JP2000161958A - Measuring apparatus for position of underground boring machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a measuring apparatus for the position of an underground boring machine, by which an operation to shine light at a position detecting element is eliminated in measuring operation and in which mechanical measuring errors or a measuring error due to a vibration are hardly generated. SOLUTION: A measuring reference point, a second measuring reference point, one or more intermediate measuring points and a point to be measured are set sequentially. Light sources are installed in the measuring reference points. In addition, a measuring unit 300, which is provided with a common lens 411 used to condense beams of diffused light from a front light source 41 and a rear light source 42, which is provided with a position-detecting element 412-2 and a position-detecting element 412-1 used for detected the light-receiving position of light condensed by the lens, which is provided with a reflecting prism 413-1 and a reflecting prism 413-2 used to guide the light to the respective position detecting elements, after the beams of diffused light incident on the lens are condensed by the lens and which is provided with the light sources 41, 42 used to direct the beams of diffused light to the front and the rear by using the respective reflecting prisms is installed at every measuring point, after the second measuring reference point onward. On the basis of the position of the second measuring reference point which is measured in advance and of the detected result at every measuring point and of the distance between respective measuring units which are measured separately, the position of the point to be measured, with respect to the measuring reference points is measured.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underground excavator position measuring device used for measuring the excavation position of an underground excavator excavating a curved path.

[0002]

2. Description of the Related Art In order to excavate a curved underground pit with an underground excavator that excavates underground while excavating an underground pit, the underground excavator must be properly positioned along a planned route (a preset excavation route). In order to know if you are digging, you have to check the digging position. As this kind of underground excavator,
There are small-diameter pipe propulsion machines that bury small-diameter pipes that cannot be buried in the ground, semi-shield machines that bury large-diameter pipes that can be buried in the ground, and shield excavators.

In order to confirm the excavation position of an underground excavator, usually, a measurement base point and a measurement point are set at a starting point of the excavation of the underground excavator such as a starting shaft and at the inside of the underground excavator. At the same time, an intermediate measurement point is appropriately set on the excavation route at these intermediate positions according to the progress of excavation of the underground excavator. Then, as will be described in detail later, in addition to measuring each distance between these measurement points, sequentially measure the angle between two line segments respectively connecting the intermediate measurement point and the measurement points on both sides adjacent thereto, The excavation position of the underground excavator is calculated by calculation based on these measurement results. In order to measure the angle between two line segments having such a predetermined measurement point as the vertex, either the inner angle or the outer angle between the two line segments may be measured, and the angle relationship can be uniquely specified. If the value related to the angle can be measured, the purpose can be fulfilled. In this specification, such an angle-related value that can specify the angular relationship between two line segments is referred to as an argument.

In the measurement of the position of an underground excavator, a method of measuring such a declination by using a transit has been generally adopted. The method of measuring the declination by the transit is a method depending on human ability, and thus not only requires a skilled technician but also requires one surveying time. Furthermore, the surveying operation requires a great deal of labor and danger because the survey must be performed in a narrow mine. In response to this problem, a conventional method of measuring the excavation position of this type of underground excavator has been to adopt a method of optically measuring the declination with a laser beam instead of transit when measuring the excavation position. There are things.

As a typical example of the excavation position measuring technique of an underground excavator adopting such a method, for example, Japanese Patent Laid-Open No. 5-34
The technology described in Japanese Patent No. 0186 can be mentioned. The technology described in Japanese Patent Application Laid-Open No. Hei 5-340186 (hereinafter referred to as "conventional technology") is based on "a laser sighting device having an angle measuring function in front of a rear sighting point set in a curved underground pit. The target of the position detection element (photoelectric element) attached with the mini-reflection prism is installed in the shield machine, and the laser beam refracted by refracting the laser beam from the laser sighting machine is located between these targets. An appropriate number of wedge prisms with a distance gauge capable of measuring the turning angle of the underground excavator are installed according to the progress of the excavation of the underground excavator. "

When measuring the excavation position of an underground excavator according to this conventional technique, the wedge prism is rotated by remote control so that the laser beam from the laser aiming machine is transmitted through the wedge prism into the shield excavator. Always hit the target. Then, since the laser beam from the laser sighting device via the wedge prism is applied to the position detection element of the target, the position of the laser spot is detected, and the declination of the installation point of the wedge prism is determined by the amount of rotation of the wedge prism. The distance between the measurement points is measured by a wedge prism range finder. In the related art, the excavation position of the underground excavator is measured by the coordinate position based on the distance, the declination, and the position of the laser spot between the measurement points thus obtained.

[0007]

As described above, according to this conventional technique, a wedge prism is rotated so that a laser beam, which is a laser beam having a high convergence degree, strikes a position detecting element, and the wedge prism is rotated by the amount of rotation. The declination of the installation point of the prism is measured. Therefore, when measuring the excavation position of an underground excavator, not only is the operation required to rotate the wedge prism so that the laser beam accurately strikes the laser beam position detecting element necessary, but also the operation is complicated, and the wedge prism is also required. Requires a rotation mechanism for rotating the, which causes various problems. For example, a mechanical measurement error is likely to occur due to the need for a rotating mechanism, and it is difficult to ensure high measurement accuracy due to the mechanical error added to the optical error. Vibration in the yawing direction causes a large measurement error. In particular, when measuring the excavation position of an underground excavator, in addition to the fact that the measurement result of the declination has a large effect on the measurement result of the excavation position, there are many opportunities to measure the declination of a place that forms a gentle curve, Since it is highly necessary to accurately measure the declination angle, if a mechanical measurement error due to the rotating mechanism or a measurement error due to vibration occurs, it greatly affects the measurement result of the excavation position of the underground excavator.

An object of the present invention is to solve the above-mentioned problems in the prior art. The technical problem is that an operation of irradiating light to a position detecting element at the time of measuring the excavation position of an underground excavator is performed. An object of the present invention is to provide a position measuring device of an underground excavator that does not require any mechanical error or that hardly causes a measurement error due to vibration.

