JP2001132388A - Positioning device for tunnel work machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect inclination and swing of a tunnel work machine by a simple means and to correct it into a right attitude. SOLUTION: Light receiving plates 11, 12 are shiftedly installed in front and behind in each of the both sides of a machine body 1 and mutually parallel laser beams L1, L2 are emitted. An operator corrects the attitude by the manual operation while visually observing them so as to eliminate the deviation between the light receiving points and reference light points of the light receiving plates 11, 12 due to inclination and swing. Or, by setting the interval between the laser beams L1, L2 and the front/rear distance between the light receiving plates 11, 12 as the reference dimensions, the inclination angle and the swing angle are found by the trigonometry based on them and the deviation to correct the attitude by an automatic operation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention detects a tilt and a deviation from a reference axis of a tunnel working machine which performs operations such as excavation for constructing a tunnel and surface cutting for repairing an existing tunnel wall surface, and detects a correct position and posture. The present invention relates to a positioning device for correcting an error.

[0002]

2. Description of the Related Art Self-propelled excavators used for constructing tunnels that cannot employ a shield method or tunnels of irregular cross-sectional shape by a non-cutting method include excavating equipment,
It is desired to work by accurately positioning an airframe equipped with a traveling device or the like on a tunnel reference axis, but in practice, it is usually inclined or shifted with respect to the reference axis.

[0003] In this case, in order to perform accurate excavation, it is necessary to correct the body to a correct position and posture in accordance with the inclination and deviation, or to correct the operation of the excavating equipment. As means for obtaining data therefor, Japanese Patent Laid-Open No. 4-38399
As disclosed in Japanese Unexamined Patent Application Publication No. H8-145573, the laser light emitted from a light emitter installed at an appropriate position in a tunnel is received by a light receiver installed in the body of the excavator, and is placed in a correct position. It is known that the actual posture of the main body is detected based on the deviation of the actual light spot from the reference light point, which is the light receiving point when the light is emitted.

That is, in Japanese Patent Application Laid-Open No. 4-38399, the coordinate position and the tilt angle of the main body with respect to the laser beam are calculated, and the front, rear, left and right tilt angles are separately provided. It is detected by the tilt angle detector. In addition, Japanese Patent Application Laid-Open No. Hei 8-14567
In the device disclosed in Japanese Patent Publication No. 3 (1993), the coordinate position of the main body is calculated by using a laser beam, and the posture of the main body is detected by a separately provided azimuth measuring device and a two-axis inclinometer.

[0005] In each of these, a part of data for excavating equipment correction or body correction is obtained by optical means,
A complicated and cumbersome means of obtaining other data by an inclination angle detector or an azimuth measuring instrument is used, and an improvement measure for obtaining all data only by optical means has been considered.

As one of remedies, as shown in FIG. 11A, light receiving plates R ₁ and R ₂ are positioned at the same height on both the left and right sides of the body M of the excavator with respect to the reference axis NN of the tunnel. At the same time, the light emitting devices S ₁ and S ₂ that emit laser beams L ₁ and L ₂ toward the light receiving plates R ₁ and R ₂ in parallel with the reference axis NN are installed in the tunnel behind the fuselage M. It is considered to be left inside.

The light receiving plate R is provided when the body M is in the correct posture with the center thereof being aligned with the reference axis NN.
_The points where R ₁ and R ₂ receive the laser beams L ₁ and L ₂ are defined as reference light points O ₁ and O ₂ . The distance between the laser beams L ₁ and L ₂ , that is, the distance between the reference light points O ₁ and O ₂ is defined as a reference dimension D ₁ . When the body M is tilted left and right, the light receiving plates R ₁ and R ₂ receive the laser beams at the reference light points O ₁ and O 2.
Since moving from ₂ obliquely upward or downward, it is intended to know the inclination angle by trigonometric using its vertical displacement amount and the reference dimension D _1. When the airframe M is not inclined with respect to the tunnel floor, but swings in the left-right direction and is directed obliquely forward, the points where the light receiving plates R ₁ and R ₂ receive the laser beam are from the reference light points O ₁ and O _2. since moving to the right or left, it is intended to know the deflection angle by trigonometric with its lateral direction displacement amount and the reference dimension D _1.

