud data and the second point cloud data include the second target, The construction evaluation device synthesizes the first point cloud data and the second point cloud data with respect to the second target. The shield tunnel construction evaluation system according to feature 1. [Claim 6] The construction evaluation device obtains the rolling angle from an inclinometer installed on the shield tunneling machine, and calculates the tail clearance by rotating and correcting the measurement position in the circumferential direction based on the rolling angle. A shield tunnel construction evaluation system according to claim 1 or 2, characterized by the features described above. [Claim 7] The construction evaluation device estimates the position of the inner surface of the skin plate at the tail end based on the shape of the skin plate in the point cloud data, and estimates the position of the outer surface of the ring at the tail end based on the longitudinal and transverse gradients and segment arrangement information in the design, using the position of the inner ridge as a reference, and calculates the tail end clearance at the tail end based on the estimated positions of the inner surface of the skin plate and the outer surface of the ring. A shield tunnel construction evaluation system according to claim 1 or 2, characterized by the features described above. [Claim 8] The construction evaluation device determines the roundness of the segment ring based on the position of the inner ridge in the point cloud data. A shield tunnel construction evaluation system according to claim 1 or 2, characterized by the features described above. [Claim 9] A shield tunnel construction evaluation method for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A measurement process using a three-dimensional measuring instrument installed inside the shield tunneling machine, The system includes a construction evaluation process that evaluates the construction status of the shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned measurement process is: A pre-assembly measurement step in which first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine is acquired before the segment ring is assembled, The process includes a post-assembly measurement step in which a second point cloud data is acquired near the ring joint surface of the segment ring after it has been assembled. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation process is, A point cloud data synthesis step for combining the first point cloud data and the second point cloud data, The system includes a tail clearance calculation step which calculates the tail clearance at the ring joint surface based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring in the synthesized point cloud data, the position of the inner circumferential surface of the skin plate, and the thickness of the segment ring which has been registered in advance. A shield tunnel construction evaluation method characterized by the following features. [Claim 10] A shield tunnel construction evaluation method for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A measurement process using a three-dimensional measuring instrument installed inside the shield tunneling machine, The system includes a construction evaluation process that evaluates the construction status of the shield tunnel based on the measurement results of the three-dimensional measuring instrument, In the aforementioned measurement process, Point cloud data is acquired of the inner circumferential surface of the skin plate of the shield tunneling machine and the area near the ring joint surface in the face-side range of the segment ring, which is closer to the tunnel face than the ring joint surface. The aforementioned point cloud data is a set of three-dimensional coordinate values, The aforementioned construction evaluation process is, An unmeasured range estimation step, which estimates the position of the inner circumferential surface of the skin plate at a location corresponding to the ring joint surface based on multiple positions in the face-side range in the point cloud data, The system includes a tail clearance calculation step which calculates the tail clearance at the ring joint surface based on the position of the inner ridge line formed by the ring joint surface and the inner circumferential surface of the ring, the position of the inner circumferential surface of the skin plate at a location corresponding to the ring joint surface, and the thickness of the segment ring which has been registered in advance. A shield tunnel construction evaluation method characterized by the following features. Furthermore, the main effects of the invention claimed in the filing of this application are as follows: In the inventions described in claims 1 and 2 at the time of filing, the inner circumferential surface of the skin plate is measured. Therefore, it is possible to take into account the effect of deformation of the skin plate, and the tail clearance can be calculated accurately even when the distance from the three-dimensional measuring instrument to the skin plate changes. In the inventions described in claims 3 and 4 at the time of filing, the inner ridge portion formed by the ring joint surface and the inner circumferential surface of the segment ring can be estimated based on its positional relationship with a first target, which is easier to identify, rather than directly identifying the inner ridge portion from point cloud data. Therefore, the tail clearance can be calculated with greater accuracy. In the invention described in claim 5 at the time of filing, the first point cloud data and the second point cloud data can be combined with high accuracy. In the invention described in claim 6 at the time of filing, even if rolling occurs, it is possible to determine the tail clearance at an appropriate position. In the invention described in claim 7 at the time of filing, the tail end clearance can be determined. In the invention described in claim 8 at the time of filing, the roundness of the segment ring can be determined. In the inventions described in claims 9 and 10 of the application, the inner circumferential surface of the skin plate is measured. Therefore, it is possible to take into account the effect of deformation of the skin plate, and the tail clearance can be calculated accurately even when the distance from the three-dimensional measuring instrument to the skin plate changes. [Explanation of Symbols]

