• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a device for the automatic gripping and laying of a voussoir forming the coating of a tunnel, intended to be coupled to a tunneling machine (1) provided with a segmental erector (2), comprising: - a controller configured to communicate with a tunneling machine adapted to control actuation of the erector, - a three-dimensional vision system comprising at least four laser profilometers, the controller being configured to receive a plan of laying segments and for, from of said analysis data of the three-dimensional vision system, measurement data of the erector sensors and said laying plane, determining a trajectory of the erector for setting up said voussoir (V) to be placed opposite said voussoir and or ring (A) of voussoirs already posed, and communicate movement orders to the automaton tunneler to operate the erector to take the voussoir to ask and move it according to said tra jectory.
    公开号:FR3057014A1
    申请号:FR1659588
    申请日:2016-10-04
    公开日:2018-04-06
    发明作者:Lucas MOUTON；Nicolas DEMUYNCK
    申请人:Bouygues Travaux Publics SAS；
    IPC主号:
    专利说明:

    FIELD OF THE INVENTION
    The present invention relates to a device for the automated picking up and laying of a segment intended to be coupled to a tunnel boring machine provided with a segment erector, as well as a method of automated segmentation and placement of segments using such a device. device.
    BACKGROUND OF THE INVENTION
    The lining of a tunnel generally consists of prefabricated segments arranged in the form of a plurality of successive rings.
    As the TBM advances, a new ring is built by successively assembling a plurality of segments against a previously installed ring.
    The front face of each new ring (i.e. the face facing the cutting head of the TBM) serves as a bearing surface for thrust jacks located behind the shield of the TBM (this is i.e. on the side opposite to the cutting head) and intended to exert the thrust necessary for digging the excavated ground.
    The installation of the segments is carried out by an erector, that is to say a machine allowing the gripping of a segment from a store arranged at the rear of the shield of the tunnel boring machine, then its displacement towards its place planned for form the ring. The erector is a component of the TBM shield, located at the rear of the TBM.
    At present, the erector is generally controlled by an operator located in the immediate vicinity of the latter, in the area in which the segments are installed.
    However, this control by an operator has several drawbacks.
    On the one hand, the presence of one or more operators in the segment of installation of the segments presents a risk for their safety.
    On the other hand, the exposure time of each segment is high, in particular because one or more operators control the position of a segment placed in relation to the segments already laid, and that any position adjustments are made. empirically by the said operator (s). This task is also particularly painful since it requires multiple trips to the operator.
    It would therefore be desirable to be able to automate the installation of segments in order, on the one hand, to avoid the presence of operators in the installation zone and, on the other hand, to improve the quality and the installation time of the segments.
    The erector being a large capacity hydraulic machine with a large reach, with large arrows in operation, its positioning is imprecise and repeatable. These faults are accentuated by the significant wear and the significant increase in operating clearances over the operating life of the TBM.
    Document FR 2 745 327 describes a device making it possible to assist an operator during the installation of segments in a tunnel. This device implements a measurement sensor designed to measure the position of a reference point on a side face of a segment previously laid and of a reference point on a side face of the segment to be laid, these two points of reference to be placed opposite each other. This device also includes a computer configured to determine, from the analysis of the deviations of these two reference points, the trajectory of the erector to bring the segment to be posed to the desired position relative to the segment already posed .
    First, the operator controls the erector to bring it approximately to a position close to that of the segment already laid. The measurement sensor is positioned so that the segment to be placed and the segment already placed are in its field of vision. The analysis of the deviations from the reference points is then carried out and transmitted to the computer.
    The calculator then calculates the displacement of the erector necessary to bring the segment to land in its final position. In this phase, the erector is automatically controlled according to the displacement defined by the computer, without operator intervention.
    However, this device does not fully automate the installation of the segment, the approximate installation remaining carried out by an operator. In addition, this device does not make it possible to control the quality of installation of the segment (this one having to be considered according to different degrees of freedom). In addition, the measurement sensor is specific to the erector so that it can track it.
    Document CN104747213 describes a device for the automated installation of segments. This device includes two three-dimensional cameras intended to acquire images of a face of the segment to be laid and of the face of a segment already laid intended to be placed in contact with each other during the laying of the segment. This device also includes a calculator for analyzing said images to determine an offset between said segments.
    Initially, the segment to be laid is brought into an approximate position relative to a segment already laid.
    Secondly, the cameras acquire images of the faces of the segments intended to be placed opposite one another.
    These images are transmitted to the computer which processes them to deduce an offset between the two segments defined on the one hand by the distance between the facing faces of the two segments and the distance between the front faces of the two segments. If this offset is less than a determined threshold, the segment is considered to be correctly positioned and the installation process of said segment ends. If this offset exceeds said threshold, the computer determines the movements of the erector necessary to improve the positioning accuracy of the segment, and the erector is automatically controlled to perform said movements. This procedure can optionally be iterated until the offset between the two segments is less than the determined threshold.
    However, the processing time of such images is relatively long, which penalizes the exposure time of each segment. In addition, this device does not take into account any angular offset of the segment to be laid with respect to the segment already laid.