[0009]

An object of the present invention is to provide a method for measuring the excavation position of an underground excavator that excavates underground while excavating an underground pit, and is disposed in the excavation direction in front of the excavation direction. When configuring the position measurement device of an underground excavator that locates the position of the measured point serving as a position index behind the excavation direction and measures based on the positional relationship with the measurement base point serving as the measurement base point,
`` A light source for setting a measurement base point that emits diffused light forward and sets a measurement base point, a light source that emits diffused light forward, and a light condensing unit that collects at least a part of diffused light from the front and rear light sources, respectively. A position detecting element for receiving light from each of the light sources condensed by the light condensing means and detecting a light receiving position thereof, and disposed in front of and adjacent to the light source for setting a measurement base point; A second base point measurement unit that sets the measurement base point, a light source that emits diffused light backward, a light collecting means that collects at least a part of the diffused light from the rear light source, and a light source that is collected by the light collecting means. A measuring point measuring unit having a position detecting element for receiving light to detect the light receiving position and setting a measuring point, light sources emitting diffused light forward and rearward, and diffusion from the light sources forward and rearward Focus each at least part of the light A light-collecting means and a position detecting element for receiving light from each of the light sources condensed by the light-condensing means and detecting a light-receiving position thereof between the second base point measuring unit and the measured point measuring unit; And at least one intermediate measurement unit disposed on the base station, and is obtained based on data on the position of the second measurement base point with respect to the measurement base point obtained in advance and the detection results of the second base measurement unit and the intermediate measurement unit. The relative position of the measured point with respect to the measurement base point is calculated and measured by the arithmetic device based on the data on the direction of each light source and the data on the distance between adjacent measurement units. " .

The underground excavator position measuring apparatus of the present invention employs such technical means, so that the second base point measuring unit and the intermediate measuring unit collect the diffused light from the front and rear light sources by the condensing means. By condensing the light, and receiving the condensed light from each light source with each position detection element and detecting the light receiving position, the directions of the front and rear light sources can be detected. Also, the measured point measuring unit condenses the diffused light from the rear light source by the condensing means,
Similarly, the direction of the rear light source can be detected.
In such a case, a light source capable of emitting diffused light is used as the light source to illuminate a wide area with light having a spread, so that light from the light source is used as in the conventional technology using a laser beam as the light source. It is not necessary to perform an operation for hitting the position detecting element, and thus there is no need to provide a rotation mechanism for enabling the operation, and there is no mechanical measurement error caused by the rotation mechanism.

Further, in the second base point measuring unit and the intermediate measuring unit, the positions of the light sources both forward and rearward are detected by detecting the light receiving positions of the condensed light from each light source by each position detecting element. With this configuration, it is possible to determine the declination between the optical axes of the light sources, which is useful for measuring the position of the underground excavator, based on the detected direction of each light source. This declination does not fluctuate even if the second base point measurement unit, the intermediate measurement unit, and the light source are displaced in the pitching direction or the yawing direction. Therefore, even if these measurement units vibrate in the pitching direction or the yawing direction due to an external force, a measurement error occurs. Is unlikely to occur. Therefore, when the second base point measurement unit and the intermediate measurement unit are attached to the measurement point, if the positions are set correctly, even if the attachment postures are not uniform, the ground position is not affected by the attachment postures. The excavation position of the intermediate excavator can be correctly measured. On the other hand, the point-to-be-measured unit detects the direction of the light source behind by detecting the light receiving position of the light from the rear light source with the position detection element, and detects the attitude of the excavator in the pitching direction and yawing direction. be able to.

In the position measuring device for an underground excavator according to the present invention,
In particular, since the second base point measurement unit for setting the second measurement base point is provided, and the light source for the measurement base point setting is provided at the measurement base point so as to be adjacent thereto, this is the starting point of measurement with diffused light. Also at the second measurement base point, it is possible to detect the directions of both the front and rear light sources, and to measure the declination that is not affected by the mounting posture of the measurement unit. As a result, for the second base point measurement unit, which is the first measurement unit, measurement by each measurement unit after the second measurement base point can be performed normally without adjusting the originally required mounting posture. Then, the relative position of the measured point with respect to the measurement base point is measured using both the data obtained in this way and the data on the position of the second measurement base point with respect to the measurement base point obtained in advance, so that it is simple with high accuracy. Can be measured.

[0013]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to FIGS. 1 to 4 showing concrete examples showing how the present invention is actually embodied. I do. FIG. 1 is a diagram schematically showing an overall image of a state in which the position of an underground excavator is measured by an underground excavator position measuring device according to an embodiment of the present invention, and FIG. FIG. 3 is a perspective view showing an example of an intermediate measuring unit used in the position measuring device of the underground excavator. FIG. 3 is a partial view showing an aspect when the excavating position of the underground excavator is measured using the intermediate measuring unit of FIG. FIG. 4 is a conceptual diagram for explaining a basic method of calculating the excavation position of the underground excavator by the underground excavator position measuring device of FIG.

In the position measuring device of the underground excavator of the present invention,
The position of the measured point serving as an index of the excavation position of the underground excavator is measured based on the positional relationship with the measurement base point serving as the measurement base point. An example of the usage mode will be outlined based on FIG. 1 is an excavator which is a main part of the underground excavator, 2 is an underground tunnel such as a tunnel excavated by a shield excavator or a sewer excavated by a tube propulsion machine, and 3 is a starting point of excavation of the underground excavator. The starting shaft 4 has a light source 100 for setting a measurement base point described later, a second base point measurement unit 200, intermediate measurement units 300-1 to 300-3, a measured point measurement unit 400, and a total station 50.
The central processing unit 5 is connected to the communication line 0 to calculate the excavation position of the underground excavator, and the arithmetic processing unit 5 and the information obtained based on the arithmetic result in the central processing unit 4 are used for the operator's operation. It is a display device that displays numerical values and graphs for the purpose. The excavator 1 may be any excavator, such as a pipe propulsion machine and a shield excavator, as long as it is an underground excavator that excavates underground while excavating an underground shaft. Underground pit 2
In the case of a pipe propulsion machine, a pit wall is formed by a buried pipe such as a fume pipe or a steel pipe, and in the case of a shield excavator, a pit wall is formed by steel or concrete segments.

Reference numeral 100 denotes a light source for setting a measurement base point that emits diffused light forward and sets a measurement base point. Reference numeral 200 denotes a second measurement base point that is disposed in the underground pit 2 in front of the light source 100 so as to be adjacent to the light source 100. Second base point measurement unit, 300-1 to 300-3
00-3 is the second base point measurement unit 2 in the underground mine 2
An intermediate measurement unit arranged at an intermediate measurement point set between 00 and a measured point measurement unit 400 described below, 400 is a measured point measurement unit that sets a measured point, and 500 is a second measurement for a measurement base point. This is a total station equipped with angle measurement and distance measurement functions for measuring the relative position of the base point. Although one or more desired number of intermediate measurement units are arranged according to the progress of excavation of the underground excavator, three intermediate measurement units 300-1 to 300-3 are provided here for convenience of explanation.
Are shown. These intermediate measurement units 300-1 to 300-3 are denoted by reference numeral 300 when not particularly distinguished or when they are collectively referred to. The second base point measurement unit 200, the intermediate measurement unit 300, and the measured point measurement unit 400 are roughly classified into a light source that emits diffused light to an adjacent measurement unit and a light source of an adjacent measurement unit or a measurement base point setting. And light source direction detecting means configured to detect the direction of the light by receiving the diffused light from the light source 100, and the basic structure is not changed in any case.

