JP2000352297A - System and method for detecting position of tunnel excavator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correctly detect the information on a spatial position of a shield machine by providing the shield machine with a plurality of prisms and an incline mater, and mounting automatic tracking type transits outside of the shield machine. SOLUTION: The laser beams emitted from automatic tracking-type transits 11, 12 are reflected by prisms P1, P2 fixed to a rear end of a shield machine 100, and received by the transits 11, 12 to measure the relative three-dimensional coordinates of the prisms P1, P2, and the data is output to a computer 31. For example, an angle around a pitching shaft is measured by an incline meter 21 mounted on the shield machine 100, and the data is output to the computer 31. The computer 31 operates the relative three-dimensional coordinates of an arbitrary position of the shield machine 100 with respect to a survey reference point of the total coordinate system, and the excavating and advancing direction D. Thereby the information on the spatial position of the shield machine 100 can be correctly detected.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system and method for detecting a current position in a tunnel excavator such as a shield machine.

[0002]

2. Description of the Related Art As one of tunnel construction methods mainly used in railways and the like in urban areas, a steel member formed into a cylindrical shape or the like (hereinafter, referred to as a "shielding machine") is used to construct a surrounding soil. It excavates underground while holding the face, which is the ground in front of the shield machine, with earth retaining members or muddy water, assembles the existing lining called a segment into a ring shape, and uses it as a reaction force receiver with a jack etc. A shield construction method for moving a shield machine forward is known.

[0003]

Conventionally, as a method of measuring the position of the shield machine, a gyrocompass or the like provided in the shield machine is used during excavation, and a transit or the like is used when the excavator is stationary while not excavating. A manual survey was used.

However, since the gyro compass has a static error inherent in the instrument and a static error when the shield machine is mounted, the error accumulates as the excavation proceeds, and the position of the shield machine is accurately measured. There was a problem that it was not possible.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to detect a position of a tunnel excavator which can accurately detect the position of the tunnel excavator during excavation. A system and a method for detecting a position of a tunnel excavator.

[0006]

In order to solve the above-mentioned problems, a first tunnel excavator position detecting system according to the present invention is provided. A first target body provided at a first target position whose relative three-dimensional positional relationship with the excavator is a known position and reflecting incident light in a direction opposite to the incident direction; and a first target body outside the tunnel excavator. A first target coordinate measuring unit provided at one observation position and irradiating the first target object with light to measure first target coordinates that are relative three-dimensional coordinates of the first target object with respect to the first observation position; When provided at any position of the tunnel excavator or at a second target position near the tunnel excavator, the relative three-dimensional positional relationship to the tunnel excavator is a known position. A second target for reflecting light incident on the second target in a direction opposite to the incident direction, and a second target provided at a second observation position outside the tunnel excavator and irradiating the second target with light for the second observation. A second target coordinate measurement unit that measures a second target coordinate that is a relative three-dimensional coordinate of the second target body with respect to a position; and a tilt measurement that is provided in the tunnel excavator and that measures a tilt state of the tunnel excavator. And a first calculation unit that calculates spatial position information at a tunnel excavator position, which is an arbitrary position of the tunnel excavator, based on the known value and the measured value.

In the above-mentioned first tunnel excavator position detecting system, it is preferable that a relative three-dimensional positional relationship with the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A target body provided at a target position, which is a position of the target, and reflecting incident light in a direction opposite to the incident direction; and a target body provided at an observation position outside the tunnel excavator and irradiating the target body with light to perform the observation. N sets (n: an integer of 3 or more) of target coordinate measuring units for measuring target coordinates which are relative three-dimensional coordinates of the target body with respect to a position are provided, and two sets of the n sets are set as It is used as a set consisting of one target and a first target coordinate measuring unit and as a set consisting of the second target and a second target coordinate measuring unit.