    The document JPH08-296400 describes an erector allowing the automated installation of segments comprising a vision sensor made up of two cameras, one of which has a field of vision larger than that of the other.
    Initially, the segment to be laid is brought into an approximate position relative to a segment already laid.
    A laser projector projects a light line on the faces intended to be in contact with the segment already laid and the segment to be laid. The cameras acquire images of said light line. These images are transmitted to the computer which processes them to deduce an offset between the two segments, this offset being defined in position (distances in three directions) and in inclination (angles in three directions). The calculator determines the movements of the erector necessary to align the two segments, and the erector is automatically controlled to perform these movements.
    However, the erector described in this document was designed specifically and the automation which it provides is therefore not adaptable to an existing erector of a tunnel boring machine on the market.
    Finally, none of the above-mentioned documents mention the installation of the first segment or that of the key (last segment allowing the ring to be closed in the case of a universal ring), which has a greater complexity of installation.
    BRIEF DESCRIPTION OF THE INVENTION
    An object of the invention is to design a device for the automated laying of a segment which makes it possible to increase operator safety and productivity by minimizing the intervention of an operator, by minimizing the laying time of each segment. and improving the laying precision. This device must allow the installation of a complete ring, including the first and the last segment constituting the ring, whether it is a universal ring or not. Furthermore, said device must be compatible with an erector of a tunnel boring machine on the market. Finally, said device must be compact and easy to install.
    According to the invention, there is provided a device for the automated picking up and laying of a segment forming the lining of a tunnel, intended to be coupled to a tunnel boring machine provided with a segmented erector, said erector comprising actuators equipped with position sensors, characterized in that it comprises:
    - a controller configured to communicate with a tunnel boring machine adapted to control the actuation of the erector, and to receive measurement data from the erector's sensors,
    - a three-dimensional vision system comprising at least four laser profilometers, intended to be fixed to the erector so as to (i) determine a difference in position and inclination between the erector and a segment to be grasped and (ii) acquire the '' all the data for analyzing the deviations in the position and the inclination of a segment to be laid held by the erector with respect to at least one segment and / or a ring of segments already laid, said three-dimensional vision system being coupled to the controller for transmitting said measurement data to it, the controller being configured to receive a segmentation plan and, thanks to a computer planner adapted to process said analysis data from the three-dimensional vision system, the measurement data sensors of the erector and said laying plane, determining a trajectory of the erector to set up said segment to be laid opposite said segment and / or segment ring already installed, and communicate movement orders to the machine tool operator to activate the erector to pick up the segment to be placed and move it along said trajectory.
    Advantageously, the device further comprises a man-machine interface coupled to the controller.
    According to one embodiment, the controller is configured to send to the tunnel boring machine automaton movement orders of at least one push cylinder of the tunnel boring machine, to release a zone for laying the segment to be laid and to secure said segment once in place.
    According to an advantageous embodiment, the controller is configured to recognize, from the measurement data, a segment to be placed.
    Another object of the invention is a tunnel boring machine incorporating a segment erector and a device as described above.
    Another object relates to a process of automated taking and laying of a segment to form the lining of a tunnel, by a tunnel boring machine provided with a segment erector and an automaton adapted to control the actuation of the erector. , characterized in that it comprises:
    - the supply of a device as described above,
    - the implementation of the three-dimensional vision system on the erector,
    - establishing communication between the controller of said device and the tunnel boring machine controller,
    - the reception, by the controller, of a layout plan of segments and measurement data from the erector's sensors,
    - the communication, by the controller to the tunnel boring machine controller, of an order to grasp the segment to be laid by the erector,
    - the gripping of a segment to be posed by the erector,
    - bringing said segment into a laying area defined by the controller,
    - the acquisition, by the three-dimensional vision system, of data analyzing the deviations of the position and the inclination of the segment to be laid with respect to at least one segment and / or a ring of segments already laid,
    the processing of said measurement data by the controller for, from said measurement data of the three-dimensional vision system, measurement data from the erector's sensors and from said laying plane, determining a trajectory of the erector to set places said segment to be placed opposite said segment and / or ring of segments already laid,
    - the communication, by the controller, of movement orders from the erector to the tunnel boring machine,
    - actuation of the erector by the automaton according to said movement orders, to set up the segment,
    - the communication to the PLC, by the controller, of movement orders for at least one TBM thrust cylinder,
    - Securing said segment by said thrust cylinder against an already installed ring.
    According to one embodiment, said method further comprises, before gripping the segment to be laid, the recognition of said segment by the controller from data supplied by the three-dimensional vision system.
    According to one embodiment, after securing the segment, the controller sends to the tunnel boring machine controller a release command for gripping the segment.
    In a particularly advantageous manner, said method allows the automated laying of a complete ring of segments, said method being implemented for all the segments constituting said ring.
    According to one embodiment, the method further comprises, after the installation of a complete ring of segments, the measurement, by the three-dimensional vision system, of at least one geometric characteristic of said ring, comprising the angle of roll, the flatness of the front face, the centering of the ring in the skirt of the TBM and / or the ovalization of the ring.
