JP2009198329A - Position measurement system and position measurement method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a position measurement system and a position measurement method capable of measuring the position and direction of an excavating machine rapidly. <P>SOLUTION: The position measurement system utilized for measuring the position and direction of an excavating machine 1 includes: a plurality of imaging means arranged in a row backward in the advance direction of the excavating machine along a structure formed underground by the excavating machine 1; target members 2, 11, 21, 31 fixed to the rear of the excavating machine and that of an imaging means; reference imaging means 10, 20, 30 that are arranged to image a target member fixed to the imaging means and have known positions and directions; and a position calculation means for calculating the position and direction of the excavating machine. The target members have at least four imaging targets having a three-dimensional position relationship; the imaging means captures a target member positioned immediately before in the advance direction of the excavating machine; and the position calculation means calculates the position and direction of the excavating machine based on the image data of the target member captured by the imaging means and the reference imaging means and the position and direction of the reference imaging means. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a position measurement system and a position measurement method used for measuring the position and orientation of an excavator that excavates in the ground.

  In order to provide water and sewage systems and roads in the ground, as a construction method that has little influence on the ground, a propulsion method using a digging machine that digs underground and a shield method are known. In these construction methods, it is required to accurately measure the position and orientation of the excavator in order to form pipes and tunnels along a predetermined plan line.

As a means for measuring the position and orientation of the excavator, a method using a total station that performs distance measurement and angle measurement by itself is known (see, for example, Patent Document 1). In the invention described in Patent Document 1, a total station is held in a horizontal state by using a hanging type surveying instrument mounting table. A plurality of total stations maintained in a horizontal state are arranged along the pipeline so as to be collimated with each other. In the invention described in Patent Document 1, these total stations sequentially measure from the wellhead side, and the total station arranged closest to the excavator side measures the excavator. And based on the measurement result of these total stations, the position of the excavator is measured by performing a predetermined calculation process.
JP 2006-133213 A

  By the way, the total station is capable of measuring the position of the measurement object by one measurement by performing distance measurement and angle measurement. When measuring the direction of the excavator using this total station, the positions of a plurality of collimation points provided in the excavator are measured. Then, based on the positional relationship of these collimation points, the direction of the excavator is calculated by performing a predetermined calculation process. However, the total station can measure only one point at a time, and cannot measure a plurality of points simultaneously. Accordingly, when the total station is used as in the invention described in Patent Document 1, the measurement of the direction of the excavator requires a plurality of measurement operations, and thus it takes time to measure the direction of the excavator. was there.

  Further, in order to perform measurement using a total station as in the invention described in Patent Document 1, it is necessary to keep the total station in a horizontal state. Therefore, in the invention described in Patent Document 1, a suspension type surveying instrument mounting base is used in order to keep the total station in a horizontal state. However, such a hanging type surveying instrument mounting table swings like a pendulum when it receives vibrations generated during excavation of the excavator. Therefore, in the invention described in the above-mentioned Patent Document 1, since the measurement cannot be performed until the swing of the surveying instrument mounting table is settled, there is a problem that the rapid progress of the measurement work is hindered.

  Accordingly, an object of the present invention is to provide a position measurement system and a position measurement method that can quickly measure the position and orientation of an excavator.

  The present invention is a position measurement system used for measuring the position and orientation of an excavator that excavates in the ground and forms a tubular structure in the excavation path, and the structure formed by the excavator in the ground A plurality of imaging means arranged continuously along the advancing direction of the excavator, a target member fixed to the rear part of the excavator and the rear part of the imaging means, and a target member fixed to the imaging means A reference imaging means whose position and orientation are known, and a position calculation means for calculating the position and orientation of the excavator, and the target member includes four or more imaging targets having a three-dimensional positional relationship. And the imaging means images the target member located immediately before the traveling direction of the excavator, and the position calculating means includes the target member image data captured by the imaging means and the reference imaging means, and the reference imaging means. Position and on the basis of the orientation, and calculates the position and orientation of the excavator.