When the excavation position of an underground excavator is measured by light, it is necessary to set a measurement base point serving as a base point of the measurement and a measured point which can be an index indicating the current position of the underground excavator under excavation. However, the light source 100 for setting the measurement base point is
The measurement point measurement unit 400 plays a role of setting a measurement base point, and plays a role of setting a measurement point. The light source 100 for setting the measurement base point is usually installed in the starting shaft 3, and the measured point measurement unit 400 is usually installed in the excavator 1 (a shield excavator in shield construction, and a leading conductor in pipe propulsion construction). . Conventionally, a measurement base point, an intermediate measurement point, and a measured point have been set as measurement points. However, in the present invention, in particular in connection with the fact that a unique configuration for detecting the direction of a light source by diffused light is employed. In addition to these measurement points, a new second measurement base point is newly set in front so as to be adjacent to the measurement base point, and in connection with this, the light source 100 for setting the measurement base point,
By providing the second base point measurement unit 200 and the total station 500, the measurement accuracy can be further improved as described later in detail. The second base point measurement unit 200 plays a role in setting a second measurement base point serving as a measurement base point for detecting the direction of the light source using diffused light.

As described above, each measurement unit 200,
Since the basic structures of 300 and 400 do not change, the structure of the intermediate measurement unit 300 will be described based on FIGS. 2 and 3 on behalf of each of the measurement units 200, 300 and 400. The structures of the measurement units 200 and 400 are also clarified. First, the intermediate measurement unit 30
The outline of No. 0 will be described using the intermediate measurement unit 300 (k) in FIG. 3 as an example. In FIG. 3, the intermediate measurement unit 3
00 (K) represents the K-th measurement unit counted from the second base point measurement unit 200, and the intermediate measurement unit 300
(K + 1) and 300 (K-1) represent intermediate measurement units before and after adjacent thereto. Intermediate measurement unit 300
(K) is a front light source 41 and a rear light source 42 that emit diffused light to the front intermediate measurement unit 300 (k + 1) and the rear intermediate measurement unit 300 (k-1), respectively.
And the rear light source 42 of the adjacent front intermediate measurement unit 300 (k + 1) and the rear intermediate measurement unit 300 (k−
Each of the light sources 42, 4 receives the diffused light from the front light source 41 of 1).
Lens 411, position detection elements 412-1 and 412-2, and a reflection prism 413 for detecting the direction of the first direction.
The light source direction detecting means having the light source direction detector 413-2 constitutes a unit. The other intermediate measurement units 300 (K + 1) and 300 (K-1) have the same configuration.

Next, based on FIG.
In detail, reference numeral 411 denotes a rear light source 42 of the front measurement unit and a front light source 41 of the rear measurement unit.
A lens 412 as a common light condensing means for the two light sources 41 and 42 for condensing (converging and collecting) the respective diffused lights.
Reference numeral -1 denotes a position detecting element 412-1 as an optical sensor for receiving diffused light collected by the lens 411 from the front light source 41 of the rear measuring unit and detecting the light receiving position.
Is a similar position detection element that receives the diffused light from the rear light source 42 of the front measurement unit collected by the lens 411 and detects the light receiving position, and 413-1 is the front of the rear measurement unit that is condensed by the lens 411. A reflecting prism 413-2 as a light-direction changing means for changing the direction of the light so as to guide the diffused light from the light source 41 to the position detecting element 412-1 is a rear light source 42 of the front measurement unit which is condensed by a lens 411. Is a similar reflecting prism that changes the direction of light so as to guide diffused light from the light to the position detection element 412-2.

The intermediate measuring unit 300 is roughly divided into
The light sources 41 and 42, the lens 411, the position detecting elements 412-1 and 412-2, and the reflecting prism 413-1 described above.
413-2. As the light sources 41 and 42, for example, so-called point light sources emitting diffused light such as light emitting diodes are used. That is, it is not possible to use a laser beam that emits a light beam with a high degree of convergence, such as a laser beam. However, basically, a laser beam that emits diffused light that spreads radially from a small area is appropriately selected in design. Can be used.

The position detecting element 412-1 and the position detecting element 412-2 are respectively arranged at positions where the diffused light that is going to enter the lens 411 from the rear light source 42 and the front light source 41 of the adjacent measuring unit is not blocked. I do. In the example shown here, the position detecting element 412-1 has its light receiving surface arranged laterally in a direction orthogonal to the optical axis C of the lens 411 (an axis passing through the center of the lens 411 and orthogonal thereto), The position detecting element 412-2 has its light receiving surface arranged upward in a direction orthogonal to the optical axis C of the lens 411. As the position detection elements 412-1 and 412-2, a MOS type imaging element in which photodiodes are arranged in a matrix or a CCD (Charge-Coupled-Dev)
ice) A two-dimensional optical sensor such as an image sensor is used. In addition, a PSD (Po) capable of detecting the position of the light spot using the surface resistance of the photodiode.
Such a device may be used as long as it can receive light collected by a condenser lens and detect the position of the received light, and the type is not limited. .

The reflecting prism 413-1 and the reflecting prism 413-2 are arranged at the front position and the rear position of the lens 411, respectively, and are provided from the rear light source 42 of the adjacent front measuring unit and the front light source 41 of the rear measuring unit. At least a part of each diffused light to be incident on the lens 411 is transmitted, and at least a part of the light from the front light source 41 and the rear light source 42 condensed by the lens 411 is reflected by the reflecting surface to detect the position. It functions to change the direction so as to guide the light to the light receiving surfaces of the element 412-1 and the position detection element 412-2. In addition, these reflecting prisms 413
-1 and the reflection prism 413-2 respectively reflect at least a part of the diffused light of the front light source 41 and the diffused light of the rear light source 42 incorporated as a unit in the intermediate measurement unit 300 itself on the reflection surface, and are adjacent to each other. It also serves to turn around to the next and subsequent measurement units.