Further, the second tunnel excavator position detecting system of the present invention has a known three-dimensional positional relationship with respect to the tunnel excavator at any position of the tunnel excavator or near the tunnel excavator. A first target body that is provided at a first target position that is a position and reflects incident light in a direction opposite to an incident direction; and a first target body that is provided at a first observation position outside the tunnel excavator. A first target coordinate measuring unit that irradiates light to measure first target coordinates that are relative three-dimensional coordinates of the first target body with respect to the first observation position, and any position of the tunnel excavator, or In the vicinity of the tunnel excavator, provided at a second target position where the relative three-dimensional positional relationship with the tunnel excavator is a known position, and the incident light is directed in a direction opposite to the incident direction. A second target object to be reflected, and a relative three-dimensional coordinate of the second target object provided at a second observation position outside the tunnel excavator and irradiating light to the second target object with respect to the second observation position A second target coordinate measuring unit that measures a second target coordinate, and a position where the relative three-dimensional positional relationship with respect to the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A third target body provided at a third target position and reflecting incident light in a direction opposite to the incident direction; and a third target body provided at a third observation position outside the tunnel excavator and provided at the third target body. A third target coordinate measuring unit configured to irradiate light to measure third target coordinates that are relative three-dimensional coordinates of the second target body with respect to the third observation position; and, based on the known values and the measured values, the tunnel. Characterized in that it comprises a second arithmetic unit for calculating a spatial position information in tunneling machine position is any position of the cutting machine.

In the second tunnel excavator position detecting system, preferably, a relative three-dimensional positional relationship with the tunnel excavator at any position of the tunnel excavator or near the tunnel excavator is known. A target body provided at a target position, which is a position of the target, and reflecting incident light in a direction opposite to the incident direction; and a target body provided at an observation position outside the tunnel excavator and irradiating the target body with light to perform the observation. N sets (n: an integer of 4 or more) of target coordinate measuring units for measuring target coordinates, which are relative three-dimensional coordinates of the target body with respect to a position, are provided, and three sets of the n sets are referred to as the third set. It is used as a set including one target object and a first target coordinate measuring unit, a set including the second target object and a second target coordinate measuring unit, and a set including the third target object and a third target coordinate measuring unit.

The first method of detecting the position of a tunnel excavator according to the present invention is characterized in that a relative three-dimensional positional relationship with the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A first target body that is provided at a first target position that is a position and reflects incident light in a direction opposite to an incident direction; and a first target body that is provided at a first observation position outside the tunnel excavator. And irradiating light to the first observation position to measure first target coordinates which are three-dimensional coordinates of the first target relative to the first observation position.
A target coordinate measuring unit, and a second target position which is located at any position of the tunnel excavator or at a position near the tunnel excavator where the relative three-dimensional positional relationship with respect to the tunnel excavator is a known position; A second target body that reflects the light to be emitted in a direction opposite to the incident direction, and a second target body that is provided at a second observation position outside the tunnel excavator and irradiates the second target body with light to the second observation position. A second target coordinate measuring unit that measures a second target coordinate that is a relative three-dimensional coordinate of the second target body; and a tilt measuring unit that is provided in the tunnel excavator and that measures a tilt state of the tunnel excavator. Based on the known and measured values,
It is characterized in that spatial position information at a tunnel excavator position which is an arbitrary position of the tunnel excavator is calculated.

