JP2020060014A - Position measuring system, position data processing system, and position measuring method - Google Patents

Abstract

To provide a position measuring system and a position measuring method for reducing a measurement error of a relative position of a digging machine with respect to a reference position.SOLUTION: A distance and a direction to a target T which is an object to be imaged is measured by a plurality of sensors S as a position of the target T. The position of the target T behind a digging path is measured by a head sensor Swhich is mounted on the backward portion of a digging machine 1. The position of each of targets T positioned at the forward and backward of the digging path is measured by using one or more intermediate sensors Sto Swhich are mounted on a plurality of propulsion pipes 2 continuously connected to the backward of the digging machine 1. The position of the target T of the forward portion of the digging path is measured by a reference position sensor Sz which is mounted at a reference position. Relative positions (L) between the plurality of sensors S are summed by the vector sum, and a "relative position L of the head sensor Swith respect to the reference position" is calculated by a measuring device 8, and further the "relative position Lfrom the head sensor Sto the tip of the digging machine 1" is added, and a "relative position LL of the tip of the digging machine 1 with respect to the reference position" is calculated.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a position measuring system that measures the position of an excavator that digs underground, a position data processing system that processes measured position data, and a position measuring method.

  Conventionally, there is known a position measuring system that measures the position of an excavator using a plurality of image pickup means. For example, in the position measurement system described in Patent Document 1, a target member is fixed to the rear part of the machine and the rear part of each imaging means, and the excavation is performed based on the position information of the next target member imaged by each imaging means. Calculate the position of the machine. Therefore, the position of the excavator can be measured even when the excavation path from the reference imaging unit to the excavator is not limited to a straight line but is bent.

JP, 2009-198329, A

  In the position measurement system of Patent Document 1, each image pickup means images only the target member in one direction in the front, and the position of the machine is measured based on only the imaged data in the front. Therefore, there is a problem that the position measurement system alone cannot evaluate and correct the measurement error of each image pickup unit, and a large number of man-hours are required to correct the error.

  The present invention has been made in view of the above problems, and an object thereof is to provide a position measurement system, a position data processing system, and a position measurement method that reduce a measurement error of a relative position of an excavator with respect to a reference position. Especially.

A position measuring system of the present invention is a system for measuring a relative position of an excavator with respect to a reference position for an excavator (1) excavating in the ground from a start shaft (6) as a starting point, and a distance to an imaging object. And a plurality of sensors for measuring the direction as the position of the imaging target, a plurality of marks (T _{1 to} T ₉ ), and a measuring device (8).

The plurality of sensors include a head sensor (S ₁ ), one or more intermediate sensors (S _{2 to} S ₅ ), and a reference position sensor (Sz). The front sensor is installed in the rear part of the excavator and measures the position of the imaging target behind the excavation path. One or more intermediate sensors are installed in the plurality of propulsion pipes (2) that are continuously connected to the rear of the excavator, and measure the positions of the imaging target in front of and behind the excavation path. The reference position sensor is installed at the reference position and measures the position of the imaged object in front of the excavation route.

The plurality of marks are provided between the head sensor and the reference position sensor as an object to be imaged by the plurality of sensors. The measuring device sums relative positions (L _k ) between the plurality of sensors by vector sum to calculate “relative position (L) of leading sensor with respect to reference position”, and further “from leading sensor to tip of excavator”. Up to the relative position (L ₀ ) ”to calculate the“ relative position (LL) of the tip of the excavator with respect to the reference position ”.

  In the position measuring system of the present invention, the plurality of sensors measure the positions of the front and rear marks, and the measuring device calculates the relative position of the tip of the excavator with respect to the reference position, based on the measured positions of the marks. . Therefore, it is possible to reduce the measurement error as compared with the conventional technique in which the relative position is measured based only on the front imaged data.

  The position data processing system of the present invention includes the position measuring system (80) and the data processing device (9). The data processing device executes image processing based on the position data of the excavator, or performs analysis and evaluation processing of the position data of the excavator based on information acquired from a detector other than a plurality of sensors or information received from the outside. Run. For example, by image-processing the position data, the excavation situation can be displayed in a visually easy-to-understand manner, and practical convenience is improved.