However, when the body M is tilted forward and backward,
With this optical means, it is not possible to know the inclination angle, and before the construction that the inclination angle detector is not provided, a height reference point is set on both the front and rear parts of the airframe M, and surveying is performed every time the excavator is set The troublesome work of measuring the height from the tunnel floor using equipment or the like and obtaining the inclination angle based on the difference must be performed.

As another remedy, as shown in FIG. 11B, light receiving plates R ₁₁ ,
R _{12, R 21,} together with the _{R 22} have the same height position equipped by projecting at right angles to the reference axis N-N of the tunnel, the light receiving plate _R 11 ··· _{R 2 2} laser light _{L 1} towards the , emitter S in parallel to radiation and the reference axis N-N of L _2
1, the S ₂ it is considered to be installed in the machine body M posterior tunnel. Rear left and right light receiving plates R ₁₁ , R of the body M
_{Numeral 21} allows the laser light to pass therethrough.

In this remedy, the laser beams L ₁ , L
The _second interval in addition to the reference dimension _{D 1,} is the rear part of the light receiving plate _{R 11, R 21} and the front of the light receiving plate _{R 12,} another reference dimension _{D 2} of the front and rear distance with _{R 22.}

When the body M is tilted left and right and swings in the left and right direction, the rear left and right light receiving plates R ₁₁ and R ₂₁ or the front left and right light receiving plates R ₁₂ and R _{22 are provided.}
The inclination angle and the deflection angle can be known by the same method as the method described in the above-described improvement measure, based on the deviation from the reference light point where laser light is received.

When the body M is tilted back and forth, the portions where the rear light receiving plates R ₁₁ and R ₂₁ and the front light receiving plates R ₁₂ and R ₂₂ receive the laser light move upward or downward from the reference light point. , it is possible to know the angle of inclination by the vertical shift amount and the reference dimension D ₂ and the triangular method using.

However, the latter remedy is to use two light receiving plates R ₁₁ , R ₂₁ and R ₁₂ , R _{12 on} each of the right and left and front and rear sides of the body M.
Since it is necessary to provide the mirror ₂₂ accurately and symmetrically, the number of parts is large and the installation is troublesome.

[0014]

According to the present invention, it is extremely complicated and troublesome to know the tilt angle and the azimuth, ie, the deflection angle, only by optical means using laser light without using electrical or mechanical detecting means or measuring means. The object of the present invention is to provide a simple and accurate positioning means which is suitably applied not only to a tunnel excavator but also to a repair work machine. .

[0015]

As a first means for solving the above-mentioned problems, the present invention is arranged such that one side is located at the front and the other side is located at the rear on both sides of the body of the tunnel working machine. Each light-receiving plate and a light-emitting device that is installed in the tunnel with the reference axis of the tunnel interposed therebetween and emits laser light parallel to each light-receiving plate are provided.

A point where each light receiving plate receives laser light when the body is in a predetermined attitude with respect to the reference axis is defined as a reference light point. When the body tilts or swings, the reference light point shifts from the actual light point where the light receiving plate receives the laser beam according to the tilt and shake.Therefore, the posture of the body is visually checked so that the reference light point returns to the actual light point. The position is corrected by a manual operation to a predetermined posture.

Further, as a second means for solving the above-mentioned problems, the present invention provides a light receiving device which is installed on one side of a body of a tunnel working machine, one side being located at a front portion and the other side being located at a rear portion. Plate, a light emitter that emits laser light in parallel to each light receiving plate across the reference axis of the tunnel, an image processing device that reads the coordinates of the position where the light receiving plate receives the laser light, and The position of the light receiving plate from the position where the laser light is actually received to the position where the laser light is actually received, and the distance between the two laser lights or the front-rear distance between the two light receiving plates when the light receiving plate is in the predetermined posture. An electronic arithmetic unit for calculating the inclination angle of the body to the left and right and back and forth and the swing angle to the left and right is provided.