  In the position measurement system according to the present invention, the target member is fixed to the rear part of the excavator and the rear part of the imaging means. A plurality of imaging units are arranged in series behind the traveling direction of the excavator, and these imaging units capture an image of a target member positioned immediately before the traveling direction of the excavator. Further, the reference image pickup means is arranged so as to pick up an image of the target member fixed to one of the image pickup means. In this position measurement system, the image data of each target member at the time of imaging is obtained by the plurality of imaging units and the reference imaging unit performing imaging simultaneously. Then, the position and orientation of the excavator can be calculated by performing arithmetic processing on these image data. Therefore, in this position measurement system, the direction of the excavator can be quickly measured by one imaging operation and calculation processing.

  Furthermore, in the position measurement system according to the present invention, the imaging unit images the target member and performs arithmetic processing, whereby the relative position and the relative angle between the imaging unit and the target member are calculated. Here, the relative position and relative angle between the target member and the imaging means or the excavator to which the target member is fixed are known. Therefore, the relative position and relative angle between the image pickup units adjacent to each other via the target member are calculated. Then, the position and orientation of the excavator are calculated by synthesizing the relative position and relative angle of each imaging means. Therefore, in this position measurement system, if each imaging unit can capture an image of the target member, measurement work can be performed regardless of the position and orientation of each imaging unit itself. As a result, in the position measurement system, unlike the total station, it is not necessary to stabilize the image pickup means in a horizontal state, so that the measurement work can be rapidly advanced.

  Further, the imaging unit may include an irradiation unit that irradiates light forward, and the imaging target may include a reflection unit that reflects light. According to this position measurement system, the imaging unit can irradiate light toward the front imaging target by the irradiating unit and image the reflection of light from the imaging target having the reflecting unit. In this way, the position measurement system can more reliably image the imaging target and accurately measure the position and orientation of the excavator.

  In addition, the imaging target may have a self-light emitting unit that emits light by itself. According to this position measurement system, light irradiated from the imaging target to the surroundings enters the imaging unit and the reference imaging unit. Therefore, in this position measurement system, the imaging unit and the reference imaging unit can more reliably image the imaging target, so that the position and orientation of the excavator can be accurately measured.

  Further, a plurality of propulsion pipes following the excavator, a rail member continuously disposed in the plurality of propulsion pipes, and a rail moving unit that is provided in the imaging unit and moves the imaging unit along the rail member, Furthermore, it can be set as the aspect provided. According to this position measurement system, even when the imaging target deviates from the imaging range of the imaging unit in a steeply curved pipe or the like, the imaging unit is easily moved to a position where the imaging target can be imaged. be able to. Therefore, in this position measurement system, each imaging device can be easily rearranged according to the situation. Further, according to this position measurement system, when the imaging unit is collected, the imaging unit can be easily collected by moving the imaging unit along the rail member to the wellhead.

  On the other hand, a position measuring method according to the present invention that solves the above-mentioned problems is a position measuring method used for measuring the position and orientation of an excavator that excavates in the ground and forms a tubular structure in the excavation path. The excavator excavates in the ground to form a structure, and a plurality of imaging means are arranged along the excavation path so as to be connected to the rear of the direction of travel of the excavator, and the reference imaging means whose position and orientation are known In order to measure the position and orientation of the excavator, the imaging unit is fixed to the rear part of the imaging unit and the rear part of the excavator located immediately before the traveling direction of the excavator, and has a three-dimensional positional relationship. The target member having at least one imaging target is imaged, the reference imaging means images the target member fixed to the rear part of the imaging means, and the position calculating means is the target member imaged by the imaging means and the reference imaging means. Based on the position and orientation of the image data and the reference imaging unit, and calculates the position and orientation of the excavator.

  ADVANTAGE OF THE INVENTION According to this invention, the position measurement system and position measurement method which can measure the position and direction of an excavator rapidly can be provided.

  Hereinafter, a first embodiment of the position measurement system of the present invention will be described with reference to the drawings. In the description of the drawings, the same or corresponding elements will be denoted by the same reference numerals, and redundant description will be omitted.