A position measuring method of the present invention is a position measuring method that uses the position measuring system described above to measure a relative position of an excavator with respect to a reference position, and includes the following steps.
(A) A step in which a front sensor is installed in the rear part of the machine and a mark is installed in the propulsion pipe following the machine.
(B) A step in which the excavator starts excavation, advances a predetermined distance, and then stops excavation.
(C) A step of measuring the position of one or more marks ahead of the excavation route from any sensor and the position of one or more marks behind the excavation route from any sensor by a plurality of sensors.

(D) A step in which the measuring device calculates the relative position (L _k ) between the adjacent sensors based on the position of the mark.
(E) A step in which the measuring device sums the relative positions of the sensors to calculate the relative position (L) of the leading sensor with respect to the reference position.
(F) The measuring device adds the relative position (L ₀ ) from the front sensor to the tip of the excavator to the relative position of the tip sensor with respect to the reference position, and the relative position (LL) of the tip of the excavator with respect to the reference position. Calculating step.
(G) A step of determining whether or not the machine has reached the final destination.

  When the excavator has not reached the final destination, a new propulsion pipe is connected behind the last propulsion pipe, and a mark or sensor is installed on the new propulsion pipe. The steps up to the calculation of the relative position of the tip of the excavator with respect to are repeated. As a result, the same operational effects as those of the position measuring system described above are obtained.

In the first example of the position measuring method, a plurality of marks whose positions are commonly measured by the rear sensor and the front sensor are provided between the rear sensor and the front sensor which are two adjacent sensors. The measuring device uses the vector sum of the position of the front mark (Pf _a , Pf _b ) measured by the rear sensor and the position of the rear mark (Pr _a , Pr _b ) measured by the front sensor to determine the rear sensor and the front. The relative position (L _ka , L _kb ) with respect to the sensor is calculated. Then, the measuring device averages the relative positions calculated through the plurality of marks to calculate the relative positions of the rear sensor and the front sensor.

  In the second example of the position measuring method, one of the pair of sensors arranged relatively rearward and frontward can detect the relative position of the other by measuring the position of the mark attached to the sensor of the other party. . The measuring device averages the relative position measured forward from the reference position sensor to the lead sensor and the relative position measured backward from the lead sensor to the reference position sensor to determine the relative position of the lead sensor with respect to the reference position. To calculate.

The whole schematic diagram of the position detection system of 1st Embodiment. The top-bottom direction sectional view in the propulsion pipe of FIG. The flowchart of the position detection method of 1st Embodiment. The schematic diagram (1) explaining the position detection method of 1st Embodiment. Schematic diagram (2) of the above. Schematic diagram of the above (3). Schematic diagram (4) of the above. The schematic diagram explaining the position detection method of 2nd Embodiment.

  Embodiments of a position measuring system and a position measuring method will be described below with reference to the drawings. The position measuring system and the position measuring method are a system and a method for measuring the relative position of the excavator with respect to a reference position by using a plurality of imaging sensors for the excavator that excavates the ground from a starting shaft. . The system and method are particularly useful in small bore propulsion methods.

(First embodiment)
The position measuring system and the position measuring method of the first embodiment will be described with reference to FIGS. FIG. 1 is a schematic view of the excavation route of the excavator 1 in the ground seen from above. The excavator 1 starts at the starting shaft 6 and curves in the ground in an S shape. A plurality of propulsion pipes 2 are sequentially and continuously connected to the rear of the excavator 1. First, referring to FIG. 1, a system configuration in a state where the excavation process has advanced to some extent will be described. It is assumed that this excavation path is curved in a two-dimensional direction, but it is assumed that there is no change in the height direction.

  FIG. 2 shows a vertical cross section in the propulsion pipe 2. At the lower part of the propulsion pipe 2, a sludge discharge pipe 5 for sending and discharging the mud excavated by the excavator 1 backward is installed. On both sides of the sludge pipe 5, jacks 4 that support the truck 3 are installed upright. A sensor S and a mark T are installed on the carriage 3. In FIG. 1, the sensor S is indicated by a hatched square mark, and the mark T is indicated by a white circle mark. The sensor S and the mark T have different positions in the depth direction in FIG.