These reflecting prisms 413-1 and 413
If a general one is used for -2, the diffused light from each of the light sources 41 and 42 which is going to be incident on the lens 411 will be reflected by the reflection prisms 413-1 and 413- before the incident light, respectively.
The position detecting elements 41
The light amount guided to 2-2 and 412-1 is lost. In order to solve such a problem, the diffused light from each of the light sources 41 and 42 to be incident on the lens 411 is made into diffused light of linearly polarized light whose vibration directions are orthogonal to each other.
As each of the reflection prisms 413-1 and 413-2, one linearly polarized diffused light to be incident on the lens 411 is transmitted, and the other linearly polarized diffused light in the process of being condensed by the lens 411 is used as a position detecting element. It is preferable to use a polarized light reflecting prism that reflects light so as to lead to 412-2 and 412-1. When such a polarized light reflecting prism is used for the reflecting prisms 413-1 and 413-2, diffused light from the light sources 41 and 42 to be incident on the lens 411 is transmitted without losing the light amount, and collected by the lens 411. The diffused light from the light sources 41 and 42 in the process of being lighted can be totally reflected so as to be guided to the position detecting elements 412-2 and 412-1, and the light receiving position of the light collected by the lens 411 is determined by the position detecting element. 412-1 and 412-2 can be clearly detected.

When configuring the intermediate measuring unit 300,
Without providing such reflection prisms 413-1 and 413-2, lenses 411 are arranged at the front and rear of the intermediate measurement unit 300, respectively, and the position detection elements 412-1 and 412-2 are provided behind the lenses 411, respectively. And the light source 41 and the light source 42 may be arranged at the front position and the rear position of the lens 411, respectively.
However, as shown here, the reflecting prism 413-
1, 413-2, the rear light source 42 of the adjacent front measurement unit and the front light source 41 of the rear measurement unit
Since the position detecting element 412-1 and the position detecting element 412-2 can be arranged at positions where the diffused light from the lens 411 is not blocked from entering the lens 411, the lens 411 for collecting the diffused light can be provided. It is not necessary to provide separate light sources corresponding to the front light source 41 and the rear light source 42, and it is possible to share the diffused light from these light sources 41 and 42 so as to collect them together.

As described above, when the lens for condensing the diffused light from the light sources 41 and 42 is shared, the respective lenses of the rear light source 42 of the adjacent measuring unit and the front light source 41 of the rear measuring unit are used. The declination measured by the intermediate measurement unit 300 is determined by the forward light source 41 and the rear light source 4.
2 (the angle between the lines connecting the center position of each starting point and the center position of the lens 411 when the diffused light of the light sources 41 and 42 goes straight forward and backward) and the angle , The declination angle between the optical axes D of the light sources 41 and 42 having the vertex at the center position of the common lens 411 is measured.
Even if the intermediate measurement unit 300 is tilted in the pitching direction and the yawing direction, it is always kept constant without being affected. Therefore, compared with the case where the lens 411 is separately provided corresponding to the front light source 41 and the rear light source 42 as described above, the lens 411 is not further affected by the mounting posture at the time of mounting the intermediate measurement unit 300 and the posture at the time of measurement. Thus, it is possible to more accurately measure the deflection angle.

As described above, the intermediate measurement unit 300 is configured to direct the diffused light of the light sources 41 and 42 incorporated therein to the adjacent measurement units before and behind by the reflection prisms 413-1 and 413-2. Therefore, the light sources 41 and 4
2, lens 411 and reflection prisms 413-1 and 413-
The light source 41,
It can be configured to have a structure equivalent to the arrangement of the lens 42 at the center of the lens 411. To obtain such a structure, the intermediate measurement unit 300 may be configured to satisfy the following conditions. B) Reflection prism 413-1 (reflection prism 413-
2) On a plane orthogonal to the inclination direction of the reflection surface,
The center of the light source 41 (light source 42) and the center of the lens 411 are located together. B) Reflection prism 413-1 (reflection prism 413-
The distance between the intersection of the optical axis C of the lens 411 and the light source 41 (light source 42) with respect to the reflecting surface 2) is the same as the intersection and the lens 41.
Equal to the distance between the center of one.

If the central positions of the light sources 41 and 42 and the lens 411 before and after constituting one intermediate measuring unit 300 are located at different points and do not concentrate on one point, the optical axis of light transmitted and received between the measuring units D does not completely coincide with the line of sight described later (a straight line connecting the reference points (centers of the lenses 411) of the adjacent measurement units), and it is impossible to accurately measure the excavation position of the underground excavator with high accuracy. become unable. Therefore, when it is necessary to measure the position of the underground excavator with higher accuracy, the intermediate measurement unit 3 is designed to eliminate the measurement error caused by the mismatch between the optical axis D of the light and the line of sight.
It is necessary to correct the detection results regarding the directions of the light sources 41 and 42 based on the positional relationship between the reference point 00 and the light sources 41 and 42 and the posture inclination values of the intermediate measurement unit 300 due to pitching and yawing.

On the other hand, as described above, the intermediate measuring unit 300 is configured so as to satisfy the conditions (a) and (b) so that the light source 41 and 42 are arranged at the center of the lens 411 so as to have a structure equivalent to that. With the configuration of the intermediate measurement unit 300, the optical axis D of the light transmitted and received between the measurement units can be accurately matched with the line of sight, so that the underground detection can be performed without correcting the detection result as described above. The excavation position of the excavator can be measured very accurately and with higher accuracy. Therefore, when such an effect is combined with the above-mentioned effect of using a common lens for condensing the diffused light of the light sources 41 and 42, when the intermediate measurement unit 300 is inclined by pitching or yawing of the underground excavator. However, the excavation position of the underground excavator can be extremely accurately measured without the above-described correction, and therefore, even when such a high-accuracy underground excavator position measurement is performed, the There is no need to measure and manage the posture of the measurement unit 300 one by one.

Intermediate measurement unit 30 having the above structure
The operation of 0 will be described by taking the intermediate measurement unit 300 (k) in FIG. 3 as an example. Front intermediate measurement unit 300
The diffuse light emitted from the (k + 1) rear light source 42 is reflected by the reflection prism 41 in front of the intermediate measurement unit 300 (k).
After being incident on 3-1 at least a part of the light passes through the reflecting prism 413-1 and is condensed by the lens 411. After that, the light is reflected by the reflecting prism 413-2 behind it and changes its direction. An image is formed on the position detection element 412-2 behind the measurement unit 300 (k). Similarly, at least a part of the diffused light from the front light source 41 of the rear intermediate measurement unit 300 (k-1) passes through the reflection prism 413-2 in front of the intermediate measurement unit 300 (k), and the lens The light is condensed at 411 and then reflected by a reflecting prism 413-1 behind the intermediate measuring unit 30.
An image is formed on the position detection element 412-1 in front of 0 (k). During this time, the diffused lights of the front light source 41 and the rear light source 42 incorporated in the intermediate measurement unit 300 (k) are reflected by the reflection prism 413-1 and the reflection prism 413-, respectively.
2, the intermediate measurement unit 300 (k +
The light is emitted toward 1) and the intermediate measurement unit 300 (k-1) at the rear.