  The position measurement system of this embodiment measures the position and orientation of an excavator that excavates in the ground. In the present embodiment, a case will be described in which the position measurement system is applied to a construction that performs a propulsion method in which the excavator is excavated by a propulsion pipe that is press-fitted into the ground following the excavator. Further, the propulsion method in the present embodiment is a muddy water type propulsion method in which earth and sand excavated by an excavator are fluidized by stirring with mud water and discharged to the ground through a pipe. In the following description, the traveling direction of the excavator is referred to as the front, and the direction opposite to the traveling direction is referred to as the rear.

  FIG. 1 is a schematic diagram illustrating a position measurement system according to the first embodiment. As shown in FIG. 1, a propulsion pipe 3 having a diameter substantially the same as the diameter of the excavator 1 is connected to the rear of the excavator 1. A propulsion pipe 4 and a propulsion pipe 5 having the same diameter as the propulsion pipe 3 are connected to the rear of the propulsion pipe 3. These propulsion pipes 3, 4 and 5 are sequentially press-fitted into the ground, so that the excavator 1 located at the head digs in the ground. The propulsion pipes 3, 4, and 5 form pipe lines along the excavation path that the excavator 1 excavates.

  In the propulsion pipe 3, an imager 10 that functions as an imager is arranged so as to be able to image the forward excavator 1. Similarly, in the propulsion pipes 4 and 5, the imagers 20 and 30 are arranged so as to be able to image the immediately preceding imagers 10 and 20, respectively. In addition, a reference image pickup device 40 that images the image pickup device 30 through a pipeline entrance is disposed behind the image pickup device 30. The reference image pickup device 40 is installed outside the pipeline with its position and orientation fixed.

  Further, a rod-like target member 2 is fixed to the rear portion of the excavator 1. A target member 11 having the same structure as that of the target member 2 is fixed to the rear portion of the imaging device 10. Similarly, target members 21 and 31 are fixed to the rear portions of the imaging devices 20 and 30, respectively. A target member 41 is fixed to the rear part of the reference imaging device 40.

  The target member 41 fixed to the reference imaging device 40 is measured by a surveying means such as a light wave surveying instrument (total station) 6 installed outside the pipeline, and the position and orientation of the reference imaging device 40 are calculated in advance. . The position and orientation of the reference imager 40 serve as a reference when measuring the position and orientation of the excavator 1.

  FIG. 2 is a perspective view showing an image pickup device installed in the propulsion pipe. As shown in FIG. 2, in the propulsion pipe 3, a mud discharge pipe 13 and a mud feed pipe 14 are provided along the extending direction of the propulsion pipe 3. The mud pipe 13 and the mud pipe 14 are connected to the excavator 1 and are piped from the excavator 1 to the ground. The mud drain pipe 13 is a pipe for discharging earth and sand and mud water stirred by the excavator 1 to the ground. The mud pipe 14 is a pipe for supplying the excavator 1 with mud water for stirring with earth and sand.

  The mud discharge pipe 13, the mud feed pipe 14, and the propulsion pipe 3 are connected to the excavator 1, respectively. Accordingly, the mud pipe 13, the mud pipe 14, and the propulsion pipe 3 advance in the ground as the excavator 1 excavates. Similarly, the propulsion pipe 4 connected to the propulsion pipe 3 and the propulsion pipe 5 connected to the propulsion pipe 4 advance in the ground as the excavator 1 excavates.

  In the center of the propelling pipe 3, a trapezoidal bracket 15 straddling the mud pipe 13 and the mud pipe 14 is arranged. On the bracket 15, the imaging device 10 is fixed so as to be able to image the front. The image pickup device 10 moves forward together with the mud discharge pipe 13, the mud feed pipe 14 and the propulsion pipe 3. Therefore, the image pickup device 10 is positioned substantially at the center of the propelling pipe 3 regardless of the direction of the pipe line and the degree of bending. Similarly, the imaging devices 20 and 30 are installed in the center of the propulsion pipes 4 and 5, respectively.

  The imaging device 10 has a lens 10a. An annular ring strobe 10b is provided around the lens 10a. The ring strobe 10b functions as an irradiation unit that irradiates light in front of the imaging device 10. Thus, since the imaging device 10 uses the ring strobe 10b as the irradiating means, it becomes difficult for a shadow to appear in the image when light is irradiated, and a clearer image can be obtained.