The second method of detecting the position of a tunnel excavator according to the present invention is characterized in that the relative three-dimensional positional relationship with the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A first target body that is provided at a first target position that is a position and reflects incident light in a direction opposite to an incident direction; and a first target body that is provided at a first observation position outside the tunnel excavator. And irradiating light to the first observation position to measure first target coordinates which are three-dimensional coordinates of the first target relative to the first observation position.
A target coordinate measuring unit, and a second target position which is located at any position of the tunnel excavator or at a position near the tunnel excavator where the relative three-dimensional positional relationship with respect to the tunnel excavator is a known position; A second target body that reflects the light to be emitted in a direction opposite to the incident direction, and a second target body that is provided at a second observation position outside the tunnel excavator and irradiates the second target body with light to the second observation position. A second target coordinate measuring unit that measures a second target coordinate that is a relative three-dimensional coordinate of the second target, and a position relative to the tunnel excavator at any position of the tunnel excavator or near the tunnel excavator. A third target body provided at a third target position where the relative three-dimensional positional relationship is a known position and reflecting incident light in a direction opposite to an incident direction; Third target coordinates provided at an external third observation position and irradiating the third target object with light to measure third target coordinates that are relative three-dimensional coordinates of the second target object with respect to the third observation position. A measurement unit is provided, and spatial position information at a tunnel excavator position, which is an arbitrary position of the tunnel excavator, is calculated based on the known value and the measured value.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a tunnel excavator position detecting system according to the present invention will be described below in detail with reference to the drawings.

(1) First Embodiment FIG. 1 is a diagram showing a configuration of a tunnel excavator position detecting system according to a first embodiment of the present invention.

As shown in FIG. 1, a tunnel excavator position detecting system 101 includes a prism P as a first target.
1, a prism P2 as a second target, an automatic tracking transit 11 as a first target coordinate measuring unit, an automatic tracking transit 12 as a second target coordinate measuring unit, and an inclinometer as an inclination measuring unit 21 and a computer 31 which is a first arithmetic unit.

The prisms P1 and P2 are fixed to a part of the shield machine 100 as a tunnel excavator, for example, at a rear end position (target position). The arrangement position of the prism P1 and the like may be any other position of the shield machine 100, or any position as long as the relative three-dimensional positional relationship with the shield machine 100 is known in the vicinity of the shield machine 100. May be. Although not shown, the prisms P1 and P2 are, for example, one ends of a cylindrical optical glass,
An optical member (corner cube prism or corner cube mirror) cut out on three sides so as to form a right angle with each other is used. With such a configuration,
The prisms P1 and P2 reflect light three-dimensionally from any direction so that the light is reflected once on each of the three surfaces that are perpendicular to each other, and finally the light returns to the incident direction. Is configured.

Although not shown, the automatic tracking type transits 11 and 12 have a laser light source, an optical system, and a light receiving / measuring unit. With such a configuration, the laser light is emitted, and the reflected light reflected back by the prism P1 and the like is received at the light receiving position (observation position).

At this time, the automatic tracking type transit 11, 1
2 measures the time difference t between the time when the laser light is emitted and the time when the reflected return light is received by using an optical pulse, a phase delay, and the like. Time t
Is required, the distance d to the prism P1 or the like can be obtained by the following equation (1): d = ct · 2 (1) "." Is a multiplication symbol. The same applies to the following equations.

The light receiving position (first observation position) of the automatic tracking type transit 11 or the automatic tracking type transit 12
The light receiving position (second observation position) is the origin O in FIG. 2, and in addition to the distance d from the prism position P, the vertical angle ψ and the horizontal angle of the line segment OP (optical axis of the laser beam) with respect to the origin O θ can also be measured together.

Therefore, the three-dimensional orthogonal coordinates (x, y, z) of the prism position P are calculated using the following equations (2) to (4) using the measured d, ψ, and θ: x = d · cosψ · cosθ (2) y = d · cosψ · sin θ (3) z = d · sinψ (4)

The emission direction of the laser light emitted from the automatic tracking type transit 11 toward the prism P1 is as follows.
It is automatically controlled by the control circuit, and always faces the prism P1. Similarly, the emission direction of the laser beam emitted from the automatic tracking type transit 12 toward the prism P2 is automatically controlled by the control circuit so that the laser beam always faces the prism P2. These automatic tracking controls are realized, for example, by monitoring the reflected return light received by the light receiving / measuring unit and detecting the direction in which the reflected return light moves.