Each position detecting element 412-1, 412-2
Since the XY plane coordinates are set in advance on each light receiving surface, when the diffused light from the light sources 41 and 42 forms an image, the image forming position, that is, the light receiving position of the condensed diffused light is set on the X and Y axes. Is detected as a coordinate point. When the light receiving position of the diffused light is detected in this manner, each of the light sources 41 and 42 is based on the detection result.
Can be detected by calculation. Each light source 4
The directions of the light sources 41 and 42 correspond to the reference line of the intermediate measurement unit 300 (k) (usually set to match the optical axis C of the lens 411).
Each line connecting the center position of each starting point and the center position of the lens 411 when the 2 diffused light goes straight in the front-back direction)
, And specifically, the light source 41,
And the horizontal component in the direction of 42 (the angle between the lines obtained by orthogonally projecting the optical axis C of the lens 411 and the optical axes D of the light sources 41 and 42 onto a horizontal plane, for example, φ ₁ , ψ _{1 in} FIG. 4) and The components in the vertical direction (the optical axes C and D are defined as the optical axis C of the lens 411)
(An angle between lines orthogonally projected on a vertical plane parallel to the vertical plane).

The horizontal component and the vertical component in the direction of the light sources 41 and 42 are obtained after the optical axis D of the light sources 41 and 42 passing on the optical axis C of the lens 411 enters the lens 411.
From the center position of the lens 411, the position detecting element 412-1,
The sum of the distances following the process of reaching the position 412-1 (this value is a known value determined by the specifications of the intermediate measurement unit 300) and the position detection elements 412-1 and 41-1
From the relationship between the components in the X-axis direction and the components in the Y-axis direction of the image forming positions of the diffused light from the light sources 41 and 42 to 2-2, the respective positions can be calculated. Such a calculation may be performed by the central processing unit 4, but the horizontal component and the vertical component in the direction of the light sources 41 and 42 are the X-axis component and the Y-axis component of the image position of the diffused light. If the component in the direction is detected, the value is uniquely determined, and therefore, the measurement is performed by the intermediate measurement unit 300 in the example shown here.

As described above, the intermediate measuring unit 300 includes the front and rear light sources 41 and 42 and the lens 4 as a light collecting means.
11, front and rear position detecting elements 412-1 and 412-2, and front and rear reflecting prisms 413-1 and 413-1 as light direction changing means.
413-2, and these are assembled in a case to form a unitary structure. On the other hand, the second base point measurement unit 200 does not include the rear light source 42 from the intermediate measurement unit 300, and the measured point measurement unit 400 includes the front light source 41 and the light source 41 from the intermediate measurement unit 300. The rear side position detecting element 412-2 is omitted, and if the front side position detecting element 412-1 is arranged behind the lens 411, the front side reflecting prism 41
3-1 can also be omitted.

More specifically, the second base point measurement unit 200 includes a light source 41 that emits diffused light forward, a light source 100 for setting a measurement base point on the rear side, and a diffused light from a rear light source 42 of the intermediate measurement unit 300 on the front side. A lens 411 for condensing the light, and a light receiving means for receiving the light condensed by the lens 411 and detecting the position of the received light to detect the direction of each of the light sources 100 and 42. The position detection elements 412-1 and 412-2 and the light sources 100 and 42 that transmit at least a part of the diffused light from the light sources 42 and 100 that are to enter the lens 411 and collect the light by the lens 411, respectively. And reflection prisms 413-1 and 413-2 for changing the directions so as to guide the light to the respective position detection elements 412-1 and 412-2. . The measured point measurement unit 400
Is a light source 42 that emits diffused light rearward, a lens 411 that collects diffused light from the front light source 41 of the rear intermediate measurement unit 300, and a position where the light collected by the lens 411 is received and received. Is detected, the front light source 41 is detected.
And a rear-side reflecting prism 413-2 that transmits at least a part of the diffused light from the front light source 42 that is about to enter the lens 411. , And the front-side reflecting prism 413-1 may be provided as needed.

The structure required for the second base point measuring unit 200 and the measured point measuring unit 400 is provided in the intermediate measuring unit 300 shown in FIG. Using the intermediate measurement unit 300 as it is, the intermediate measurement unit 30
Only the structure necessary for setting 0 to the second measurement base point or the measured point may be utilized in software. Thus, the intermediate measurement unit 300 is replaced with the second base measurement unit 2
If it is also used for the measurement unit 400 and the measured point measuring unit 400, not only can the types of devices to be manufactured be reduced and the production thereof can be saved, but also the types of devices to be used can be reduced and the use of the devices can be reduced. The above service is also good.

Next, taking a case where the intermediate measuring unit 300 is also used as the second base point measuring unit 200 and the measured point measuring unit 400 as an example, an embodiment of the underground excavator position measuring device of the present invention will be described. This will be described with reference to FIGS. 1, 3, and 4. FIG. 3 shows the intermediate measurement unit 3 installed at the measurement point.
00 (k) and the intermediate measurement unit 30 before and after adjacent thereto
The figure shows an aspect when the excavation position of an underground excavator is measured while mutually irradiating diffused light between 0 (k + 1) and 300 (k-1). In FIG. 3, V _k is an intermediate measurement unit 300 (k) and an intermediate measurement unit 300 (k + 1)
V _k−1 is a straight line connecting the reference points of the intermediate measurement unit 300 (k−1) and the intermediate measurement unit 300
(K) represents a straight line connecting the reference points, and in this specification, such a straight line is referred to as a line of sight. These intermediate measurement units 300 (k-1), 300 (k), 300
(K + 1) has a structure equivalent to arranging the light sources 41 and 42 at the center position of the lens 411. Therefore, each reference point of the intermediate measurement unit 300 is
Both are located at the center of the same lens 411.

Measuring units 200, 300, 400, light source 100 for setting measurement base point, and total station 5
Based on an example in which the underground excavator 00 is installed as shown in FIG. 1, a basic calculation method of the excavation position of the underground excavator will be described with reference to FIG. FIG. 1 shows an example in which three intermediate measurement units 300-1 to 300-3 are installed between the second base point measurement unit 200 and the measured point measurement unit 400. Between 200 and 400, one or more desired number of intermediate measurement units 300 are considered in consideration of the excavation distance of the underground excavator, the state of the curve of the underground shaft 2, and the like.
Can be placed at appropriate intervals that can be seen from each other.