  A circular reflecting plate 11a that functions as an imaging target is disposed on the right side of the target member 11 fixed to the imaging device 10. Similarly, a reflector 11b is disposed above the target member 11, and a reflector 11c is disposed on the left side of the target member 11. A reflecting plate 11 d is disposed behind the target member 11. The reflecting plate 11d has a larger surface area than the other reflecting plates 11a to 11c. As these reflecting plates 11a to 11d, it is preferable to use a retroreflective material in which spherical glass beads and prisms are arranged in a plane. These reflectors 11a to 11d are precisely positioned so that the remaining one imaging target is located at a place other than the surface defined by any three imaging targets.

  In addition, the target member 11 is formed of a material having high rigidity such as carbon fiber reinforced plastic and Invar steel and having a minute deformation due to temperature change in order to maintain the positional relationship of the reflectors 11a to 11d. Further, the target members 2, 21, 31, 41 fixed to the excavator 1, the image capturing devices 20, 30, and the reference image capturing device 40 have the same configuration as the target member 11.

  FIG. 3 is a perspective view illustrating an imaging state of the excavator by the imaging device. As shown in FIGS. 2 and 3, the imaging device 10 can perform imaging in a predetermined imaging range S through the front lens 10 a. The imaging machine 10 is arranged so that the target member 2 fixed to the excavator 1 is included in the imaging range S.

  When imaging, the imaging device 10 irradiates the imaging range S with light using a ring strobe 10b positioned around the lens 10a. At this time, the reflecting plates 2a to 2d of the target member 2 reflect the light emitted by the ring strobe 10b, so that the imaging device 10 can clearly capture the reflecting plates 2a to 2d. Further, the image pickup devices 20 and 30 and the reference image pickup device 40 have the same configuration and function as the image pickup device 10.

  FIG. 4 is an explanatory diagram illustrating an arithmetic device connected to the image pickup device and the reference image pickup device. As shown in FIG. 4, the arithmetic device 7 is connected to the imaging device 10 via the cable 8. The arithmetic device 7 acquires image data including the target member 2 of the excavator 1 captured by the image capturing device 10 through the cable 8. The arithmetic device 7 is connected to the image pickup devices 20 and 30 and the reference image pickup device 40 via the cable 8. The arithmetic device 7 acquires image data including the target members 11, 21, 31 of the imagers 10, 20, 30 captured by the imagers 20, 30 and the reference imager 40 through the cable 8.

  The computing device 7 is connected to the light wave surveying instrument 6 via the cable 8. The computing device 7 acquires the measurement result of the target member 41 of the reference imaging device 40 by the light wave surveying instrument 6 through the cable 8. The computing device 7 calculates the position and orientation of the reference imager 40 based on the measurement result of the light wave surveying instrument 6.

  The arithmetic device 7 functions as a position calculation unit that calculates the position and orientation of the excavator 1 based on the acquired image data of the target members 2, 11, 21, and 31 and the position and orientation of the reference imaging device 40. The cable 8 is connected to a controller for operating the image pickup device. This controller is capable of operating the image capturing devices 10, 20, 30 and the reference image capturing device 40 to simultaneously perform image capturing.

  Next, a method for calculating the position and orientation of the excavator 1 by the position measurement system having the above configuration will be described with reference to the drawings. FIG. 5 is an explanatory diagram showing the positional relationship between the target member of the excavator and the imaging device.

As shown in FIG. 5, the reflection plates 2 a to 2 d that reflect the light of the ring strobe 10 b are clearly reflected in the image data P obtained by imaging the target member 2 of the excavator 1 by the imaging device 10. The position coordinates of the reflecting plate 2a in the image data P are represented as (x ₁ , y ₁ ). Similarly, the position coordinates of the reflectors 2b to 2d are represented as (x ₂ , y ₂ ), (x ₃ , y ₃ ), and (x ₄ , y ₄ ), respectively. The image data P is captured with an accuracy of less than one pixel in order to accurately acquire the positions of the reflectors 2a to 2d.