The angle of inclination of the body to the left and right is determined by forming a right-angled triangle whose oblique side is the oblique side based on the amount of displacement of the portion where the light receiving plate receives the laser beam as viewed from the front or the rear and the first reference dimension. It can be found by finding the sine. In addition, the deflection angle of the body to the left and right is obtained by forming a right-angled triangle having the deflection direction as the hypotenuse based on the amount of displacement of the portion where the light receiving plate receives the laser beam as viewed from above and the first reference dimension, and calculating its cosine. You can know by doing. Furthermore, the angle of inclination of the fuselage in the front-rear direction is based on the amount of displacement of the portion where the light receiving plate receives the laser beam as viewed from the side and the second reference dimension, and forms a right-angled triangle with the inclination direction as the base, and the tangent of the triangle. We can know by asking.

In this means, one of the light receiving plates is manually operated so as to visually return the reference light spot to the actual light spot, and a triangle is obtained by using the deviation of the reference light spot of the other light receiving board from the actual light spot. Calculation by the method and automatic operation to return to the actual light point, and calculation by the trigonometry using the deviation of the reference light point of the two light receiving plates from the actual light point to the actual light point only by automatic operation There is a case to return.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment in which the present invention is applied to a cutting machine for tunnel repair will be described with reference to the drawings. FIG. 1, FIG. 2, and FIG. The body 1 of the cutting machine comprises a carriage 2 provided with a traveling section 4 formed of a crawler, and a main body 3 rotatably mounted thereon, and the main body 3 is arranged rearward in the work traveling direction. 5 is provided so as to be movable back and forth and pivotable, and includes components necessary for operation and control, such as a driver's seat and a hydraulic unit (not shown).

The airframe 1 has two upward grippers 6 and two horizontal grippers 7 each composed of a hydraulic cylinder pressed against the ceiling surface and the left and right side surfaces of the tunnel T at front and rear portions, respectively. Outrigger 8 composed of a hydraulic cylinder pressed against the floor of tunnel T
Are provided on the left and right front and rear portions, and the upward gripper 6, the lateral gripper 7, and the outrigger 8 are expanded or contracted by manual operation or automatic operation, thereby making the reference axis N-
The attitude of the body 1 with respect to N is made correct, and the body 1 is fixed so as not to move due to the reaction force at the time of cutting.

At a position equidistant from both sides of the reference axis NN, each one of the light receiving plates 11 and 12 is attached to the main body 3 with its position shifted back and forth. These light receiving plates 11,
Reference numeral 12 is disposed on a plane perpendicular to the reference axis NN, and protrudes outward from the traveling portion 4. Further, two light emitters 13 and 14 that emit laser light to these light receiving plates 11 and 12 are prepared. These light emitters 1
3 and 14 use a surveying instrument or the like in the forward direction of the work so that the laser beams L ₁ and L ₂ are emitted toward the light receiving plates 11 and 12 in parallel with each other and in parallel with the reference axis NN. The light receiving plates 11 and 12 are provided when the body 1 is in a correct posture.
There location for receiving the laser beam L _1, L ₂ is located on one horizontal plane and the light receiving point and the reference point O _1, O _2.
If the body 1 approaches the light emitters 13 and 14 beyond the allowable range as the work proceeds, the light emitters 13 and 14 are moved and reinstalled.

FIG. 4, FIG. 5, and FIG. 6 are views for explaining the situation when the body 1 tilts to the left and right, swings to the left and right, and tilts back and forth, and is parallel to the reference axis NN. The directions, the horizontal and vertical directions perpendicular to this, are indicated by X, Y and Z.

FIG. 4 shows a state in which the machine body 1 is viewed from the front in the cutting operation traveling direction, that is, from the right side in FIGS. The fuselage 1 is inclined higher on the right side and lower on the left side, and the center of the inclination is (A) inside the fuselage 1,
In (B), the case where it is located outside the body 1 is illustrated.