  The sensor S is an image pickup device similar to a CCD image sensor, and detects the distance and direction to the mark T which is an image pickup target. It is preferable that the mark T has a stable shape and light reflection within the imaging range, and is less likely to cause an imaging error. In particular, in this embodiment, a plurality of three-dimensional side area sensors capable of measuring not only a part of a direction but also a wide range (for example, a wide angle area of 270 ° or more) are used. The characteristic is that each three-dimensional side area sensor S measures both the front and rear markers T.

In FIG. 1, a plurality of sensors S installed in the propulsion pipe 2 from the machine 1 side toward the rear are sequentially labeled with symbols S _{1 to} S ₅ . The adjacent sensors S are arranged at intervals of, for example, 10 m or less. Among them, the sensor S ₁ installed at the rear part of the excavator _{1 is referred} to as “lead sensor S ₁ ”, and the other sensors S _{2 to} S ₅ are referred to as “intermediate sensors S _{2 to} S ₅ ”. A reference position is set near the inner wall of the starting shaft 6 opposite to the excavation direction. A transit is installed at the reference position to measure the absolute position of this point. The sensor S installed at the reference position is referred to as a "reference position sensor Sz".

Further, in FIG. 1, a plurality of marks T provided on the propulsion pipe 2 from the excavator 1 side toward the rear are sequentially numbered as T _{1 to} T ₉ . In the first embodiment, each two marks T are installed between two adjacent sensors S, which are a "rear sensor" and a "front sensor". These two marks T are “common marks” whose positions are commonly measured by the “rear sensor” and the “front sensor”. The two common marks T are alternately arranged on the left and right sides of the propulsion pipe 2, such that one is to the left of the propulsion pipe 2 and the other is to the right of the propulsion pipe 2. That is, the other common mark T is located on the straight line connecting the “rear sensor” and the “front sensor” to the one common mark T, and they are arranged so that imaging does not interfere.

The position signals measured by the sensors S _{1 to} S ₅ and Sz are transmitted to the relay box 7 provided in the starting shaft 6. The position signals collected in the relay box 7 are communicated to the measuring device 8 via a multicore cable or the like. The measuring device 8 measures the relative position of the tip position P ₀ of the excavator 1 with respect to the reference position based on the position signals of the sensors S _{1 to} S ₅ and Sz. The plurality of sensors S, the plurality of marks T, and the measuring device 8 described above are components of the position measuring system 80.

  Further, the position data of the machine 1 measured by the measuring device 8 is communicated to the data processing device 9. The data processing device 9 is composed of a computer, for example, performs image processing based on the position data of the excavator 1 and displays the excavation status on the display. In addition, the data processing device 9 includes driving information such as speed of the excavator 1 and motor output acquired from various detectors other than the image sensor, environmental information such as temperature and humidity of the excavation route, or information received from the outside. Based on, the analysis and evaluation processing is executed. The content and method of data processing are set appropriately. A system in which the data processing device 9 is added to the position measurement system 80 is called a position data processing system 90.

  Next, the position measuring method according to the first embodiment will be described with reference to the flowchart of FIG. 3 and the schematic diagrams of FIGS. 4 to 6 are schematic views of the range from the starting shaft 6 to the tip of the excavator 1 as viewed from above. The left side of the figure is the forward direction of the excavator 1, and the reference position sensor Sz is installed at the end of the starting shaft 6 on the side opposite to the forward direction. FIG. 7 is a schematic diagram in which the S-shaped excavation route shown in FIG. 1 is simplified and shown in a straight line.

In <Step 1>, as shown in FIG. 4, the excavator 1 is on standby in the starting shaft 6 which is the starting point of the excavation. A front sensor S ₁ is installed at the rear of the excavator 1, and a mark T ₁ is installed on the propulsion pipe 2 following the excavator 1. After <Step 1>, a series of steps from <Step 2> to <Step 8> described below are performed. Then, until it is judged YES in <Step 9> and is ended, the process returns to before <Step 2> through <Step 10>, and the series of steps from <Step 2> to <Step 8> is repeated. In <Step 10>, a new propulsion pipe 2 is connected behind the rearmost propulsion pipe 2.