As described above, the automatic tracking transit 11 allows the relative three-dimensional coordinates (a1, a1) of the prism P1 with respect to the light receiving position of the automatic tracking transit 11.
b1, c1) are measured. Therefore, shield machine 1
00, for example, relative three-dimensional coordinates (d1, e1,
If f1) is obtained by surveying, the relative three-dimensional coordinates of the prism P1 with respect to the surveying reference point are (a1 + d1, b)
1 + e1, c1 + f1).
The same applies to the prism P2.

In this manner, the coordinates of the prism P1 and the prism P2 with respect to the entire coordinate system can be measured. Tunnel excavator position detection system 1 of the first embodiment
In 01, the inclinometer 21 is further provided in the shield machine 100, and the inclination of the shield machine 100 is measured. The inclinometer 21 can measure at least one axis inclination, and can measure, for example, an angle (elevation angle or depression angle) around the pitching axis.

The above-mentioned automatic tracking type transits 11 and 12 and the inclinometer 21 are connected to a computer 31, and each measurement data is output to the computer 31.

Although not shown, the computer 31 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory). Etc.

Of these, the CPU is a part that controls each element and executes processes such as execution of various arithmetic and control programs. The ROM is a storage system that stores programs executed by the CPU, preset information, and the like. The RAM is a storage system for temporarily storing intermediate result data calculated by the CPU.

With such a configuration, the CPU can read data from the ROM
Reads the arithmetic program stored in the ROM and RA
An arithmetic program is executed based on M or an externally provided data value. Note that a hard disk device may be provided instead of the ROM or the RAM.

In a coordinate system having an arbitrary position as the origin of the shield machine 100 (hereinafter referred to as "shield machine local coordinate system"), the relative three-dimensional coordinates of the prism P1, the relative three-dimensional coordinates of the prism P2, and the inclination It is assumed that the relative three-dimensional coordinates of the total 21 and the relationship between these and the position and angle between these and the central axis of the shield machine 100 are measured in advance and known.

With such a configuration, the computer 31
Are the relative three-dimensional coordinates of the prisms P1, P2 with respect to the survey reference points measured by the automatic tracking type transits 11, 12, and the shield machine 10 measured by the inclinometer 21.
Based on the tilt angle of one axis of 0 (for example, the angle around the pitching axis), the relative three-dimensional coordinates of an arbitrary position of the shield machine 100 with respect to the survey reference point of the global (global) coordinate system can be calculated. Further, the direction (digging direction) D of the central axis of the shield machine 100 can also be calculated. In addition to the above values, it is also possible to calculate a rotation angle around three axes (for example, a rolling axis, a pitching axis, and a yawing axis) at an arbitrary position of the shield machine 100. These coordinate information and angle information correspond to spatial position information.

(2) Second Embodiment Next, the configuration and operation of a tunnel excavator position detecting system according to a second embodiment of the present invention will be described with reference to FIG.

As shown in FIG. 3, the tunnel excavator position detecting system 102 includes a prism P as a first target.
1, a prism P2 as a second target, a prism P3 as a third target, an automatic tracking transit 11 as a first target coordinate measuring unit, and an automatic tracking transit 11 as a second target coordinate measuring unit. 12, an automatic tracking transit 13 as a third target coordinate measuring unit, and a computer 32 as a second calculating unit.

The difference between the tunnel excavator position detecting system 102 of the second embodiment and the tunnel excavator position detecting system 101 of the first embodiment is that a prism P3 and an automatic tracking type transit 13 are newly added, and the inclinometer 21 is provided. Has been removed and a different computer 32 has been provided.

The structure and operation of the prism P3
Same as 1 or P2. The configuration and operation of the automatic tracking transit 13 are the same as those of the automatic tracking transit 11 or 12. The computer 32 differs from the computer 31 in the arithmetic program stored in the ROM.

In the tunnel excavator position detecting system 102 of the second embodiment, the coordinates of the prism P1, the prism P2, and the prism P3 with respect to the entire coordinate system can be measured.