    According to a preferred embodiment, as a function of said measurement of said geometric characteristic of the ring, the controller adjusts the laying plane of the segments of the following ring.
    BRIEF DESCRIPTION OF THE DRAWINGS
    Other characteristics and advantages of the invention will emerge from the detailed description which follows, with reference to the attached drawings in which:
    FIG. 1 is an overall view of the rear part of a tunnel bumper, FIG. 2 illustrates an erector carrying a segment facing a segment ring already laid, FIG. 3 is a block diagram of the operation of the device automated laying according to the invention and its interface with a tunneling machine, Figure 4 is a block diagram of the three-dimensional vision system.
    DETAILED DESCRIPTION OF THE INVENTION
    FIG. 1 is an overall view in partial section of the rear part of a tunnel bumper for which the invention is capable of being implemented, it being specified that the invention is not limited in terms of type of TBM (earth pressure, mud pressure TBM, etc.).
    In a manner known in itself, the tunnel boring machine 1 comprises, in its front part, a rotary cutting head 10 and provided with cutting tools, intended for felling the ground.
    The cutting head 10 is attached to the front of a shield 11 which protects and seals the excavation work.
    At the rear of the cutting head 10 is a slaughter chamber 12 into which the cuttings from the cutting front are transferred.
    The cuttings can be extracted from the slaughter chamber by means of an extraction screw 13, at the outlet of which they are deposited on a conveyor in order to be evacuated. Depending on the type of TBM, the extraction means can vary and are not limited to the screw shown.
    In its rear part, the shield 11 has a skirt 14 under which are the segments V forming the lining of the tunnel.
    The tunnel boring machine 1 is provided with thrust jacks 15 which bear on the front face F of the last ring A of segments installed, said jacks 15 being intended to exert on the cutting head 10 a thrust force forwards during the slaughter phase.
    To set up the segments V, a segment erector 2 is arranged in the shield, sheltered from the skirt 14.
    The erector 2 is supplied with segments from outside the tunneling machine by a conveying system (not shown).
    As can best be seen in FIG. 2, the segment erector 2 comprises a gripping device 20 having a shape substantially complementary to the interior of the segments V. Preferably, the gripping is carried out by vacuum (suction cup effect generated by suction), so that no special tool or manipulation is necessary to hold the segments on the erector. Alternatively (not shown), the erector can be provided with gripping members capable of passing through orifices made in the segments.
    The erector is provided with a certain number of actuators (in particular, jacks and motors) providing at least six degrees of freedom in rotation and in translation to the gripping device and allowing a large number of movements. More specifically, the erector comprises a rotor and jacks arranged between the rotor and the gripping device.
    The erector can operate at a relatively high speed, in an approach phase (rough positioning) of the segment with respect to the intended laying area, and at a relatively slow speed in a precise positioning phase.
    For the implementation of the invention, the actuators of the erector are instrumented by any type of sensor (for example, sensors for elongation of the jacks, encoders in rotation of the motors, etc.) so that it is possible at any time to know the position of the gripping device relative to a reference position, according to each degree of freedom. As indicated above, the position information provided by these sensors is only theoretical insofar as they do not take account of arrows, operating clearances, etc. different components of the erector, which can be important. It is therefore not possible to rely solely on this information to precisely position a segment. The invention overcomes this drawback by equipping the erector with a three-dimensional vision system which assists gripping and then the precise positioning of the segments.
    A tunnel boring machine allows the actuation of the erector to be controlled by controlling the various actuators to move the gripping device along a determined path. In a conventional TBM, this trajectory is defined by an operator. Thanks to the invention, said trajectory is determined by a controller and a planner which will be described in detail below. However, an operating mode in which an operator controls the PLC remains available if necessary.
    It should be noted that apart from the fact that the actuators of the erector are previously instrumented, the installation of the three-dimensional vision system on the erector and an adaptation of the automaton to accept an interface with the aforementioned controller, l he invention does not require modification of the erector or other elements of the TBM. In other words, the invention applies to any tunnel boring machine and any existing segment erector.
    The three-dimensional vision system includes at least four laser profilometers. Each profilometer includes a laser capable of projecting a laser line towards an object (in the case in point, a segment to be laid and at least part of the laying area, in particular a segment already laid and / or a ring of segments already posed) and a device for acquiring the profile of the object. The lines of the different profilometers are projected so as to determine sections of the segment and its environment distant from each other in order to deduce therefrom the position of the segment in space.
    More specifically, the four profilometers are used simultaneously when gripping a new segment, as well as for installing the last segment of a ring. The two profilometers oriented towards the ring A already installed, make it possible to determine a deviation in position and orientation of the segment to be laid compared to the previous ring. One of the two profilometers oriented towards the ring during installation allows fine adjustment in position and orientation of the segment to be laid to form the ring.
    For this purpose, as illustrated in FIG. 4, two profilometers (whose laser line 210 is shown diagrammatically) are oriented towards the ring A made up of segments V, which is already laid, and two other profilometers (whose laser line 210 is also shown schematically) are oriented substantially perpendicular to the first two.