  Hereinafter, the series of steps from the first step <Step 2> to <Step 8> is referred to as “first loop”. Also, a series of processes from <Step 2> to <Step 8> on and after the second round are referred to as “repeating loop”. The repeated loop is basically the same as the first loop except that the target mark T or the intermediate sensor S is sequentially increased. 4 to 6 are diagrams mainly illustrating the steps of the first loop. In the description of the repetitive loop, reference is made to FIGS. 1 and 7 in addition to FIGS.

  First, the steps of the initial loop will be described with reference to FIGS. In <Step 2>, the excavator 1 is operated from the position shown in FIG. 4 to start excavation in the ground. The jack 4 extends as the excavator 1 advances. As shown in FIG. 5, when the excavator 1 advances a predetermined distance and the jack 4 is fully extended, the excavation is stopped in <step 3>. <Step 4> to <Step 8> are continuously executed at the position of FIG.

In <Step 4>, the reference position sensor Sz measures the front mark between the sensor S and the sensor S adjacent to the front. In the first loop, the reference position sensor Sz measures the position of the only front mark T ₁ existing between the reference position sensor Sz and the head sensor S ₁ . The measured position vector of the front mark T ₁ is represented by Pf.

In <Step 5>, each sensor S measures a rear mark between the sensor S adjacent to the rear and a front mark between the sensor S adjacent to the front. In the first loop, the head sensor S ₁ measures the position of the only rear mark T ₁ located between the head sensor S ₁ and the reference position sensor Sz. The measured position vector of the rear mark T ₁ is represented by Pr. The position vector is represented by (-Pr) in the direction from the rear mark T ₁ to the head sensor S ₁ .

In <Step 6>, the measuring device 8 calculates the relative position L _k between the sensors S based on the positions of the marks T commonly measured by the rear and front sensors S. Hereinafter, the “relative position L _k ” is a vector amount including the distance and the direction, and “adding the relative position L _k ” means calculating the vector sum. The first loop is one common mark T _1, the relative position L ₁ from the reference position sensor Sz to the beginning sensor S ₁ is calculated one way by the sum of the position vector Pf and the position vector (-Pr) _{(L 1 = Pf-Pr)} .

In <Step 7>, the measuring device 8 sums the relative positions L _k between the sensors S and calculates the relative position L from the reference position sensor Sz to the head sensor S ₁ , that is, “the relative position of the head sensor S ₁ with respect to the reference position. L "is calculated. In the first loop, L = L ₁ , so that the sum is not substantially calculated.

In <Step 8>, the relative position L ₀ from the head sensor S1 to the tip P _{0 of the} machine 1 is measured. Since the direction of the relative position L ₀ is to vary from time to time, the relative position L ₀ is a vector quantity, which varies from the loop. The measuring device 8 adds the “relative position L ₀ from the head sensor S ₁ to the tip of the excavator ₁ ” to the “relative position L of the head sensor S ₁ with respect to the reference position” by the formula (1), The relative position LL of the tip of the machine 1 is calculated.
LL = L + L ₀ (1)

  In <Step 9>, the measuring device 8 compares the calculated position LL with the target position, and determines whether or not the machine 1 has reached the final destination. When the excavator 1 reaches the final destination, the position measuring method routine ends. When the excavator 1 has not reached the final destination, the process proceeds to <Step 10>.

As shown in FIG. 6, in <Step 10>, a new propulsion pipe 2 is connected behind the rearmost propulsion pipe 2. At the stage before the second iteration loop shown in FIG. 6, a second mark T ₂ is installed on the propulsion tube 2. The mark T ₂ is arranged on a straight line connecting the reference position sensor Sz and the mark T ₁ and between the intermediate sensor S ₁ and the mark T ₁ or an extension thereof so that the imaging does not interfere with each other. Further, the mark T ₂ may be formed in a shape different from that of the mark T ₁ for identification.