In the shield machine local coordinate system having an origin at an arbitrary position of the shield machine 100, the relative three-dimensional coordinates of the prism P1, the relative three-dimensional coordinates of the prism P2,
It is assumed that the relative three-dimensional coordinates of the prism P3 and the relationship between the three-dimensional coordinates and the position and angle between the prism P3 and the central axis of the shield device 100 are measured in advance and known.

Therefore, based on these facts, the computer 31 transmits the automatic tracking type transit 11, 12, 13
P1, P with respect to the survey reference point measured by
2. Based on the relative three-dimensional coordinates of P3, the relative three-dimensional coordinates of an arbitrary position of the shield machine 100 with respect to the survey reference point in the overall coordinate system can be calculated. Also, shield machine 1
The direction (digging direction) D of the central axis of 00 can also be calculated. In addition to the above values, it is also possible to calculate a rotation angle around three axes (for example, a rolling axis, a pitching axis, and a yawing axis) at an arbitrary position of the shield machine 100. These coordinate information and angle information correspond to spatial position information.

According to the tunnel excavator position detection system 101 of the first embodiment and the tunnel excavator position detection system 102 of the second embodiment described above, the spatial position information of the tunnel excavator can be obtained in real time even during excavation. There is an advantage that detection can be performed accurately.

The present invention is not limited to the above embodiment. The above embodiment is an exemplification, and has substantially the same configuration as the technical idea described in the scope of the claims of the present invention. It is included in the technical scope of the invention.

For example, in a mode other than the above-described embodiment, for example, at any position of the tunnel excavator, or at a target position near the tunnel excavator where the relative three-dimensional positional relationship with the tunnel excavator is a known position. A target body (prism) that is provided and reflects incident light in a direction opposite to the incident direction, and a target body that is provided at an observation position outside the tunnel excavator and irradiates the target body with light and relative to the observation position. A set with a target coordinate measuring unit (automatic tracking type transit) that measures target coordinates that are three-dimensional coordinates is represented by
Sets (n: an integer of 3 or more) are provided, and two of the n sets are a set including a first target body (prism P1) and a first target coordinate measuring unit (automatic tracking type transit 11), and a second set
Used as a set consisting of a target body (prism P2) and a second target coordinate measuring unit (automatic tracking type transit 12), and calculates spatial position information at an arbitrary position of the tunnel excavator in the same manner as in the first embodiment. It is good also as a structure which performs.

Further, any position of the tunnel excavator,
A target body (prism) provided at a target position near the tunnel excavator and having a known relative three-dimensional positional relationship with the tunnel excavator and reflecting incident light in a direction opposite to the incident direction; A pair with a target coordinate measuring unit (automatic tracking transit) which is provided at an observation position outside the excavator and irradiates light to the target body to measure target coordinates which are relative three-dimensional coordinates of the target body with respect to the observation position. n sets (n: an integer of 4 or more) are provided.
Three of the sets are set to the first target (prism P1) and the first
A set including a target coordinate measuring unit (automatic tracking transit 11), a set including a second target body (prism P2) and a second target coordinate measuring unit (automatic tracking transit 12), and a third target body (prism P3). ) And a third target coordinate measuring unit (automatic tracking type transit 13), and may be configured to calculate spatial position information at an arbitrary position of the tunnel excavator in the same manner as in the second embodiment. .

In the above embodiment, the shield machine 100 has been described as an example of a tunnel excavator. However, the present invention is not limited to this example, and a tunnel excavator of another type or structure, for example, And "tunnel boring machines" used in mountain tunnels and the like.