When measuring the excavation position of the underground excavator, the relative position of the measured point with respect to the measurement base point on the three-dimensional position coordinates of front, rear, up, down, left and right is calculated and measured. In order to facilitate understanding of the method, taking a case where the underground excavator makes a curved construction only in the horizontal direction (left-right direction) as an example, the excavation position of the underground excavator is a two-dimensional position coordinate composed of an X axis and a Y axis. It is determined from the above coordinate points. Therefore, the position of the light source 100 for setting the measurement base point installed at the measurement base point is the origin, the X axis is the propulsion reference direction when the underground excavator starts, and the Y axis orthogonal to the X axis is the horizontal direction ( Two-dimensional coordinates (left-right direction) are set as shown in FIG. here,
Second base point measurement unit 200 or measured point measurement unit 40
0 is regarded as the intermediate measurement unit 300 for convenience of description, and the second base point measurement unit 200 is represented by 300 (1).
The k-th intermediate measurement unit counted from the second base point measurement unit 300 (1) is represented by 300 (k).

In explaining the above basic principle, the following mathematical expressions and the meanings of the symbols used in FIG. 4 will be shown. V ₀ : a starting direction line representing the actual starting direction when the underground excavator starts, V _k : a line of sight connecting the reference points of the intermediate measuring unit 300 (k) and the intermediate measuring unit 300 (k + 1), in other words Then, the optical axis of light transmitted and received between the adjacent intermediate measurement units 300 (k) and 300 (k + 1), G _k ; the reference line of the intermediate measurement unit 300 (k), that is, the intermediate measurement unit 300 (k) The optical axis of the lens 411, φ _k ; the angle between the reference line G _{k of the} intermediate measurement unit 300 (k) and the line of sight V _{k in} front of it, in other words, the adjacent intermediate measurement unit 300 (k + 1) An angle representing the direction of the rear light source 42, ψ _k ; the reference line G _{k of the} intermediate measurement unit 300 (k) and the line of sight V _{k- 1} behind it (V ₀ is also regarded as the line of sight).
, In other words, an angle representing the direction of the front light source 41 of the adjacent rear intermediate measurement unit 300 (k-1), H ₀ ; the starting direction line V ₀ is the X axis (when the underground excavator starts _Hk ; the angle (outside angle) between the line of sight V _{k in} front of the intermediate measurement unit 300 (k) and the line of sight V _k-1 behind, that is, the intermediate measurement unit 300 ( declination θ _k with the reference point of k) as the vertex; the angle between the line of sight V _{k and the} X axis; l _k ; the distance between the reference points of the intermediate measurement unit 300 (k) and the intermediate measurement unit 300 (k + 1); In other words, the length of the line of sight V _k , (x ₀ , y ₀ ) is the coordinate point of the measurement base point, (x ₁ , y ₁ ) is the coordinate point of the second measurement base point in FIG.
_{(X 2, y 2) ~} (x 4, y 4) are coordinate points of the intermediate measurement point, (x _5, y ₅₎ represents the coordinate point of the measured points.

In order to calculate the excavation position of the underground excavator, that is, the coordinate point (x ₅ , y ₅ ) of the point to be measured, first, the measurement base point and the second point are calculated by the total station 500 having the angle measurement and distance measurement functions. The position of the measurement base point is measured in advance, and the coordinate point (x ₀ , y ₀ ) of the measurement base point on the two-dimensional coordinates
And the coordinate point (x ₁ , y ₁ ) of the second measurement base point are specified in advance. In addition, since the position measurement of such a measurement base point and the second measurement base point is a measurement near the starting shaft 3 and the number of times of measurement is limited, the measurement may be performed manually using a transit or the like. Thus, the relative position of the second measurement base point with respect to the measurement base point, that is, the coordinate point (x ₁ ,
When y ₁ ) is specified, the angle H ₀ that the starting direction line V ₀ forms with the X axis can be obtained by the following equation (1).

[0039]

(Equation 1)

In the excavating process of the underground excavator, the rear light source 42 of the adjacent front intermediate measuring unit 300 based on the detection result of the intermediate measuring unit 300 (k) (k = 1, 5).
Because of possible detection angle [psi _k representing the direction of the front light source 41 of the angle phi _k and rear intermediate measurement unit 300 adjacent representing the direction, the intermediate measurement unit 300 based on these angles φ _{k, ψ k (k)} Declination H _k (k
= 1, 4) can be obtained by the following equation (2). H _k = φ _k −ψ _k (2) Note that the angle φ _k and the angle ψ _k are respectively the line of sight V _k (k = 1, 1) in front of the intermediate measurement unit 300 (k).
4) and the line of sight V _{k -1} at the rear are coordinate points (x _k , y _k )
Is set to be positive when the direction of rotation at the minimum angle in the case of rotating so as to overlap the reference line G _k (k = 1, 5) around the clock is clockwise. Therefore, for example, both φ ₁ and ψ ₁ are positive angles.

When the declination H _k is obtained in this manner, the angle θ _k formed by the line of sight V _{k and the} X axis can be expressed by the following equation (3) using the declination H _k .

[0042]

(Equation 2)

The angle θ ₀ when i is set to 0 in (3) is equal to the angle H ₀ obtained in (1).

On the other hand, during the excavation process of the underground excavator, the above data is obtained and the adjacent intermediate measurement unit 30 is obtained.
Each distance l _k between 0 (k = 1, 4) is measured by an appropriate method such as a method described later to obtain data on the distance l _k . When data on the distance l _k is obtained in this way, the coordinate point (x ₅ , y ₅ ) of the measured point can be obtained by the following equations (4) and (5).

[0045]

(Equation 3)

[0046]

(Equation 4)

The method of measuring the coordinate position in the Y-axis direction (left-right direction) corresponding to each measurement point set with the progress of the excavation of the underground excavator has been described above. Can also be measured by calculation according to a method similar to the above.

As described above, the excavation position of the underground excavator, that is, the relative position of the measured point with respect to the measurement base point is determined by the coordinate point (x
₁ , y ₁ ), data on the position of the second measurement base point with respect to the measurement base point, and the second base point measurement unit 200,
Measured point measuring unit 400 and intermediate measuring unit 300
Data on the directions of the light sources 41 and 42 such as the angles φ _k and ψ _k obtained based on the detection results in −1 to 300-3 and the adjacent measurement units 200 and 300-1 to 300-3
Based on the data on the distance 1 _k between 00-3 and 400-3, it can be calculated and calculated by the equations (1) to (5). Such calculation is performed by each of the measurement units 200 and 30.
Angle phi _k inputted through the communication line from 0-1～300-3,400, by the central processing unit 4 on the basis of the data relating to the distance l _k is the data and separately input regarding the direction of each light source, such as [psi _k Done. Since the display device 5 is connected to the central processing unit 4, the current position of the underground excavator calculated by the central processing unit 4 is:
The information displayed on the display device 5 can be provided to the operator in real time with high reliability information regarding the current position of the underground excavator, and the operation of the underground excavator can be accurately performed.