In FIG. 4A, the right light receiving plate 11 moves upward, and the left light receiving plate 12 moves downward, and their reference light points O ₁ and O ₂ are centered on the tilt center A _1. It has moved to the illustrated position along the arc. On the other hand, since the optical paths of the laser beams L ₁ and L ₂ do not change, the light receiving plates 11 and 12
The actual light spots O ₁₁ and O ₂₁ received by the light source coincide with the reference light spots O ₁ and O ₂ when not inclined. FIG.
In (B), the two light receiving plates 11 and 12 are both moved downward, and their reference light points O ₁ and O ₂ are shifted to the inclination center A ₂
Is moved to the position shown in the figure along an arc centered at. Actual point of this time is indicated by _{O 1 2, O 22.}

The driver may determine that the reference light points O ₁ and O ₂ are the actual light points O ₁ and O _2.
11 , O ₁₂ , O ₂₁ , and O ₂₂ , it is possible to visually recognize that they are displaced in the X-Y direction, and it is possible to know that they are tilted left and right according to the direction of this dislocation. O ₁ and O ₂ are converted to actual light spots O ₁₁ , O ₁₂ and O
₂₁ and O ₂₂ so that the light receiving plates 11 and
The main body 1 can be corrected to a correct posture by mainly expanding and contracting the outriggers 8 while visually observing 12.

FIG. 5 shows a state when the body 1 is viewed from above. The fuselage 1 swings obliquely leftward on the side equipped with the cutting machine 5, and the center of the swing is located inside the fuselage 1 in (A) and outside the fuselage 1 in (B). Was exemplified.

In FIG. 5A, two light receiving plates 11,
12 move inward together, and their reference light
Point O₁, O₂Swing center B₁Along an arc centered on
It has moved to the position shown. On the other hand, the laser light L₁, L₂of
Since the optical path does not change, the light receiving plate 1 when not swinging
Reference light spot O at 1 and 12₁, O₂Is the actual light spot O
₁₃, O₂₃Is the symbol F on the moved light receiving plates 11 and 12.
₁, F₂This is the location indicated by. Also, in FIG.
Therefore, the two light receiving plates 11 and 12 are both at the swing center B ₂Who
Move to these reference light spots O₁, O₂Swing center B₂
Is moved to the position shown in the figure along an arc centered at. This
In the light receiving plates 11 and 12 having moved, the actual light spot O₁₄, O
₂₄Is the symbol F₄, F₅This is the location indicated by.

The driver may determine that the reference light spots O ₁ and O ₂ are the actual light spots O ₁ and O _2.
13 , O ₁₄ , O ₂₃ , and O ₂₄ , can be known in the Y direction by looking at F ₁ , F ₂ , F ₄ , and F ₅ , and swing right and left depending on the direction of the shift. It is possible to know that the reference light points O ₁ and O ₂ return to the actual light points O ₁₃ , O ₁₄ , O ₂₃ and O ₂₄ and make them coincide with each other while visually observing the light receiving plates 11 and 12. The body 1 can be corrected to the correct posture by expanding and contracting the horizontal gripper 7 manually.

FIG. 6 shows a state when the body 1 is viewed from the side. The case where the side where the cutting machine 5 is equipped with the cutting machine 5 is inclined low, and the center of the inclination is located inside the body 1 in (A) and outside the body 1 in (B).

In FIG. 6 (A), in the cutting operation progress direction.
The light receiving plate 11 on the rear side moves downward, and receives light on the front side.
The plate 12 moves upward to move these reference light spots O₁, O₂Is
Slope center C₁Move to the position shown in the figure along an arc centered on
are doing. When the light receiving plates 11 and 12 are not moving,
Reference light spot O₁, O₂Is the actual light spot O_Fifteen, O_{2 5}
Is the symbol G on the inclined light receiving plates 11 and 12.₁, G₂Indicated by
Place. Also, in FIG.
The plates 11 and 12 are both moved down to their reference light spots.
O₁, O₂Is the inclination center C₂Figure along an arc centered on
Has moved to the indicated position. The moved light receiving plates 11 and 12
Then, the actual light spot O₁₆, O₂₆Is the symbol G ₃, G₄Indicated by
Place.