[0041]

As described above, according to the present invention,
A tilt measuring unit and at least two target bodies are provided at a target position where a relative three-dimensional positional relationship with the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator, and tunnel excavation is performed. Equipped with a target coordinate measurement unit that measures the position coordinates of the target body outside the machine, or any position of the tunnel excavator, or a position where the relative three-dimensional positional relationship to the tunnel excavator near the tunnel excavator is known Since at least three target bodies are provided at the target position, and a target coordinate measuring unit for measuring the position coordinates of the target body is provided outside the tunnel excavator, the spatial position of the target body is real-time even during excavation of the tunnel excavator. This has the advantage that information can be detected accurately.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating a configuration of a tunnel excavator position detection system according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating the principle of a tunnel excavator position detection system according to the first embodiment of the present invention.

FIG. 3 is a diagram illustrating a configuration of a tunnel excavator position detection system according to a second embodiment of the present invention.

[Explanation of symbols]

11 to 13 Automatic tracking type transit (first target coordinate measuring section to third target coordinate measuring section) 21 inclinometer (incline measuring section) 31 computer (first computing section) 32 computer (second computing section) 100 shield machine ( Tunnel excavator) 101, 102 Tunnel excavator position detection system D Shield machine excavation direction P1 to P3 Prism (first target to third target)

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shinji Konishi 2-8-8 Hikaricho, Kokubunji-shi, Tokyo Inside the Railway Technical Research Institute (72) Inventor Yasushi Yasushi 2-8-8 Hikaricho, Kokubunji-shi, Tokyo 38 Inside the Railway Technical Research Institute (72) Inventor Mitsutaka Sugimoto 1767-1 Fukasawa-cho, Fukasawa-cho, Nagaoka-shi, Niigata 2-404 (72) Inventor Koji Ajikawa 5-8 Kita-Aoyama, Minato-ku, Tokyo F-term (reference) 2D054 GA65 GA82

Claims (6)