Further, the target member 2 fixed to the excavator 1 forms a coordinate system K1 with the center of the target member 2 as the coordinate origin. The position coordinates of the reflecting plate 2a in the coordinate system K1 are expressed as (X ₁ , Y ₁ , Z ₁ ). Similarly, the position coordinates of the reflectors 2b, 2c, and 2d in the coordinate system K1 are respectively (X ₂ , Y ₂ , Z ₂ ), (X ₃ , Y ₃ , Z ₃ ), (X ₄ , Y ₄ , Z _4). ).

The imaging device 10 that images the target member 2 forms a coordinate system K2 with the center of the lens 10a as the coordinate origin. A position coordinate in the coordinate system K1 of the imaging device 10 at the origin of the coordinate system K2 is represented as (X ₀ , Y ₀ , Z ₀ ). Further, the focal length of the lens 10a in the image pickup device 10 is denoted as c, and optical errors such as distortion of the lens 10a in the image data P are denoted as Δx and Δy.

In this case, the relationship between the position coordinates of the reflecting plates 2a to 2d in the image data P, the position coordinates of the reflecting plates 2a to 2d in the coordinate system K1, and the position coordinates of the imaging device 10 in the coordinate system K1 is the collinear condition in the photogrammetry. Is represented by the following formula (1). Note that m _{11 to} m ₃₃ shown in Expression (1) are rotation matrices that match the directions of the X, Y, and Z axes in the coordinate system K1 with the directions of the X, Y, and Z axes in the coordinate system K2, respectively. It is each element of M, and is shown by formula (2) to formula (4) described later.

FIG. 6 is an explanatory diagram showing the relationship between the orientation of the coordinate system K1 and the orientation of the coordinate system K2. Hereinafter, with reference to FIG. 6, the relationship between the directions of the X, Y, and Z axes in the coordinate system K1 and the directions of the X, Y, and Z axes in the coordinate system K2 will be described. First, on the basis of the directions of the X axis, Y axis, and Z axis in the coordinate system K1, it is rotated rightward toward the right side (the direction in which the Z axis overlaps the X axis) by an angle ω. Next, it is turned by an angle φ in the upward direction (direction in which the Z axis is overlapped with the Y axis). Further, it is rotated by an angle κ in the counterclockwise direction (the direction in which the X axis overlaps the Y axis). In this way, it is assumed that the directions of the X, Y, and Z axes in the coordinate system K1 coincide with the directions of the X, Y, and Z axes in the coordinate system K2. At this time, the angle ω is called a horizontal angle, the angle φ is called a vertical angle, and the angle κ is called a camera rotation angle. In this case, the relationship between the X-axis, Y-axis, and Z-axis directions in the coordinate system K1 and the X-axis, Y-axis, and Z-axis directions in the coordinate system K2 is as follows: horizontal angle ω, vertical angle φ, and camera rotation angle κ. And is represented by the following formula (2).

The rotation matrix M is obtained as a product of three matrices of rotation matrices Mκ, Mφ, and Mω, and elements m _{11 to} m ₃₃ of the rotation matrix M are expressed by the following equation (3).

Here, as shown in the following formula (4), each element m _{11 to} m ₃₃ of the rotation matrix M is represented by three matrices of M ₁ , M ₂ , and M ₃ . In this case, as shown in the following equation (5), six constraint conditions are given.

Imaging is performed with reference to the coordinate system K1 by substituting the elements m _{11 to} m ₃₃ of the rotation matrix M shown in the above equations (2) to (5) into the equation (1) and solving the simultaneous equations. The position coordinates (X ₀ , Y ₀ , Z ₀ ) and rotation angle components (ω, φ, κ) of the machine 10 can be shown. In this way, the relationship between the coordinate system K1 and the coordinate system K2 can be obtained.

  In addition, by applying the calculation method described above, the calculation device 7 can indicate the position coordinates and the rotation angle component of the image pickup device 20 with reference to the coordinate system formed by the target member 11 of the image pickup device 10. Similarly, the arithmetic unit 7 can indicate the position coordinates and the rotation angle component of the image pickup device 30 with reference to the coordinate system of the target member of the image pickup device 20. Then, the arithmetic device 7 can indicate the position coordinate and the rotation angle component of the reference image pickup device 40 whose position and orientation are known with reference to the coordinate system formed by the target member 31 of the image pickup device 30. As a result, the arithmetic unit 7 can obtain the relationship between the position coordinates and the rotation angle components between the coordinate systems. Therefore, the arithmetic unit 7 can calculate the position and orientation of the excavator 1 in the on-site coordinate system based on the position coordinates and the rotation angle component of the reference imager 40.

