Device and method for the automated picking up and laying of a segment to form a lining of a tunnel

A device for automated picking up and laying of a segment forming a lining of a tunnel, configured to be coupled to a tunnel-boring machine provided with a segment erector, said erector comprising actuators equipped with position sensors, the device comprising:

• a controller configured to communicate with an automated system of the tunnel-boring machine adapted to control actuation of the erector, and to receive measurement data from the erector sensors,
• a three-dimensional vision system comprising at least four laser profilometers, configured to be attached to the erector so as to (i) determine a deviation in position and in inclination between the erector and a segment to be gripped and (ii) acquire a set of data analyzing the deviations in the position and inclination of a segment to be laid which is held by the erector relative to at least one segment and/or one ring of segments previously laid, said three-dimensional vision system being coupled to the controller to transmit said measurement data thereto,
• the controller being configured to receive a segment laying plan and, thanks to a computer planner adapted to process said analysis data of the three-dimensional vision system, the measurement data of the erector sensors and said laying plan, to determine a path of the erector in order to place said segment to be laid opposite said segment and/or ring of segments previously laid, and to communicate movement orders to the automated system of the tunnel-boring machine in order to actuate the erector to pick up the segment to be laid and displace it according to said path.