[Claims] 1. A light which is provided at any position of a tunnel excavator or at a first target position in the vicinity of the tunnel excavator, the relative three-dimensional position of the tunnel excavator being a known position, and incident thereon. A first target body that reflects light in a direction opposite to the incident direction; and a first target body that is provided at a first observation position outside the tunnel excavator and irradiates the first target body with light to emit light to the first observation position. A first three-dimensional coordinate of the target object
A first target coordinate measuring unit that measures target coordinates, and a second position where a relative three-dimensional positional relationship with respect to the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A second target body provided at a target position and reflecting incident light in a direction opposite to the incident direction; and a second target body provided at a second observation position outside the tunnel excavator and irradiating the second target body with light. A second three-dimensional coordinate of the second target relative to the second observation position;
A second target coordinate measuring unit that measures target coordinates; a tilt measuring unit that is provided in the tunnel excavator and that measures a tilt state of the tunnel excavator; A tunnel excavator position detection system, comprising: a first calculation unit that calculates spatial position information at a tunnel excavator position that is an arbitrary position. 2. The tunnel excavator position detecting system according to claim 1, wherein a relative three-dimensional positional relationship with respect to the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A target body that is provided at a target position that is a position and reflects incident light in a direction opposite to the incident direction; and a target body that is provided at an observation position outside the tunnel excavator and irradiates the target body with light, and the observation position N sets (n: an integer of 3 or more) of target coordinate measuring units for measuring target coordinates, which are relative three-dimensional coordinates of the target body, are provided, and two sets of the n sets are assigned to the first set. A position detection system for a tunnel excavator, wherein the position detection system is used as a set including a target body and a first target coordinate measurement unit and a set including the second target body and a second target coordinate measurement unit. 3. Light that is provided at any position of the tunnel excavator or at a first target position in the vicinity of the tunnel excavator, the relative three-dimensional position of the tunnel excavator being a known position, and incident thereon. A first target body that reflects light in a direction opposite to the incident direction; and a first target body that is provided at a first observation position outside the tunnel excavator and irradiates the first target body with light to emit light to the first observation position. A first three-dimensional coordinate of the target object
A first target coordinate measuring unit that measures target coordinates, and a second position where a relative three-dimensional positional relationship with respect to the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A second target body provided at a target position and reflecting incident light in a direction opposite to the incident direction; and a second target body provided at a second observation position outside the tunnel excavator and irradiating the second target body with light. A second three-dimensional coordinate of the second target relative to the second observation position;
A second target coordinate measuring unit for measuring target coordinates, and a third position where a relative three-dimensional positional relationship with the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A third target body provided at a target position and reflecting incident light in a direction opposite to the incident direction; and a third target body provided at a third observation position outside the tunnel excavator and irradiating the third target body with light. A third three-dimensional coordinate of the second target relative to the third observation position;
A third target coordinate measurement unit that measures target coordinates; and a second calculation unit that calculates spatial position information at a tunnel excavator position that is an arbitrary position of the tunnel excavator based on the known value and the measured value. A tunnel excavator position detecting system. 4. The tunnel excavator position detecting system according to claim 3, wherein a relative three-dimensional positional relationship with respect to the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A target body that is provided at a target position that is a position and reflects incident light in a direction opposite to the incident direction; and a target body that is provided at an observation position outside the tunnel excavator and irradiates light to the target body and irradiates the target body with the observation position. N sets (n: an integer of 4 or more) of target coordinate measuring units for measuring target coordinates, which are relative three-dimensional coordinates of the target body, are provided. It is used as a set including a target object and a first target coordinate measuring unit, a set including the second target object and a second target coordinate measuring unit, and a set including the third target object and a third target coordinate measuring unit. Tunneling machine position detection system. 5. A light which is provided at any position of the tunnel excavator or at a first target position in the vicinity of the tunnel excavator, the relative three-dimensional position of the tunnel excavator being a known position, and incident thereon. A first target body that reflects light in a direction opposite to the incident direction; and a first target body that is provided at a first observation position outside the tunnel excavator and irradiates the first target body with light to emit light to the first observation position. A first three-dimensional coordinate of the target object
A first target coordinate measuring unit that measures target coordinates, and a second position where a relative three-dimensional positional relationship with respect to the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A second target body provided at a target position and reflecting incident light in a direction opposite to the incident direction; and a second target body provided at a second observation position outside the tunnel excavator and irradiating the second target body with light. A second three-dimensional coordinate of the second target relative to the second observation position;
A second target coordinate measuring unit that measures target coordinates; and a tilt measuring unit that is provided in the tunnel excavator and that measures a tilt state of the tunnel excavator. The tunnel excavator based on the known value and the measured value. And calculating spatial position information at a tunnel excavator position that is an arbitrary position of the tunnel excavator. 6. A light which is provided at any position of the tunnel excavator or at a first target position in the vicinity of the tunnel excavator, the relative three-dimensional position of the tunnel excavator being a known position, and incident thereon. A first target body that reflects light in a direction opposite to the incident direction; and a first target body that is provided at a first observation position outside the tunnel excavator and irradiates the first target body with light to emit light to the first observation position. A first three-dimensional coordinate of the target object
A first target coordinate measuring unit that measures target coordinates, and a second position where a relative three-dimensional positional relationship with respect to the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A second target body provided at a target position and reflecting incident light in a direction opposite to the incident direction; and a second target body provided at a second observation position outside the tunnel excavator and irradiating the second target body with light. A second three-dimensional coordinate of the second target relative to the second observation position;
A second target coordinate measuring unit for measuring target coordinates, and a third position where a relative three-dimensional positional relationship with the tunnel excavator is known at any position of the tunnel excavator or near the tunnel excavator. A third target body provided at a target position and reflecting incident light in a direction opposite to the incident direction; and a third target body provided at a third observation position outside the tunnel excavator and irradiating the third target body with light. A third three-dimensional coordinate of the second target relative to the third observation position;
A third target coordinate measuring unit for measuring target coordinates, wherein spatial position information at a tunnel excavator position which is an arbitrary position of the tunnel excavator is calculated based on the known value and the measured value. Excavator position detection method.