  According to the position measurement system having the above-described configuration, the arithmetic device 7 determines the position and orientation of the excavator 1 based on the image data captured by the image capturing devices 10, 20, 30 and the reference image capturing device 40 in one operation. Is calculated. Therefore, in this position measurement system, the position of the excavator 1 and the direction of the excavator 1 can be quickly measured. Further, in this position measurement system, the image pickup devices 10, 20, 30 and the reference image pickup device 40 continuously perform image pickup, so that the position and orientation of the excavator 1 can be measured almost in real time.

  In addition, according to this position measurement system, the imaging devices 10, 20, and 30 can be related to their positions and orientations as long as they can image the immediately preceding target members 2, 11, 21, and 31 in the traveling direction of the excavator 1. The position and orientation of the excavator 1 can be measured. Therefore, in this position measurement system, it is not necessary to stabilize the positions and orientations of the image pickup devices 10, 20, and 30, and the measurement work can be advanced more quickly than in the case of using a total station or the like.

  Further, according to this position measurement system, the position and orientation of the excavator 1 can be measured with a simple configuration without using precision equipment such as a total station, and a configuration with high environmental resistance can be achieved. Furthermore, according to this position measurement system, the position and orientation of the excavator 1 can be suitably measured even in small-diameter piping work in which no worker can enter the pipeline.

  Next, a second embodiment of the position measurement system of the present invention will be described with reference to the drawings. The position measurement system according to the second embodiment is different from the first embodiment in that an image pickup device is movably attached in the propulsion tube instead of the image pickup device being fixed in the propulsion tube. FIG. 6 is a perspective view showing the image pickup device movably mounted in the propulsion pipe.

  As shown in FIG. 7, in the propulsion pipe 50, a mud discharge pipe 51 and a mud feed pipe 52 are provided along the extending direction of the propulsion pipe 50. In addition, rails 53 and 54 extending along the propulsion pipe 50 are provided on the inner surface of the propulsion pipe 50. Traveling devices 55 and 56 that function as rail moving means are attached to these rails 53 and 54. The traveling devices 55 and 56 have a plurality of rollers inside and are suspended from the rails 53 and 54 via these rollers.

  A bracket 57 on which the imaging device 60 is placed is fixed below the traveling devices 55 and 56. The imaging device 60 is connected to an external arithmetic device and a controller via a cable. Traveling devices 55 and 56 are connected to this controller via wiring. The traveling devices 55 and 56 move back and forth along the rails 53 and 54 according to the output of the controller. With such a configuration, in the position measurement system according to the second embodiment, the imaging device 60 can be attached to the propulsion pipe 50 so as to be movable along the rails 53 and 54.

  According to this position measurement system, even when the immediately preceding imager or the excavator is out of the imaging range of the imager 60, the propulsion pipe 50 moves the imager 60 to the position where the immediately preceding imager or the excavator can be imaged. Can be easily moved along. Further, according to this position measurement system, when the image pickup device 60 is collected, the image pickup device 60 can be easily collected by moving the image pickup device 60 along the rails 53 and 54 to the entrance of the pipeline. .

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above embodiment, the position measurement system is applied to the propulsion method. However, the position measurement system can be preferably applied to a shield method other than the propulsion method.

  Moreover, although the target member is a rod-shaped member, it may be a three-dimensional shape such as a tetrahedron or a sphere, or may be a combination of a plate-shaped member and a rod-shaped member. And have an appropriate shape and size.

  In addition, the shape of the target member fixed to the excavator and the shape of the target member fixed to the image pickup machine are the same structure, but if the shape is known, the shape suitable for the excavator or the image pickup machine is suitable. You may employ | adopt a shape separately.

  In addition, a ring strobe that irradiates light forward is provided on the image pickup device, and a circular reflector is used as an image pickup target, but self-light emitting means such as an LED (Light Emitting Diode) is used as the image pickup target. Also good.