The driver can determine that the reference light spots O ₁ and O ₂ are the actual light spots O ₁ and O _2.
15 , O ₁₆ , O ₂₅ , and O ₂₆ can be known from the G ₁ , G ₂ , G ₃ , and G ₄ to be displaced in the Z direction. The reference light points O ₁ , O
_The outrigger 8 is expanded and contracted mainly by manual operation while viewing the light receiving plates 11 and 12 so that the actual light points O ₁₅ , O ₁₆ , O ₂₅ , and O ₂₆ coincide with the actual light points O ₁₅ , O ₁₆ , O ₂₅ , and O _26. Can be corrected to posture.

Next, FIG. 7 shows an embodiment in which the second invention of the present invention is applied to a cutting machine. The cutting machine 5 is provided so as to be movable back and forth and pivotable, and is equipped with a driver seat (not shown), a hydraulic unit, and the like. Further, the first means also includes that the airframe 1 has an upward gripper 6, a horizontal gripper 7, and an outrigger 8, which are hydraulic cylinders pressed against the ceiling surface, left and right side surfaces, and the floor surface of the tunnel T, respectively. It is the same as a cutting machine.

Further, the main body 3 has a reference axis N of the tunnel T.
−N, one light receiving plate 11, 1
2 is attached to the light receiving plates 11 and 12 so that the two light emitters 13 and 14 for emitting a laser beam are prepared in the same manner as the first means. It is.

In the second means of the present invention, the light receiving plate 11,
In addition to the light sources 12 and the light emitters 13 and 14, an image processing device 15 and an electronic operation device (generally a microcomputer) 16 are mounted on the body 1. The image processing device 15 reads the light receiving portions of the light receiving plates 11 and 12 as points on the coordinates,
This is input to the electronic arithmetic unit 16 and used as data for performing required calculations.

The distance between the two laser beams L ₁ and L ₂ ,
That is, the distance between the reference light points O ₁ and O ₂ of the two light receiving plates 11 and 12 is defined as a first reference size D ₁ , and the front-rear distance between the two light receiving plates 11 and 12 is defined as a second reference size D _2. The data is input to the electronic arithmetic unit 16 as necessary data.

Then, the left and right and front and rear sides of the body 1 are determined based on the amounts of deviation of the light receiving portions of the laser beams L ₁ and L ₂ from the reference light points O ₁ and O ₂ and the two reference dimensions D ₁ and D ₂ . The electronic arithmetic unit 16 causes the electronic arithmetic unit 16 to obtain the inclination angle and the swing angle to the left and right, and issue a command to correct the attitude of the body 1 based on the results.

8, 9, and 10 show the inclination angles to the left and right,
It is explanatory drawing of the procedure which calculates | requires the deflection angle to the left and right, and the inclination angle to the front and back, Comprising: The direction parallel to the reference axis NN and the horizontal and vertical directions perpendicular to this are shown by X, Y and Z. .

FIG. 8 shows the front of the cutting operation in the traveling direction, that is, FIG.
Shows the state when the aircraft 1 is viewed from the right side of FIG. The right side of the fuselage 1 is higher and the left side is inclined nearer, and the center of the inclination is illustrated inside the body 1 in (A) and outside the body 1 in (B). .
The inclination angles in these are the same as those in FIGS. 4A and 4B, and the common points are denoted by the same reference numerals.

In FIG. 8A, each light receiving plate 11, 12
By reading the coordinates of the actual light points O ₁₁ and O _{12 in} the image processing device 15, the distances from the reference light points O ₁ and O _{2 in} the Z direction, that is, the shift amounts a ₁₁ and a ₂₁ in the Z direction can be known. it can.

[0041] As a means for obtaining the inclination angle on the basis of this data, obtains the inclination angle after adjusting visually as one reference point O ₁ actually point O _{1 1} coincides back, that There is a way. In this case, assuming that the position of the other reference light point O ₂ does not change, a line segment in the Y direction passing through the inclined line segments O ₁₁ O ₂ and O ₂ and a line segment in the Z direction passing through O ₁₁ are defined. Right triangle O ₁₁ O ₂ with each side
E ₁₁ is made. Side O ₁₁ O ₂ is D ₁ and side O
_{Since 11} E ₁₁ is a ₂₁ , the inclination angle is sin
^-1 (a ₂₁ / D ₁ ).