    The profilometers are chosen with an operating range adapted to the possible relative travel of the segment relative to its environment during the approach phase. On the other hand, the resolution of the profilometers is chosen according to the precision desired for the information collected - we typically choose a resolution of less than 1 mm. Finally, the profilometers are chosen with a very high acquisition frequency in order to allow the lowest possible processing time.
    Each profilometer provides local information, but all of the profilometers provide global information through a layer of software intelligence; and used by the controller, to interpret the combined measurements of the profilometers.
    According to one embodiment, the profilometers are integral with the rotor.
    FIG. 2 illustrates by way of example two profilometers 21 (only one is visible) arranged on the erector 2 at a distance from the gripping device 20. The laser lines emitted by each of the profilometers are shown diagrammatically according to the reference 210. A orthonormal coordinate system X, Y, Z has been represented. Conventionally, the X axis is the longitudinal axis of the tunnel, the Y axis extends in the direction of the width of the tunnel and the Z axis extends in the direction of the height of the tunnel. The roll angle is defined around the X axis, the pitch angle is defined around the Y axis, and the yaw angle is defined around the Z axis.
    Compared to three-dimensional vision cameras, laser profilometers have the advantage of requiring shorter processing to determine the position and tilt of an object.
    The device further comprises a processor configured to receive the measurement data from the three-dimensional vision system (typically, a profile of the segment and its environment in an X, Z plane) and to process this data so as to determine a deviation in position. and in inclination of the segment to be laid with respect to at least one segment and / or a ring of segments already laid.
    The device also comprises a controller configured to communicate with said processor and to receive a plan for laying the segments. Such a laying plan includes information relating to the type of segment to be laid, to a location provided for each segment and to a sequence of laying said segments.
    Advantageously, the device also includes a computer planner adapted to communicate with the controller (the planner can possibly be integrated into the controller) and configured to, from measurement data from the erector's sensors and, if necessary, analysis data of the three-dimensional vision system, determine a trajectory of the erector towards a final position defined by the plane of installation of the segments.
    The gripping and laying of a segment comprises four successive phases which use or not the three-dimensional vision system:
    - in a first phase (gripping of a new segment to be placed), the three-dimensional vision system is activated to determine a deviation in position and orientation of the erector relative to a segment to be taken;
    - in a second phase, called blind (ie not involving the three-dimensional vision system), the planner defines the trajectory of the erector towards an intermediate position determined from the laying plane, near the already placed ring ;
    - in a third phase, which implements the three-dimensional vision system, the segment is put in place at the location determined by the installation plan;
    - in a fourth, blind phase, the planner defines a return path from the voter to a new segment to take.
    In general, the installation plan is transmitted to the tunnel boring machine controller and validated by an operator using a man-machine interface. Alternatively, the installation plan can be transmitted to the controller via a man-machine interface of the device according to the invention. Said man-machine interface will be described in detail below.
    The controller is also configured to receive the position information provided by the different position sensors of the erector, either directly or through the tunnel boring machine controller.
    From the installation plan, analysis data of position and inclination deviations and position information from the erector, the controller implements a calculation algorithm (motion generator or planner) making it possible to determine a set of movements of the erector's gripping device in the space making it possible to bring the segment to be laid at the required location with optimal position and orientation precision, and transmits orders to the tunnel boring machine movement of the erector.
    Optionally, the positioning of the segment can be carried out iteratively, for example by successively adjusting the position of the segment according to the different degrees of freedom. At each step of the iteration, the three-dimensional vision system makes it possible to determine a new position and a new inclination of the segment to be laid in relation to its environment, and the controller determines a new set of movements to adjust its positioning.
    As an indication, the precision obtained with the invention is of the order of 1 mm, while piloting the erector by a remote control actuated by an operator provides precision at best of the order of 2 to 3 mm . However, the advantages provided by the invention are not limited to an increase in the accuracy as such but make it possible to optimize the speed - precision compromise of installation and to increase the repeatability and the reliability of the installation compared to piloting of the erector by an operator.
    The man-machine interface is designed to allow an operator, in general, to monitor and control the operation of the automated laying device. Thus, the man-machine interface makes it possible to launch a sequence of laying segments, to define the operating modes of the device (for example: fully automatic, semi-automatic, etc.), to collect operating information, to troubleshoot the device in alarm case.
    The man-machine interface is also configured to, if necessary (for example in the event of an incident), deactivate the automated laying device and allow an operator to control the erector directly by means of a remote control conventionally used in existing tunnel boring machines. For this purpose, the man-machine interface includes an emergency stop button.
    Figure 3 is a block diagram of the device and its interface with the TBM.
    The tunnel boring machine is shown diagrammatically by block 100.
    Block 101 represents the actuators of the segment erector.
    Block 102 represents the position sensors of the erector.
    The TBM notably includes an automaton 103 for actuating the erector. To this end, the machine 103 receives measurement data from the position sensors of the erector 102. The machine 103 controls the actuators 101 of the erector in order to reach a given position of the gripping device.