  In addition, when there is a surplus surface area of the imaging target, the imaging target may be captured more clearly by blackening the edge of the reflecting means or the self-light emitting means that functions as the imaging target.

  Further, although the light wave surveying instrument is connected to the computing device via a cable, the light wave surveying machine may not be connected to the computing device. In this case, the position and orientation of the reference imaging device can be calculated in advance by manually inputting the measurement result of the light wave surveying instrument to the arithmetic device.

  In addition, although a rail is provided in the propulsion pipe in order to move the image pickup device along the pipe line, a mud pipe and a mud pipe extending along the propulsion pipe may be used as the rail.

  Further, in the arithmetic device, the arithmetic operation may be performed assuming that the relationship between the distance and the direction between the imaging device and the immediately preceding target member is known. In this case, the arithmetic device can reduce the amount of arithmetic processing, and therefore can quickly calculate the position and orientation of the excavator.

It is the schematic which shows the position measurement system which concerns on 1st Embodiment. It is a perspective view which shows the imaging device installed in the propulsion pipe. It is a perspective view which shows the imaging condition of the excavation machine by an imaging device. It is explanatory drawing which shows the arithmetic unit connected with the imaging device and the reference | standard imaging device. It is explanatory drawing which shows the positional relationship of the target member of an excavation machine, and an imaging device. It is explanatory drawing which shows the relationship between the direction of coordinate system K1, and the direction of coordinate system K2. It is a perspective view which shows the imaging device attached to the propulsion pipe so that a movement was possible.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Excavator, 2, 11, 21, 31, 41, 61 ... Target member, 3, 4, 5, 50 ... Propulsion pipe, 6 ... Light wave surveying instrument, 7 ... Arithmetic unit (position calculation means), 8 ... Cable 10, 20, 30, 60 ... imager (imaging means), 13, 51 ... mud pipe, 14, 52 ... mud pipe, 15, 57 ... bracket, 40 ... reference imager (reference imager), 53 , 54 ... Rail (rail member), 55, 56 ... Traveling device (rail moving means), P ... Image data.

Claims (5)

A position measurement system used to measure the position and orientation of an excavator that excavates in the ground and forms a tubular structure in the excavation path,
A plurality of imaging means arranged continuously along the structure formed by the excavator in the ground and connected to the rear of the traveling direction of the excavator;
A target member fixed to the rear part of the excavator and the rear part of the imaging means;
A reference imaging means arranged to image the target member fixed to the imaging means and having a known position and orientation;
Position calculating means for calculating the position and orientation of the excavator,
The target member has four or more imaging targets having a three-dimensional positional relationship,
The imaging means images the target member located immediately before the traveling direction of the excavator,
The position calculating means calculates the position and orientation of the excavator based on image data of the target member imaged by the imaging means and the reference imaging means and the position and orientation of the reference imaging means. A position measurement system. The imaging means has an irradiation means for irradiating light forward,
The position measurement system according to claim 1, wherein the imaging target includes a reflection unit that reflects the light.   The position measurement system according to claim 1, wherein the imaging target includes self-light emitting means that emits light by itself. A plurality of propulsion pipes following the excavator;
A rail member disposed continuously in the plurality of propulsion pipes;
The position measurement system according to any one of claims 1 to 3, further comprising rail moving means that is provided in the imaging means and moves the imaging means along the rail member. A position measuring method used for measuring the position and orientation of an excavator that excavates in the ground and forms a tubular structure in the excavation path,
The structure is formed by the excavator excavating in the ground, and a plurality of imaging means are arranged along the structure so as to be connected to the rear of the traveling direction of the excavator, and the reference whose position and orientation are known In measuring the position and orientation of the excavator when the imaging means is arranged,
The imaging means images a target member having four or more imaging targets having a three-dimensional positional relationship, fixed to the rear part of the imaging means and the rear part of the excavator located immediately before the traveling direction of the excavator Then, the reference imaging unit images the target member fixed to the rear portion of the imaging unit, and the position calculating unit captures the image data of the target member and the reference imaging captured by the imaging unit and the reference imaging unit. A position measuring method, wherein the position and orientation of the excavator are calculated based on the position and orientation of the means.

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