Another means is to visually check
Two shifts a₁₁, A₂₁The inclination angle based on
There is a method that. In this case, the inclined line segment O₁O
₂And O₂A line segment in the Y direction passing through₁Segment in the Z direction passing through
Is a right-angled triangle O₁O₂E₁₂Is made
You. O₁O₂Is D₁And O₁E₁₂Is (a₁₁+ A
₂₁), The oblique angle is sin^-1｛(A₁₁+ A
₂₁) / D₁Can be obtained by｝.

In FIG. 8B, each of the light receiving plates 11, 12
, The reference light points O ₁ , O ₂ of the actual light points O ₁₂ , O ₂₂
Deviation amounts a ₁₂ and a ₂₂ from the image processing device 15
Can be found at

Next, one actual light spot O _{12 is} visually observed.
If the reference point O ₁ is adjusted to match back to,
When other position of the reference point _{O 2} has not changed, the same right-angled triangle _O 12 _O 2 _{E 21} is made. Side O ₁₂ O ₂ is D ₁ and side O ₁₂ E ₂₁ is a
₂₂ , the inclination angle is sin ⁻¹ (a ₂₂ / D ₁ ).
Can be determined by:

When the inclination angle is obtained without visual observation, a right-angled triangle O having a side in the Y direction passing through the inclined line segments O ₁ O ₂ and O ₂ and a line extending in the Z direction passing through O _1.
To make ₁ O ₂ E ₂₂ , side O ₁ O ₂ is D ₁ and side O
Since ₁ E ₂₂ is _(a 22 _{-a 12),} the inclination angle can be determined by ^{_{sin -1 {(a 22 -a 12}} ) / D 1}.

In each of the cases (A) and (B), the expression for obtaining the sine without visual observation is obtained by calculating the actual light points O ₁₁ , O ₁₂ , O ₂₁ and O ₂₂ with respect to the reference light points O ₁ and O ₂ . Which one to use can be easily determined according to the moving direction.

FIG. 9 shows a state in which the machine body 1 is viewed from above, and the machine body 1 swings obliquely left on the side equipped with the cutting machine 5. The case where the center of this shake is located inside the body 1 in (A) and outside the body 1 in (B) is illustrated. The deflection angles in these cases are the same as in FIGS. 5A and 5B, and the common points are indicated by the same reference numerals.

In FIG. 9A, each light receiving plate 11, 12
, The reference light points O ₁ , O ₂ from the actual light points O ₁₃ , O ₂₃
The horizontal shift amounts a ₁₃ and a ₂₃ of O ₂ are determined by the light receiving plate 11,
12, actual light spots O ₁₃ and O ₂₃ (F in FIG. 5)
₁ , F ₂ ) can be known by reading the coordinates of the image processing device 15.

Here, one actual light spot O is visually observed.
_{If 13} reference point O ₁ to the was adjusted to match back, receiving plate 1 does not change the other position of the reference point O ₂
When negligible change from a23 horizontal shift amount in _{2, O 13,} O 2 Y-direction of the line segment and _{O 13} through an intersection _{F 2} of the X-direction of a line passing through the lines and _{O 23} through the A right-angled triangle O ₁₃ F ₂ F ₃ having each side of a line segment in the X direction passing through and a line segment O ₁₃ F ₂ is created. Since the side O ₁₃ F ₂ is (D ₁ + a ₂₃ ) and the side F ₂ F ₃ is D ₁ , the deflection angle can be obtained by cos ⁻¹ {D ₁ / (D ₁ + a ₂₃ )}.

A case where the deflection angle is determined without visual observation.
If the line segment O₁O₂Deviation amount a₁₃, A ₂₃Line with
Min F₁F₂And make F₁And a line segment in the X direction passing through₂Through
A right-angled triangle F having a line segment in the Y direction₁F₂F
₃Makes side F₁F₂Is (D ₁+ A₁₃+ A₂₃)so
Yes, side F₂F₃Is D₁Therefore, the deflection angle is cos
^-1｛D₁/ (D₁+ A₁₃+ A₂₃Ask by｝
be able to.