Each adjacent measuring unit 200, 300-1
To describe the method of measuring the distance l _k between ～300-3,400, when underground excavator is a tube propulsion device,
For example, there is a method of measuring based on distance data calculated based on the number of buried pipes already buried and distance data detected by a stroke meter of the main push jack. Further, when the underground excavator is a shield excavator, for example, a method of measuring based on distance data calculated based on the type and number of segments and distance data detected by a stroke meter of the shield jack Can be mentioned. In each of these methods, the stroke meter of the main push jack and the stroke meter of the shield jack, which are usually attached to a pipe propulsion device or a shield jack, have a distance l.
also can be utilized for measurement of _k, there is no need to be established a special distance measurement means for measuring the distance l _k.

In the position measuring device of the underground excavator, the diffused light from the light source 100 for setting the measurement base point and the light sources 41 and 42 is condensed by the lens 411 in each of the measurement units 200, 300 and 400, and the condensed light is collected. Light is detected by the position detecting element 413
The directions of the front light source 41 and the rear light source 42 are detected by detecting light receiving positions at -1 and 413-2. In this case, the light sources 41 and 42, which can emit diffused light, are used as the light source so as to illuminate a wide area with the spread light. It is not necessary to perform an operation such as that performed in the related art. As a result, there is no need to provide a rotating mechanism to enable such operations,
Unlike the prior art, there is no mechanical measurement error caused by the rotating mechanism. Also, diffused light sources 41, 42, 1
00 has such a large irradiation area, so that even if each of the measurement units 200, 300, 400 and the light sources 41, 42, 100 vibrate due to an external force, each of the measurement units 200, 30
0,400 can always be illuminated, and there is no trouble in measurement.

In the second base point measuring unit 200 and the intermediate measuring unit 300, the position detecting elements 413-1, 413
Since the directions of the light sources of both the front light source 41 and the rear light source 42 are detected based on the light receiving position of −2, the light sources 41 and 4 are determined based on the detected directions of the light sources 41 and 42.
The declination between the two optical axes can be obtained. The declination, the reference lines G ₁ As is apparent from the value of the deflection angle H ₁ does not change even when rotated in FIG. 4, the second base point measurement unit 200 and the intermediate measurement unit 300 and the light source 4
Since the base units 1, 42 do not fluctuate even if they are displaced in the pitching direction or the yaw direction (even if they swing in the vertical direction or the horizontal direction), the position measuring device of the underground excavator uses the external force. Due to this, even if it vibrates in the pitching direction or the yawing direction, a measurement error hardly occurs. In addition, from the above, when the second base point measurement unit 200 and the intermediate measurement unit 300 are attached to the measurement points, if the positions are set accurately, even if the attachment postures are not uniform, the mounting postures may be affected. And the excavation position of the underground excavator can be measured correctly.

Measuring unit 20 using diffused light source
When measuring the position of the underground excavator at 0, 300, or 400, the measurement can be performed even when such a measurement unit is installed with the measurement base point as a starting point. However, in this case, for the first measurement unit installed at the measurement base point, the work of adjusting the mounting posture of the measurement unit so that the direction of the reference line (optical axis C of the lens 411) is aligned with the propulsion reference direction (X axis). If it is necessary and the adjustment is not performed accurately, accurate measurement cannot be performed, and the precise adjustment requires considerable difficulty. . The position measuring device of the underground excavator is intended to solve such a problem, and has a great feature in this point.

In order to solve such a problem, first, a second measurement base point which is a measurement base point for detecting the direction of the light source with diffused light is newly set forward adjacent to the measurement base point. At the second measurement base point, a second base measurement unit 200, which is the first measurement unit, is installed. In connection with this, the measurement base point setting light source 100 is arranged at the measurement base point. Second, the position of the second measurement base point with respect to the measurement base point is measured in advance by an appropriate measurement means that does not rely on diffused light such as the total station 500, and data on the position of the second measurement base point with respect to the measurement base point is separately collected. Like that. Then, data obtained from the detection results of the second base point measurement unit 200 and the intermediate measurement unit 300 and the measurement units 200, 300, 400
The relative position of the measured point with respect to the measurement base point is measured by using the data on the position of the second measurement base point together with the distance data between them.

As described above, the second measurement base point for detecting the direction of the light source with the diffused light is newly set, and the second measurement base point, which is the first measurement unit, is set to the second measurement base point. Since the light source 100 for setting the measurement base point can be set at the measurement base point by installing the light source, both the front and rear light sources are used at the second measurement base point, which is the starting point of the measurement with diffused light. Can be detected, and a declination that is not affected by the mounting posture of the measurement unit can be measured. As a result, with respect to the second base measurement unit 200, even if the mounting posture is not adjusted so that the direction of the reference line is aligned with the propulsion reference direction, each of the measurement units 200, 300, and 400 after the second measurement base is used. Measurement can be performed normally. Then, the relative position of the measured point with respect to the measurement base point is obtained by previously measuring the position of the second measurement base point with respect to the measurement base point by the total station 500, and obtaining data on the resulting position of the second measurement base point and the second measurement. Since the measurement is performed in combination with the data obtained by the measurement after the base point, the measurement can be easily performed with high accuracy.

In order to measure the relative position of the measured point with respect to the measurement base point, it is not necessary to provide the measured point unit 400 at the measured point as long as the light source 42 that emits diffused light is provided at the measured point. . However, here, the measured point unit 400 is intentionally provided at the measured point to detect the direction of the front light source 41 of the adjacent intermediate measuring unit 300-3, whereby a pitching meter, a yawing meter, or the like is used. The attitude of the excavator 1 in the pitching direction and the yawing direction can be detected without providing new means.