[0094] 1. Shield tunneling machine 2 Skin Plates 2a Inner surface 2c Tail end section 3 Front Torso 4. Rear hull 5. Folding jack 6 cutter heads 7 Shield Jack 7a Cylinder 7b rod 7c Spreader 8 Erecta 9 segments 10-segment ring 10a Inner surface of the ring 10b Ring outer surface 10c ring joint surface 10d Inner ridge section 10e Outer ridge line 11. Rear work deck 12 Screw conveyor 19 Inclinometer 20 Three-dimensional measuring instruments 30 Joint Box 40,140 Construction evaluation device 41 Storage section 42,142 Control Unit 42a,142a Measurement result processing unit 42b, 142b Tail clearance calculation unit 42c, 142c Roundness calculation unit 43 Communications Department 44 Input section 45 Output section 60 targets 60A Target (Target 1) 60B Target (Second Target) 61 Mark 90 Shield Tunnel Construction Evaluation System

Claims

1. A shield tunnel construction evaluation system for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A three-dimensional measuring instrument installed inside the aforementioned shield tunneling machine, The system includes a construction evaluation device that evaluates the construction status of a shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned three-dimensional measuring instrument is It is possible to acquire first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine before assembling the segment ring, and to acquire second point cloud data of the vicinity of the ring joint surface of the segment ring after assembling the segment ring. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation device, Using the first and second point cloud data, the tail clearance at the ring joint surface is calculated based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring, the position of the inner circumferential surface of the skin plate, and the pre-registered thickness of the segment ring. One or more shield jack spreaders have a first target attached to their inner surface. The three-dimensional measuring instrument acquires the second point cloud data near the ring joint surface while the spreader is in contact with the segment ring. The construction evaluation device has information in advance indicating the positional relationship between the first target and the inner ridge portion when the spreader is in contact with the segment ring, and determines the position of the inner ridge portion based on the first target in the second point cloud data. A shield tunnel construction evaluation system characterized by the following features.

2. A shield tunnel construction evaluation system for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A three-dimensional measuring instrument installed inside the aforementioned shield tunneling machine, The system includes a construction evaluation device that evaluates the construction status of a shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned three-dimensional measuring instrument is It is possible to acquire first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine before assembling the segment ring, and to acquire second point cloud data of the vicinity of the ring joint surface of the segment ring after assembling the segment ring. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation device, Using the first and second point cloud data, the tail clearance at the ring joint surface is calculated based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring, the position of the inner circumferential surface of the skin plate, and the pre-registered thickness of the segment ring. The inner surface of the spreader of three or more shield jacks is fitted with a first target. The three-dimensional measuring instrument acquires the second point cloud data near the ring joint surface while the spreader is in contact with the segment ring. The construction evaluation device has information in advance indicating the positional relationship between the first target and the ring joint surface when the spreader is in contact with the segment ring, and determines a first plane including the spreader based on three or more first targets in the second point cloud data, determines a second plane including the ring joint surface by moving the first plane toward the tunnel entrance by a predetermined amount, and determines the position of the inner ridge and the position of the inner circumferential surface of the skin plate based on the second plane. A shield tunnel construction evaluation system characterized by the following features.

3. A shield tunnel construction evaluation system for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A three-dimensional measuring instrument installed inside the aforementioned shield tunneling machine, The system includes a construction evaluation device that evaluates the construction status of a shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned three-dimensional measuring instrument is It is possible to acquire first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine before assembling the segment ring, and to acquire second point cloud data of the vicinity of the ring joint surface of the segment ring after assembling the segment ring. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation device, Using the first and second point cloud data, the tail clearance at the ring joint surface is calculated based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring, the position of the inner circumferential surface of the skin plate, and the pre-registered thickness of the segment ring. The shield tunneling machine is equipped with a second target attached to its fixed point, The first point cloud data and the second point cloud data include the second target, The construction evaluation device synthesizes the first point cloud data and the second point cloud data with respect to the second target. A shield tunnel construction evaluation system characterized by the following features.