In FIG. 9B, two light receiving plates 11 and
Indeed point _O 14 in _12, the reference point O from _{O 2 4}
The horizontal displacements a ₁₄ and a ₂₄ of O ₁ and O ₂ are determined by the light receiving plate 1
The coordinates of the actual light points O ₁₄ and O ₂₄ (F ₄ and F ₅ in FIG. ₅ ) at the positions 1 and 12 can be known by reading the coordinates with the image processing device 15.

One actual light spot O is visually observed.₁₄Based on
Light spot O₁If you adjust back to match, another
Reference light spot O₂Position does not change a₂₄No change in
Assuming that the right triangle O₁₄F
₅F₆Is made. O around that ₁₄F₅Is (D₁+
a₂₄) And the side F₅F₆Is D₁The deflection angle
The degree is cos^-1｛D₁/ (D₁+ A₂₄) Asked by｝
Can be

Where the shake angle is determined without visual observation
In this case, a right triangle F4F5F6 is made in the same manner as described above,
The side F4F5 is (D₁+ A₂₄-A₁₄) And the side
F₅F ₆Is D₁Therefore, the deflection angle is cos^-1｛D₁
/ (D₁+ A₂₄-A₁₄)｝
Wear. Also in these, the reference light spot O₁, O₂Against
Actual light spot O₁₃, O₁₄, O₂₃, O₂₄In the direction of movement
Therefore, it is easy to determine which formula to use.
it can.

FIG. 10 shows a state when the body 1 is viewed from the side, and the side of the body 1 equipped with the cutting machine 5 is inclined low. The center of this inclination is illustrated in (A) inside the fuselage 1 and in (B) is illustrated outside the fuselage 1. The tilt angles in these are shown in FIG.
(A) and (B) are the same, and common points are denoted by the same reference numerals.

In FIG. 10A, each light receiving plate 11, 1
Upper and lower reference point _O 1, _{O 2} from the actual in 2 point _{O 15, O 25} direction displacement amount _{a 15, a 25,} the actual point _{O 15, O 25} of the light-receiving plates 11 and 12 (in FIG. 6 G
₁ , G ₂ ) can be known by reading the coordinates of the image processing device 15.

[0056] If adjusted to match one actually point O ₂₅ is the reference point O ₂ back visually, the other position of the reference point O ₁ of the light receiving point of the light receiving plate 12 does not change Assuming that the change in the amount of deviation in the X direction can be ignored, the line segment O
₁ O ₂₅ , a line passing through O ₁ at a right angle thereto, and O ₁₅ , O ₂₅
Make a right triangle O ₁ O ₂₅ G ₁₁ . The side O ₁ O ₂₅ is D ₂ , the side O ₁ G ₁₁ is equal to a _15, and the inclination angle is tan ⁻¹ (a
₁₅ / D ₂ ).

When the inclination angle is obtained without visual observation, a line that passes through G2 and is parallel to the oblique line segment O ₁ O ₂ , a line that passes through O ₁ at right angles to this line, and passes through O ₁₅ and O ₂₅ A right triangle G ₂ G ₁₂ G ₁ having a line as one side is created. The side G ₂ G ₁₂ is equal to D ₂ , and the side G ₁ G _{12 at} right angles thereto.
Is (a ₁₅ + a ₂₅ ), the inclination angle is tan ⁻¹
{(A ₁₅ + a ₂₅ ) / D ₂ }.

In FIG. 10B, two light receiving plates 1
Actual light spot O at 1,12₁₆, O ₂₆Reference light from
Point O₁, O₂Vertical displacement a₁₆, A₂₆Is the light receiving
Actual light spot O on plates 11 and 12₁₆, O₂₆(FIG. 6
G in₃, G₄) Is read by the image processing device 15
You can know by doing.

One actual light spot O is visually observed.
₂₆(G₄) Is the reference light spot O₂Key to match back
When adjusted, the other reference light point O₁Position does not change
a₁₆Assuming that the amount of change in
Triangle G₄O₁G₃₁Is made. G₄O₁Is D
₂And the side O₁G₃₁Is a₁₆So the tilt angle
Is tan ^-1(A₁₆/ D₂) Can be asked by
You.