    The device according to the invention is shown diagrammatically by block 200.
    Block 201 represents the controller, block 202 represents the three-dimensional vision system and block 203 represents the human-machine interface.
    Furthermore, the controller 201 can transmit to the man-machine interface 203 a pose report with a view to editing and / or storing it.
    The controller 201 receives measurement data from the three-dimensional vision system 202 which is fixed to the erector. Via the tunnel boring machine 103, the controller 201 also receives the measurement data from the sensors 102 of the erector and deduces therefrom a theoretical position of the erector. Alternatively, to avoid latency due to the interrogation of the PLC, the controller can communicate directly with the sensors 102.
    From the installation plan, measurement data from the erector's sensors and data from analysis of the deviations of the three-dimensional vision system, the controller 201 determines a trajectory of the erector to set up a segment to be laid in gaze of a segment and / or a segment ring already placed, and communicates movement orders to the machine tool 103 of the tunnel boring machine to actuate the erector in order to take the segment to be laid and move it along said trajectory.
    In a particularly advantageous manner, the device also comprises a safety device (not shown), for example a light curtain which makes it possible to deactivate the device if an operator breaks into the work area of the erector.
    The operation of the device is as follows.
    An installation plan is sent to the controller.
    In a manner known in itself, a segment to be placed is placed near the erector.
    In a particularly advantageous manner, a recognition of said segment can be implemented by the device. Indeed, all the segments intended to form a ring are not necessarily identical, in particular on the universal ring, and in all cases on the last segment (key) and the adjacent segments (counter-keys) which generally have spoils more important than the other segments.
    To this end, the three-dimensional vision system is activated so as to acquire a three-dimensional profile of the segment. This profile is compared by the controller to a reference profile included in the installation plan.
    Alternatively, the recognition of the segment to be placed can be carried out by any other means available to those skilled in the art, such as a reader suitable for reading a bar code or a matrix code affixed to each segment. The code read is compared by the controller to a reference code included in the installation plan.
    If the controller detects that the segment presented is not the segment to be laid according to the installation plan, it issues an alert. A change of segment can then be made and the recognition procedure can resume with the replacement segment.
    If the controller detects that the segment presented is indeed the segment to be laid, he sends the tunnel operator's automation commands to move the erector to take the segment to be laid. The automaton then activates the actuators of the erector to place the gripping device opposite the segment and activates the gripping (for example by generating a vacuum providing a suction effect) to secure the segment to be placed on the gripping device. In the gripping phase, the three-dimensional vision system allows the correct positioning of the gripping device relative to the segment, the controller being able to determine the position and the inclination of the segment to be placed relative to the gripping device.
    It should be noted that, although advantageous, this recognition of the segment to ask is only optional. As a variant, it is possible to provide that the controller sends movement instructions from the erector to the tunnel boring machine automaton to enter the segment presented without having previously verified the conformity of said segment, this verification being carried out by an operator upstream of the supply chain from the segment to the erector.
    In order to free up the zone intended for the installation of the segment, the controller sends the tunnel boring machine an order of movement of the thrust cylinder (s) pressing in this zone against the last ring.
    Once the segment has been entered by the erector, the controller sends movement orders from the erector to the tunnel boring machine operator to bring the segment approximately to the intended location. For this, the controller uses the position information of the erector and the installation plan. In this coarse approach phase, a safety distance between the erector and the segment with respect to the environment of the final segment position is respected, so as not to risk a collision. As indicated above, this displacement phase implements the planner, the three-dimensional vision system not being used.
    Once this approximate position has been reached, the three-dimensional vision system is activated to acquire data for measuring the position and the inclination of the segment to be laid relative to its final environment, i.e. a ring already laid. and / or a segment already laid. These measurement data make it possible to precisely determine the difference between the segment and the benchmark that constitutes this final environment. This difference is characterized by distances in translation (for example along three axes X, Y, Z of an orthonormal coordinate system) and by angles in rotation (for example roll, pitch and yaw).
    From this difference, the controller determines a set of movements of the erector's gripping device in the space allowing the segment to be placed in the required location. This determination combines the erector position information and the three-dimensional vision system deviation analysis data.
    The controller therefore transmits to the tunnel boring machine operator movement orders from the erector.
    Once the segment is in place, the controller sends movement commands from a push cylinder to the tunnel boring machine to secure the segment.
    The controller then sends the tunneling machine an order to disconnect the segment from the gripper of the erector, for example an order to release the depression exerted if the segment is held on the gripping device by suction cup effect. It will be noted that the security of the gripping system is not affected by the device according to the invention, the latter remaining ensured by the tunnel boring machine controller which does not carry out the joining unless the security conditions are met.
    The erector is then brought back to a rest position before the installation of a new segment according to the procedure which has just been described. As indicated above, this displacement phase is controlled by the planner, without the assistance of the three-dimensional vision system.
    The controller can record data on the installation of each segment and optionally edit an installation report, which ensures the traceability of the construction of the tunnel.