4. A shield tunnel construction evaluation system for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A three-dimensional measuring instrument installed inside the aforementioned shield tunneling machine, The system includes a construction evaluation device that evaluates the construction status of a shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned three-dimensional measuring instrument is It is possible to acquire first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine before assembling the segment ring, and to acquire second point cloud data of the vicinity of the ring joint surface of the segment ring after assembling the segment ring. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation device, Using the first and second point cloud data, the tail clearance at the ring joint surface is calculated based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring, the position of the inner circumferential surface of the skin plate, and the pre-registered thickness of the segment ring. The construction evaluation device obtains the rolling angle from an inclinometer installed on the shield tunneling machine, and calculates the tail clearance by rotating and correcting the measurement position in the circumferential direction based on the rolling angle. A shield tunnel construction evaluation system characterized by the following features.

5. A shield tunnel construction evaluation system for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A three-dimensional measuring instrument installed inside the aforementioned shield tunneling machine, The system includes a construction evaluation device that evaluates the construction status of a shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned three-dimensional measuring instrument is It is possible to acquire first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine before assembling the segment ring, and to acquire second point cloud data of the vicinity of the ring joint surface of the segment ring after assembling the segment ring. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation device, Using the first and second point cloud data, the tail clearance at the ring joint surface is calculated based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring, the position of the inner circumferential surface of the skin plate, and the pre-registered thickness of the segment ring. Based on the shape of the skin plate in the first point cloud data, the position of the inner surface of the skin plate at the tail end is estimated, and based on the position of the inner ridge, the position of the outer surface of the ring at the tail end is estimated based on the longitudinal and transverse gradients and segment arrangement information in the design, and the tail end clearance at the tail end is calculated based on the estimated positions of the inner surface of the skin plate and the outer surface of the ring. A shield tunnel construction evaluation system characterized by the following features.

6. The construction evaluation device determines the roundness of the segment ring based on the position of the inner ridge in the second point cloud data. A shield tunnel construction evaluation system according to any one of claims 1 to 5, characterized by the features described herein.

7. A shield tunnel construction evaluation method for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A measurement process using a three-dimensional measuring instrument installed inside the shield tunneling machine, The system includes a construction evaluation process that evaluates the construction status of the shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned measurement process is: A pre-assembly measurement step in which first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine is acquired before the segment ring is assembled, The process includes a post-assembly measurement step in which a second point cloud data is acquired near the ring joint surface of the segment ring after it has been assembled. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation process is, A point cloud data synthesis step for combining the first point cloud data and the second point cloud data, The system includes a tail clearance calculation step which calculates the tail clearance at the ring joint surface based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring in the synthesized point cloud data, the position of the inner circumferential surface of the skin plate, and the thickness of the segment ring which has been registered in advance. One or more shield jack spreaders have a first target attached to their inner surface. The system has prior information indicating the positional relationship between the first target and the inner ridge when the spreader is in contact with the segment ring. In the post-assembly measurement step, the second point cloud data near the ring joint surface is acquired while the spreader is in contact with the segment ring. In the tail clearance calculation step, the position of the inner ridge is determined based on the first target in the synthesized point cloud data. A shield tunnel construction evaluation method characterized by the following:

8. A shield tunnel construction evaluation method for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A measurement process using a three-dimensional measuring instrument installed inside the shield tunneling machine, The system includes a construction evaluation process that evaluates the construction status of the shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned measurement process is: A pre-assembly measurement step in which first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine is acquired before the segment ring is assembled, The process includes a post-assembly measurement step in which a second point cloud data is acquired near the ring joint surface of the segment ring after it has been assembled. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation process is, A point cloud data synthesis step for combining the first point cloud data and the second point cloud data, The system includes a tail clearance calculation step which calculates the tail clearance at the ring joint surface based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring in the synthesized point cloud data, the position of the inner circumferential surface of the skin plate, and the thickness of the segment ring which has been registered in advance. The inner surface of the spreader of three or more shield jacks is fitted with a first target. The system has prior information indicating the positional relationship between the first target and the ring joint surface when the spreader is in contact with the segment ring. In the post-assembly measurement step, the second point cloud data near the ring joint surface is acquired while the spreader is in contact with the segment ring. In the tail clearance calculation step, a first plane including the spreader is determined based on three or more first targets in the synthesized point cloud data, a second plane including the ring joint surface is determined by moving the first plane toward the tunnel entrance by a predetermined amount, and the position of the inner ridge and the position of the inner circumferential surface of the skin plate are determined based on the second plane. A shield tunnel construction evaluation method characterized by the following:

9. A shield tunnel construction evaluation method for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A measurement process using a three-dimensional measuring instrument installed inside the shield tunneling machine, The system includes a construction evaluation process that evaluates the construction status of the shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned measurement process is: A pre-assembly measurement step in which first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine is acquired before the segment ring is assembled, The process includes a post-assembly measurement step in which a second point cloud data is acquired near the ring joint surface of the segment ring after it has been assembled. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation process is, A point cloud data synthesis step for combining the first point cloud data and the second point cloud data, The system includes a tail clearance calculation step which calculates the tail clearance at the ring joint surface based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring in the synthesized point cloud data, the position of the inner circumferential surface of the skin plate, and the thickness of the segment ring which has been registered in advance. The shield tunneling machine is equipped with a second target attached to its fixed point, The first point cloud data and the second point cloud data include the second target, In the point cloud data synthesis process, the first point cloud data and the second point cloud data are synthesized with respect to the second target. A shield tunnel construction evaluation method characterized by the following:

10. A shield tunnel construction evaluation method for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A measurement process using a three-dimensional measuring instrument installed inside the shield tunneling machine, The system includes a construction evaluation process that evaluates the construction status of the shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned measurement process is: A pre-assembly measurement step in which first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine is acquired before the segment ring is assembled, The process includes a post-assembly measurement step in which a second point cloud data is acquired near the ring joint surface of the segment ring after it has been assembled. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation process is, A point cloud data synthesis step for combining the first point cloud data and the second point cloud data, The system includes a tail clearance calculation step which calculates the tail clearance at the ring joint surface based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring in the synthesized point cloud data, the position of the inner circumferential surface of the skin plate, and the thickness of the segment ring which has been registered in advance. In the tail clearance calculation step, the rolling angle is obtained from an inclinometer installed on the shield tunneling machine, and the tail clearance is calculated by rotating the measurement position in the circumferential direction based on the rolling angle. A shield tunnel construction evaluation method characterized by the following:

11. A shield tunnel construction evaluation method for evaluating the construction status of a shield tunneling machine in shield tunnel construction, A measurement process using a three-dimensional measuring instrument installed inside the shield tunneling machine, The system includes a construction evaluation process that evaluates the construction status of the shield tunnel based on the measurement results of the three-dimensional measuring instrument, The aforementioned measurement process is: A pre-assembly measurement step in which first point cloud data of the inner circumferential surface of the skin plate of the shield tunneling machine is acquired before the segment ring is assembled, The process includes a post-assembly measurement step in which a second point cloud data is acquired near the ring joint surface of the segment ring after it has been assembled. The first point cloud data and the second point cloud data are sets of three-dimensional coordinate values, The aforementioned construction evaluation process is, A point cloud data synthesis step for combining the first point cloud data and the second point cloud data, The system includes a tail clearance calculation step which calculates the tail clearance at the ring joint surface based on the position of the inner ridge formed by the ring joint surface and the inner circumferential surface of the ring in the synthesized point cloud data, the position of the inner circumferential surface of the skin plate, and the thickness of the segment ring which has been registered in advance. In the tail clearance calculation step, the position of the inner circumferential surface of the skin plate at the tail end is estimated based on the shape of the skin plate in the synthesized point cloud data, and the position of the outer circumferential surface of the ring at the tail end is estimated based on the position of the inner ridge line and the longitudinal and transverse gradients and segment arrangement information in the design, and the tail end clearance at the tail end is calculated based on the estimated positions of the inner circumferential surface of the skin plate and the outer circumferential surface of the ring. A shield tunnel construction evaluation method characterized by the following:

12. The construction evaluation step includes a roundness calculation step that determines the roundness of the segment ring based on the position of the inner ridge in the point cloud data after synthesis. A shield tunnel construction evaluation method according to any one of claims 7 to 11, characterized by the present invention.

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