When the inclination angle is determined without visual observation
If O₁Through O₁O₂And a line perpendicular to₂Pass through
X direction line and line segment O₁O₂Right triangle O with each side as
₁O₂G₃₂Make the neighborhood O₁O₂Is D₂Equal to
Oh, this is a right angle side O₁G₃₂Is (a₁₆-A₂₆)so
Because there is, the inclination angle is tan^-1｛(A₁₆-A₂₆) /
D ₂Can be obtained by｝. In these
Also the reference light spot O₁, O₂Actual light spot O for_Fifteen, O
₁₆, O₂₅, O₂₆Either expression depends on the moving direction of
Can be easily determined.

In the case where the directions of inclination and runout are opposite, the angle can be obtained by the same method as described above. In addition, since the moving directions of the light receiving plates 11 and 12 are different depending on the center of the tilt and the shake, and the shift directions of the light spots are different accordingly, the mode of the tilt and the shake is determined based on this difference, and the corresponding right triangle is determined. The selection of an appropriate formula after making it is as described above, and in any case, the angle can be accurately obtained.

The method of calculating the angle after visually correcting one of the displacements due to the inclination or the shake has a troublesome aspect that, although the calculation formula is simple, it is necessary to perform the manual operation visually. The method of calculating the angle without visual observation complicates the calculation formula, but has the advantage of eliminating the need for manual operation, and any one of them is optional. Further, by utilizing the fact that the tilt angle and the runout angle are obtained as described above, it is also possible to correct the operation of the cutting machine 5 instead of correcting the attitude of the machine body 1.

The light emitters 13 and 14 must be installed at the rear in the case of an excavator, but may be installed either before or after in the case of a cutting machine.

[0064]

As described above, according to the present invention, the inclination and the shake can be corrected with the two light receiving plates and the two laser beams while observing the inclination or the shake, or the inclination and the shake can be determined by the trigonometric method. Data to be calculated can be obtained, and the attitude of the tunnel working machine can be detected by extremely simple means to perform accurate positioning.

[Brief description of the drawings]

FIG. 1 is a schematic plan view showing an embodiment of a first means of the present invention.

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a view seen from the right side of FIG. 1;

FIG. 4 is an explanatory diagram for correcting left and right inclination by a first means.

FIG. 5 is an explanatory diagram for correcting a shake by a first means.

FIG. 6 is an explanatory diagram for correcting a front and rear inclination by a first means.

FIG. 7 is a schematic plan view showing an embodiment of the second means of the present invention.

FIG. 8 is an explanatory diagram for obtaining left and right inclination angles by a second means.

FIG. 9 is an explanatory diagram for obtaining a shake angle by a second means.

FIG. 10 is an explanatory diagram for obtaining a front and rear inclination angle by a second means.

FIG. 11 is an explanatory plan view of a conventional example.

[Explanation of symbols]

1 body, 11, 12 light receiving plate, 13, 14 light emitting device,
15 image processing device, 16 electronic operation device, L ₁ , L
₂ laser light, O ₁ , O ₂ reference light point,

Claims (2)

[Claims] 1. A light receiving plate which is disposed on the left and right sides of the body of a tunnel working machine with one side positioned at a front portion and the other side positioned at a rear portion, and is installed in a tunnel with a reference axis of the tunnel interposed therebetween. A light emitting device that emits a laser beam in parallel to each of the light receiving plates, and a light emitting device. 2. A light receiving plate installed on one side on the left and right sides of the body of the tunnel working machine, one on the front and the other on the rear, and each of the light receiving plates sandwiching the reference axis of the tunnel. A light emitting device that emits laser light in parallel with each other, an image processing device that reads coordinates of a position where the light receiving plate receives the laser light, and the image processing device is configured such that the body is in a predetermined posture with respect to the reference axis. The amount of deviation from the point where the light receiving plate receives the laser light to the coordinates, and the inclination angle to the left and right and the front and rear of the body based on the distance between the two laser lights or the front and rear distance of the two light receiving plates. An electronic arithmetic device for calculating a deflection angle of a tunnel working machine.