    Advantageously, after the installation of a complete ring of segments, the automated laying device is able to measure, thanks to the three-dimensional vision system, at least one geometric characteristic of said ring. This geometric characteristic can in particular be:
    - the roll angle (in order to ensure that the support zones provided on the segments for the thrust cylinders are facing the tunnel boring cylinders),
    - the flatness of the front face of the ring (a defect in the flatness of the front face of the ring being likely to involve variations in the thrust forces of the jacks),
    - the centering of the ring in the skirt of the TBM (this information is useful on the one hand to know the position of the ring in space, which is necessary for guiding the TBM: the position of the shield being known in the guide system reference frame, the position of the ring relative to the shield skirt makes it possible to determine the position of the ring in the guide system reference frame; on the other hand to avoid any friction of the skirt on the rings )
    - and / or the ovalization of the ring.
    The control of these characteristics is useful insofar as it can influence the installation of the next ring and / or the operation of the TBM. So, for example, if you align the edges of the rings, any ovalization is likely to spread to the following rings. Similarly, a flatness defect on the front face of the ring is likely to affect the front face of the next ring.
    Advantageously, the characteristic (s) measured is (are) therefore taken into account by the controller to adjust the laying plane of the following ring and thus compensate for any possible laying faults of the 'ring that has just been installed.
    Furthermore, said characteristics can be recorded with the laying report to ensure the traceability of the construction of the tunnel.
    An advantage of the device which has just been described is that it makes it possible to lay precisely all of the segments constituting a ring, including the two segments, the pose of which presents a greater complexity, namely:
    - the first segment of a ring, taking into account the fact that there is not yet an adjacent segment, and
    - the last segment (or key), which must be inserted between two segments already laid.
    In the case of the first segment of a ring, as indicated above, the scanning of the laying area by the erector equipped with a profilometer makes it possible to determine via remarkable points and / or areas the roll angle of the first segment in relation to the last ring placed, and the controller can take this measurement into account to determine the trajectory for laying the segment.
    In the case of the last segment, the three-dimensional vision system allows the controller to determine the space available to mount the last segment, which, if it is too large or too low, can trigger operator intervention.
    The invention therefore makes it possible to successively lay several segments - even several consecutive rings - without any human intervention in the work area of the erector, which minimizes the risks run by the operators and the arduousness of their work.
    Furthermore, as already indicated above, the automated device makes the installation of the rings more reliable and contributes to the traceability of the construction of the tunnel by recording the laying plans actually made and the characteristics checked on the rings placed.
    REFERENCES
    FR 2 745 327
    CN104747213
    JPH08-296400
    权利要求:
    Claims (11)
    [1" id="c-fr-0001]
    1. Device for automatically picking up and laying a segment forming the lining of a tunnel, intended to be coupled to a tunnel boring machine (1) provided with a segmented erector (2), said erector comprising actuators equipped with position sensors, characterized in that it comprises:
    - a controller configured to communicate with a tunnel boring machine adapted to control the actuation of the erector, and to receive measurement data from the erector's sensors,
    - a three-dimensional vision system comprising at least four laser profilometers, intended to be fixed on the erector so as to (i) determine a difference in position and inclination between the erector and a segment to be grasped and (ii) acquire the '' all the data for analyzing the deviations in the position and the inclination of a segment to be laid held by the erector with respect to at least one segment and / or a ring of segments already laid, said three-dimensional vision system being coupled to the controller for transmitting said measurement data to it, the controller being configured to receive a segmentation plan and, thanks to a computer planner adapted to process said analysis data from the three-dimensional vision system, the measurement data sensors of the erector and said laying plane, determining a trajectory of the erector to set up said segment (V) to be placed opposite the said segment and / or ring (A) of segments already laid, and communicate orders of movement to the automaton of the TBM to actuate the erector to take the segment to be laid and move it along said trajectory.
    [2" id="c-fr-0002]
    2. Device according to claim 1, further comprising a man-machine interface coupled to the controller.
    [3" id="c-fr-0003]
    3. Device according to one of claims 1 to 2, in which the controller is configured to send to the automaton of the tunnel boring machine movement orders of at least one thrust cylinder of the tunnel boring machine, to release a zone for laying the segment. to lay and to secure said segment once in place.
    [4" id="c-fr-0004]
    4. Device according to one of claims 1 to 3, wherein the controller is configured to recognize, from the measurement data, a segment to be placed.
