METHOD AND DEVICE FOR THE AUTOMATED ARRANGEMENT OF TUNNEL LINING SEGMENTS

The invention relates to a device for the automated installation of at least one tunnel lining segment of a tunnel lining ring, said device being couplable to a tunnelling machine, * having a manipulator with at least one tool for receiving, holding and placing the at least one tunnel lining segment, and with at least one actuator for moving the at least one tool, the at least one tool being movable * by means of the at least one actuator in the radial, tangential and/or axial direction in relation to the machine axis of the tunnelling machine in the space of the tunnel section created by the tunnelling machine, * having at least one tool position sensor, which is provided on the manipulator and/or tool, for sensing the respective actual position and actual location of the tool in the space of the tunnel section, having at least one tunnel lining segment sensor, which is provided on the manipulator and/or tool, with which an actual position and/or actual location of at least one section of at least one already arranged tunnel lining segment can be sensed, and/or with which an actual position and/or actual location of the tunnel lining segment to be placed can be sensed, * having a controller, which accesses installation data of the tunnel lining segments and which accesses the measurement data of the at least one tool position sensor and the at least one tunnel lining segment sensor, and with which the at least one actuator and the at least one tool can be controlled on the basis of the installation data and measurement data in order to move the tool from the receiving position to the target placing position of the respective tunnel lining segment and to orient same in the actual placing position and to arrange same against the at least one already placed tunnel lining segment of the tunnel lining ring, wherein at least two tunnel lining segment sensors are provided, and wherein the tunnel lining segment sensor is a time-of-flight camera.