[0056]

As is apparent from the above description, the first invention of this application relating to the optical declination measuring apparatus is as follows.
`` It is used for measuring the excavation position of an underground excavator that excavates underground while excavating an underground pit, and the position of the measured point that is located in front of the excavation direction and is an index of the excavation position is located behind the excavation direction In the case of configuring an underground excavator position measurement device that measures based on the positional relationship with the measurement base point that is the measurement base point, it is configured as shown in the section of “Means to solve the problem”. According to the present invention, the position of the underground excavator does not require the operation of applying light to the position detecting element when measuring the excavation position of the underground excavator, and the measurement error due to the mechanical measurement error and the vibration is less likely to occur. A measuring device is obtained. Also, when attaching the second base measurement unit and the intermediate measurement unit to the measurement point, even if the position setting is correctly performed, even if the mounting posture is unified,
The excavation position of the underground excavator can be correctly measured without being affected by the mounting posture.

On the other hand, in the point-to-be-measured unit, the position of the light source behind the light source is detected by detecting the light receiving position of the light from the rear light source with the position detecting element, and the posture of the excavator in the pitching direction and the yawing direction is detected. Can be detected. In the present invention, in particular, a second base point measurement unit for setting a second measurement base point is provided, and a light source for measurement base point setting is provided at the measurement base point so as to be adjacent to the second base point measurement unit. Regarding the second base measurement unit, the measurement by each measurement unit after the second measurement base can be performed normally without adjusting the originally required mounting posture. Then, the relative position of the measured point with respect to the measurement base point is measured by using the data obtained in this way and the data on the position of the second measurement base point with respect to the measurement base point separately obtained, so that it is simple and highly accurate. Can be measured.

When the first invention of this application is embodied, particularly when embodied as described in claim 2, the above-mentioned excellent effects can be obtained. A common lens can collect the diffused light from the front and rear light sources. In addition, when the lenses are shared in this way, the declination measured by the intermediate measurement unit is more likely to be compared to a case where the lenses are separately provided for the front and rear light sources, than in the case where the intermediate measurement unit is mounted. And is no longer affected by the posture at the time of measurement,
Much more accurate measurement of the declination becomes possible. Further, if the present invention is embodied as described in claim 3, a structure equivalent to the arrangement of each light source of the intermediate measurement unit at the center of the lens is obtained, so that the light source is transmitted and received between the measurement units. The position of the underground excavator can be adjusted without correcting the light source direction, so that the optical axis of the reflected light exactly matches the line of sight. Can be measured very precisely with higher accuracy. Therefore, when such an effect is combined with the effect of using the above-mentioned lens in common, even when the intermediate measurement unit is tilted by pitching or yawing of the underground excavator, the above-described underground excavation is not required and the above correction is not required. The excavation position of the machine can be measured very precisely,
Therefore, even when such a highly accurate position measurement of the underground excavator is performed, it is not necessary to measure and manage the attitude of the intermediate measurement unit one by one during excavation.

[Brief description of the drawings]

FIG. 1 is a diagram schematically showing an overall image of a state in which an excavation position of an underground excavator is being measured by an underground excavator position measuring device according to an embodiment of the present invention.

FIG. 2 is a perspective view showing an example of an intermediate measuring unit used in the position measuring device of the underground machine shown in FIG.

FIG. 3 is a perspective view partially showing a mode when the excavation position of the underground excavator is measured using the intermediate measurement unit in FIG. 2;

FIG. 4 is a conceptual diagram for explaining a basic method of calculating the excavation position of the underground excavator by the underground excavator position measuring device of FIG. 1;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Excavator 2 Underground shaft 3 Starting shaft 4 Central processing unit 5 Display device 41, 42 Light source 100 Light source for measurement base point setting 200 Second measurement base point measurement unit 300 Intermediate measurement unit 400 Measurement point measurement unit 500 Total station 411 Lens 412 -1, 412-2 Position detecting elements 413-1, 413-2 Reflecting prism C Optical axis of lens G Reference line of intermediate measurement unit H Deflection angle V Line of sight between adjacent measurement units (optical axis of light) V ₀ Starting direction line l Distance between reference points of each measurement unit φ, 角度 Angle indicating direction of light source

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Inventor Ken Kamei 650, Kandate-cho, Tsuchiura-shi, Ibaraki Pref.Hitachi Construction Machinery Co., Ltd. F-term in Tsuchiura Plant (reference) 2D054 AA02 AC18 GA04 GA17 GA65 GA82

Claims (3)

[Claims] An underground excavator that excavates an underground mine while excavating underground is used to measure the excavation position, and the position of a measurement point that is disposed in front of the excavation direction and serves as an index of the excavation position is determined. A position measurement device of an underground excavator that is arranged in the direction rearward and measures in a positional relationship with a measurement base point serving as a measurement base point, and a light source for setting a measurement base point that emits diffused light and sets a measurement base point forward, A light source that emits diffused light forward, light-collecting means that collects at least a portion of the diffused light from the front and rear light sources, and light from each light source that is collected by the light-collecting means, and receives the light. A second base point measurement unit that has each position detection element for detecting a position and is disposed in front of and adjacent to a light source for setting a measurement base point to set a second measurement base point, and a light source that emits diffused light behind And at least the diffuse light from the rear light source A measuring point measuring unit for setting a measuring point having a light collecting means for condensing a part thereof and a position detecting element for receiving light from a light source condensed by the light collecting means and detecting a light receiving position thereof; A light source that emits diffused light forward and backward, a light condensing unit that condenses at least a part of the diffused light from the front and rear light sources, and a light from each light source condensed by the light condensing unit, respectively. And each position detecting element for detecting the light receiving position, and at least one intermediate measuring unit disposed between the second base point measuring unit and the measured point measuring unit is provided and configured in advance. Data on the position of the second measurement base point with respect to the measurement base point, data on the direction of each light source obtained based on the detection results of the second base measurement unit and the intermediate measurement unit, and data on the distance between adjacent measurement units Based on the door,
A position measuring device for an underground excavator, wherein a relative position of a point to be measured with respect to a measurement base point is calculated by an arithmetic device and measured. 2. When an intermediate measurement unit is configured, a common lens that collects at least a part of diffused light from a front light source and a rear light source is used as a light collecting means, and then the light is incident on the lens. At least a part of the diffused light from each light source is transmitted, and at least a part of the light from each light source condensed by the lens is turned so as to be guided to each position detecting element, and each of the intermediate measurement units is changed. Providing each reflection prism that reflects at least a part of the diffused light of the light source and changes the direction so as to be directed forward and backward, and each position detecting element at a position where the diffused light from each light source that is going to enter the lens is not blocked. The underground excavator position measuring device according to claim 1, wherein the position measuring device is arranged. 3. The intermediate measuring unit is configured by determining the positional relationship between each light source, the lens, and each reflecting prism so that the intermediate measuring unit has a structure equivalent to the arrangement of each light source at the center of the lens. The underground excavator position measuring device according to claim 2, wherein