    [5" id="c-fr-0005]
    5. Tunneling machine comprising a segmented erector and a device according to one of claims 1 to 4.
    [6" id="c-fr-0006]
    6. Process for the automated taking and laying of a segment to form the lining of a tunnel, by a tunnel boring machine provided with a segment erector and an automaton adapted to control the actuation of the erector, characterized in what he understands:
    - the supply of a device according to one of claims 1 to 4,
    - the implementation of the three-dimensional vision system on the erector,
    - establishing communication between the controller of said device and the tunnel boring machine controller,
    - the reception, by the controller, of a layout plan of segments and measurement data from the erector's sensors,
    - the communication, by the controller to the tunnel boring machine controller, of an order to grasp the segment to be laid by the erector,
    - the gripping of a segment to be posed by the erector,
    - bringing said segment into a laying area defined by the controller,
    - the acquisition, by the three-dimensional vision system, of data analyzing the deviations of the position and the inclination of the segment to be laid with respect to at least one segment and / or a ring of segments already laid,
    the processing of said measurement data by the controller for, from said measurement data of the three-dimensional vision system, measurement data from the erector's sensors and from said laying plane, determining a trajectory of the erector to set places said segment to be placed opposite said segment and / or ring of segments already laid,
    - the communication, by the controller, of movement orders from the erector to the tunnel boring machine,
    - actuation of the erector by the automaton according to said movement orders, to set up the segment,
    - the communication to the PLC, by the controller, of movement orders for at least one TBM thrust cylinder,
    - Securing said segment by said thrust cylinder against an already installed ring.
    [7" id="c-fr-0007]
    7. The method of claim 6, further comprising, before gripping the segment to be laid, the recognition of said segment by the controller from the data provided by the three-dimensional vision system.
    [8" id="c-fr-0008]
    8. Method according to one of claims 6 to 7, in which, after securing the segment, the controller sends the machine operator's order to release the gripping of the segment.
    [9" id="c-fr-0009]
    9. Process for automated installation of a complete ring of segments, characterized in that the method according to one of claims 6 to 8 is implemented for all segments constituting said ring.
    [10" id="c-fr-0010]
    10. The method of claim 9, further comprising, after the establishment of a complete ring of segments, the measurement, by the three-dimensional vision system, of at least one geometric characteristic of said ring, comprising the angle of roll, the flatness of the front face, the centering of the ring in
    10 the skirt of the TBM and / or the ovalization of the ring.
    [11" id="c-fr-0011]
    11. The method of claim 10, wherein, as a function of said measurement of said geometric characteristic of the ring, the controller adjusts the laying plane of the segments of the following ring.
    1/3
    类似技术:
    公开号 | 公开日 | 专利标题
    EP3523504B1|2020-09-02|A device and method for the automated picking up and placing a segment for forming a tunnel lining
    EP2527257B1|2013-10-16|Method for boring a plurality of predetermined locations within a structure, and corresponding boring system.
    EP0016717B1|1983-05-11|Articulated supporting arm for the feed bar of a drilling apparatus
    EP2950235A1|2015-12-02|Method for projecting virtual data and device enabling said projection
    FR3056249A1|2018-03-23|AUTOMATED DEVICE FOR DRILLING A HOLE IN THE DOME AND WALLS OF A TUNNEL AND FOR PLACING AN ANCHORING ELEMENT IN SAID HOLE
    WO2017199693A1|2017-11-23|Tunnel boring machine
    EP3338944B1|2019-07-24|Machine-tool having a cantilevered tool mounting configuration
    JP2019157403A|2019-09-19|Tail clearance measuring device
    EP1151360B1|2003-05-21|Operating method using global positioning system
    WO2011067517A1|2011-06-09|Device for drilling a complex panel
    EP0791725A1|1997-08-27|Method and device for automatically placing tunnel lining segments
    WO2016110627A1|2016-07-14|Method for calibrating, by detection of light, the position of a light beam from a source moving with respect to the optical axis of a camera
    EP3710676A1|2020-09-23|Method for inspecting and/or guiding excavation operations
    FR3007154A1|2014-12-19|METHOD FOR CONTROLLING THE IMPACT ENERGY OF A STRIPPER PISTON OF A PERCUSSION APPARATUS
    EP3741507B1|2021-06-02|Method and device for controlling a part during manufacturing
    EP1861756B1|2010-12-15|Method for guiding a robot and corresponding device
    FR3066770B1|2019-07-26|PROCEDURE FOR ADJUSTING A GUIDE SYSTEM OF A RAIL WORKS MACHINE, METHOD AND SYSTEM FOR GUIDING THEM
    JP2020007773A|2020-01-16|Measurement control method of tail clearance measuring device
    EP0520909A1|1992-12-30|Tunnelling machine having a cutting head, the position of which can be controlled
