JP3220255B2 - Method and apparatus for detecting position of shield machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for detecting the position of a shield machine in three dimensions.

[0002]

2. Description of the Related Art Conventionally, when detecting the position of a shield machine, three fixed points are provided on the rear end face of the shield machine, and reflecting mirrors are attached to each fixed point. , The position of the shield machine is detected. However, in order to perform surveying, it is necessary for a person to collimate a reflecting mirror provided at each fixed point, and there is a problem that a great deal of labor is required.

Further, in the invention of Japanese Patent Application Laid-Open No. 3-175315 relating to a continuous position detecting device of a shield excavator, a laser beam is irradiated to a light receiving plate provided at a fixed point at the rear of the excavator, and the distance and angle of the laser beam are radiated. , The position of the shield excavator is detected, but also in this case, only the fixed point of the light receiving panel can be detected, and there is a problem that the orientation of the shield excavator as a whole cannot be known.

[0004]

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above-mentioned conventional problems, and has a simple facility and automatically detects the position and orientation of a shield machine. It is an object of the present invention to provide a method and an apparatus for detecting the position of a shield machine which can be performed.

[0005]

In order to achieve the above object, a method of detecting the position of a shield machine according to the present invention determines the installation coordinates of an automatic tracking type distance measuring goniometer by collimating a known point. In addition, the light receiving mirror that rotates on a plane parallel to the rear end face of the shield machine is rotated, and the position coordinates of the light receiving mirror are continuously adjusted while tracking the light receiving mirror with the automatic tracking type rangefinder. It is characterized in that three-dimensional coordinates of the rotating surface of the light receiving mirror are calculated from the measured position coordinates.

[0006] Further, as a detection device to which the above-described detection method can be applied, a light receiving mirror rotating on a plane parallel to the rear end face is provided on the rear end face of the shield machine, and the light receiving mirror is automatically turned on. It is configured by arranging an automatic tracking distance measuring and angle measuring instrument capable of continuously measuring the position coordinates while tracking the position and obtaining its own installation coordinates.

[0007]

[Operation] According to the above method and apparatus, the light receiving mirror that continuously measures the position coordinates while tracking by the automatic tracking distance measuring goniometer rotates on a plane parallel to the rear end face of the shield machine. So, by continuously detecting the coordinates on the surface,
The three-dimensional coordinates can be calculated, and not only the position of the shield machine but also the inclination and its direction can be determined.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an apparatus for detecting the position of a shield machine by applying the method of the present invention will be described below with reference to the drawings. First, FIG. 1 is a perspective view of a shield machine and a segment connected to the shield machine shown in a partially cutaway view of the apparatus, and the shield machine 1 excavates and excavates in the direction of arrow F with a cutter (not shown). A plurality of segments 2 are incorporated in the portion that has been set.

In view of this, a rotary light receiving mirror 3 that rotates on a plane parallel to the rear end face as shown by an arrow R is provided on the rear end face of the shield machine 1. Next, an automatic tracking distance measuring and measuring device 4 is disposed at a position where the light receiving mirror 3 in the existing segment 2 can be seen. The distance to 3,
This is an apparatus for automatically measuring horizontal and vertical angles, and a commercially available apparatus can be used.

As described above, after the rotation type light receiving mirror 3 and the automatic tracking type distance measuring and measuring instrument 4 are provided, the automatic tracking type distance measuring and measuring instrument 4 collimates the known point 5 and the automatic First, the installation coordinates of the tracking type rangefinder 4 are first determined. Next, the light receiving mirror 3 is rotated in the R direction, and the light receiving mirror 3 is automatically tracked by the automatic tracking type distance measuring goniometer 4 as shown in the schematic explanatory view of FIG. The position coordinates of the mirror 3 are measured continuously.

Further, three-dimensional coordinates X, Y, and Z of the rotating surface of the light receiving mirror 3 as shown in FIG. 3 are calculated from the position coordinates of the light receiving mirror 3 obtained by the surveying measurement in FIG. Can be obtained by approximate calculation.

[0012]

According to the method and apparatus for detecting the position of the shield machine described above, the three-dimensional coordinates of the plane parallel to the rear end face of the shield machine can be obtained. The position and the orientation can be detected three-dimensionally and automatically. As a result, there is an effect that labor can be saved, the efficiency of the excavation work is improved, and the excavation work can be performed with high accuracy. Further, the present invention has an advantage that a great effect can be obtained with a simple facility in which a commercially available rotary light receiving mirror and an automatic tracking type distance measuring goniometer are already provided.

[Brief description of the drawings]

FIG. 1 is a perspective view of a shield excavator and a segment of a device for performing position detection of a shield excavator by applying the method of the present invention, which is shown by a partial cutaway.

FIG. 2 is a schematic explanatory view in which a light receiving mirror in FIG. 1 is rotated and tracking is performed by an automatic tracking type distance measuring goniometer.

3 is an explanatory diagram for calculating three-dimensional coordinates of a rotation surface of the light receiving mirror from the position coordinates of the light receiving mirror obtained in FIG. 2;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Shield excavator 3 Light receiving mirror 4 Automatic tracking type distance measuring goniometer 5 Known point X, Y, Z Three-dimensional coordinates

Continuation of front page (56) References JP-A-57-104810 (JP, A) JP-A-59-147203 (JP, A) JP-A-62-293115 (JP, A) JP-A-2-12085 (JP, A) JP-A-2-145910 (JP, A) JP-A-2-210213 (JP, A) JP-A-3-175315 (JP, A) JP-A-3-257321 (JP, A) 4-127014 (JP, A) JP-A-5-288548 (JP, A) JP-A-6-11344 (JP, A) JP-A-61-110110 (JP, A) JP-A-55-71752 (JP, A) U) Actually open sho 59-179318 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 7/06 E21D 9/06 G01C 15/00

Claims (2)

(57) [Claims] 1. The installation coordinates of an automatic tracking distance measuring goniometer are obtained by collimating a known point, and a light receiving mirror rotating on a plane parallel to a rear end surface of the shield machine is rotated. A shield excavator that continuously measures the position coordinates of the light receiving mirror while tracking the light receiving mirror with the automatic tracking type distance measuring goniometer, and calculates the three-dimensional coordinates of the rotating surface of the light receiving mirror from the obtained position coordinates. Position detection method. 2. A light receiving mirror which rotates on a plane parallel to the rear end face is provided on a rear end face of the shield machine.
A position detection device for a shield machine equipped with an automatic tracking distance measuring and angle measuring device capable of continuously measuring the position coordinates while automatically tracking the light receiving mirror and obtaining its own installation coordinates.