    FR2543612A1|1984-10-05|Method and machine for digging an underground gallery with positioning of the machine
    EP2305422A1|2011-04-06|Method and device for machining an ophthalmic lens in order to insert said lens in a spectacle frame
    JP2000291394A|2000-10-17|Erector control device, tunnel boring machine, and lining member assembly method
    同族专利:
    公开号 | 公开日
    US10472962B2|2019-11-12|
    JP2019529762A|2019-10-17|
    CN109891052A|2019-06-14|
    AU2017339155A1|2019-05-23|
    WO2018065726A1|2018-04-12|
    US20190234214A1|2019-08-01|
    FR3057014B1|2018-11-09|
    EP3523504A1|2019-08-14|
    ES2833380T3|2021-06-15|
    DK3523504T3|2020-11-30|
    KR20190058564A|2019-05-29|
    EP3523504B1|2020-09-02|
    SG11201903006VA|2019-05-30|
    CN109891052B|2020-10-27|
    CA3039272A1|2018-04-12|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP0791725A1|1996-02-26|1997-08-27|Neyrpic Framatome Mecanique|Method and device for automatically placing tunnel lining segments|
    US20150308268A1|2013-01-09|2015-10-29|Hitachi Zosen Corporation|Segment roundness measuring device and segment roundness measuring method|CN110018163A|2019-04-09|2019-07-16|大连理工大学|Pipe sheet assembling measurement and control system and method based on machine vision|JPH08296400A|1995-04-26|1996-11-12|Hitachi Constr Mach Co Ltd|Assembling positioning device of segment and positioning method thereof|
    SG134969A1|2001-06-04|2007-09-28|Mitsubishi Heavy Ind Ltd|Tunnel excavating machine|
    CN201818317U|2010-09-21|2011-05-04|吉林大学|Duct piece intelligent assembling system of shield tunnelling machine|
    US9267792B2|2013-01-21|2016-02-23|Systèmes Pavemetrics Inc.|Method and apparatus for compensating lateral displacements and low speed variations in the measure of a longitudinal profile of a surface|
    CN203962001U|2013-12-26|2014-11-26|江苏凯宫隧道机械有限公司|A kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system|
    CN104747213B|2013-12-26|2018-05-01|江苏凯宫隧道机械有限公司|A kind of shield pipe sheet assembling machine six degree of freedom full-automatic control system|
    CN204532358U|2015-03-06|2015-08-05|中铁工程装备集团有限公司|A kind of open type TBM with section of jurisdiction installation function|CN110195599B|2019-06-10|2021-06-04|东北大学|Rigid anti-deflection rectangular jacking pipe connecting system and method thereof|
    CN110593885B|2019-10-10|2021-11-02|中国铁建重工集团股份有限公司|Tunneling equipment comprising segment erector|
    WO2021136837A1|2019-12-31|2021-07-08|Herrenknecht Ag|Method and device for the automated arrangement of tunnel lining segments|
    CN111485892B|2020-06-28|2020-10-09|中国铁建重工集团股份有限公司|Tube curtain machine pose measuring method and system|
    CN112253167A|2020-10-28|2021-01-22|中交天和机械设备制造有限公司|Tunnel segment assembling method, device and system and heading machine|
    法律状态:
    2017-10-06| PLFP| Fee payment|Year of fee payment: 2 |
    2018-04-06| PLSC| Search report ready|Effective date: 20180406 |
    2018-10-10| PLFP| Fee payment|Year of fee payment: 3 |
    2019-10-08| PLFP| Fee payment|Year of fee payment: 4 |
    2020-10-14| PLFP| Fee payment|Year of fee payment: 5 |
    2021-09-09| PLFP| Fee payment|Year of fee payment: 6 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1659588|2016-10-04|
    FR1659588A|FR3057014B1|2016-10-04|2016-10-04|DEVICE AND METHOD FOR AUTOMATICALLY TAKING AND PLACING A TISSUE TO FORM A COATING OF A TUNNEL|FR1659588A| FR3057014B1|2016-10-04|2016-10-04|DEVICE AND METHOD FOR AUTOMATICALLY TAKING AND PLACING A TISSUE TO FORM A COATING OF A TUNNEL|
    ES17786976T| ES2833380T3|2016-10-04|2017-10-03|Device and procedure for the automated collection and placement of a segment to form a tunnel lining|
    JP2019538736A| JP2019529762A|2016-10-04|2017-10-03|Apparatus and method for automated pick-up and laying of segments to form tunnel linings|
    CN201780061157.7A| CN109891052B|2016-10-04|2017-10-03|Apparatus and method for automatically picking up and laying segments to form tunnel linings|
    CA3039272A| CA3039272A1|2016-10-04|2017-10-03|A device and method for the automated picking up and placing a segment for forming a tunnel lining|
    PCT/FR2017/052719| WO2018065726A1|2016-10-04|2017-10-03|A device and method for the automated picking up and placing a segment for forming a tunnel lining|
    US16/338,981| US10472962B2|2016-10-04|2017-10-03|Device and method for the automated picking up and laying of a segment to form a lining of a tunnel|
    DK17786976.5T| DK3523504T3|2016-10-04|2017-10-03|Device of method for automatically collecting and laying a vault segment to form a liner of a tunnel|
    EP17786976.5A| EP3523504B1|2016-10-04|2017-10-03|A device and method for the automated picking up and placing a segment for forming a tunnel lining|
    KR1020197011723A| KR20190058564A|2016-10-04|2017-10-03|Automatic pickup and laying apparatus and method of segment forming tunnel lining|
    SG11201903006VA| SG11201903006VA|2016-10-04|2017-10-03|Device and method for the automated picking up and laying of a segment to form a lining of a tunnel|
    AU2017339155A| AU2017339155A1|2016-10-04|2017-10-03|Device and method for the automated picking up and laying of a segment to form a lining of a tunnel|
    [返回顶部]