Next, regarding the steps of the “repeating loop” from the second round onward, the points different from the “first loop” will be described. In the second step <Step 4>, the reference position sensor Sz measures another front mark T ₂ in addition to the front mark T ₁ . The measured position vector of the front landmark T ₁ is represented by Pf _a , and the measured position vector of the front landmark T ₂ is represented by Pf _b . In the second step <Step 5>, the front sensor S ₁ measures another rear mark T ₂ in addition to the rear mark T ₁ . Measured the position vector of the forward mark T ₁ represents Pr _a, the position vector of the forward mark T ₂ and Pr _b.

When the intermediate sensor S ₂ is added in three round loop iteration, the intermediate sensor S ₂ is a <Step 5>, measures the forward mark T _1, T ₂ located between the first sensor S _1. When the rear mark T3 is added to the last of the intermediate sensor S ₂ by a four-round loop iteration, the intermediate sensor S ₂ is a <Step 5>, further measures a rear mark T _3.

In the second step <Step 6>, the two relative positions L _1a (= Pf _a −Pr _a ) and L _1b (= Pf _b −Pr _b ) are set via the two common markers T ₁ and T _2. It is calculated. Then, the relative position L _1a by equation (2.1), averaged L _1, the relative position L ₁ from the reference position sensor Sz to the beginning sensor S ₁ is calculated.
L ₁ = (L _1a + L _1b ) / 2 (2.1)

When the intermediate sensor S ₂ is added in the third loop, the relative position L ₂ from the reference position sensor Sz to the intermediate sensor S ₂ and the intermediate sensor S ₂ to the leading sensor S ₁ are added in <step 6>. The relative position L _{1 up to} is calculated. Here, when the intermediate sensor immediately before the reference position sensor Sz is S _n as shown in FIG. 7, there are a total of (n + 1) sensors including the reference position sensor Sz. From the (n + 1) th sensor. Two common marks T _2n-1 and T _2n are installed between the intermediate sensor S _n and the reference position sensor Sz.

Starting from the reference position sensor Sz, the symbols of the intermediate sensors S _n are arranged in a descending order toward the front. Then, _assuming that the relative position from the (k + 1) th sensor S _{k + 1} to the kth sensor S _k is L _k , formula (2.1) can be rewritten as general formula (2.2).
L _k = (L _ka + L _kb ) / 2 (2.1)
Further, the “relative position L of the leading sensor S ₁ with respect to the reference position” is expressed by the equation (3).

When it is determined to be NO in <Step 9> after the second round, and when the process proceeds to <Step 10>, the intermediate sensor S ₂ is installed in front of the third round, and the mark T ₃ is installed in front of the fourth round. It Hereinafter, as shown in FIG. 1, the mark T or the intermediate sensor S is attached to the new propulsion pipe 2 in the order of “mark T → intermediate sensor S → mark T → mark T → intermediate sensor S → mark T ...”. Is installed. The installation pattern of the mark T and the intermediate sensor S may be changed appropriately.

(Second embodiment)
The position measuring method of the second embodiment will be described with reference to FIG. Similar to FIG. 7, in FIG. 8, the excavation route is simplified and shown as a straight line. In the second embodiment, the mark T and the sensor S are arranged in “substantially the same position” in which their relative positions are fixed. For example, the mark T is fixed at the closest position where the sensor T can be mounted directly above or right next to the sensor S. That is, a mark T ₁ associated with each sensor S is provided such as the mark T ₁ on the head sensor S ₁ and the mark Tz on the reference position sensor Sz. When the housing of the sensor S can be used as the mark T as it is, it may be interpreted that the sensor S also has the function of the mark T.

Therefore, the k-th sensor S _k, (k-1) th sensor S _k-1 forward mark accompanying the T _k-1 By imaging the from behind the sensor S _k ahead of the adjacent sensor S _k- It is possible to directly measure the relative position Lf _k up to ₁ . In addition, by capturing an image of the rear landmark T _k associated with the _kth sensor S _k from the (k−1) th sensor S _k−1 , the front sensor S _k−1 to the rear adjacent sensor S _k can be obtained. It is possible to directly measure the relative position Lr _k of.

That is, the pair of sensors S _k and S _k-1 arranged relatively rearward and frontward measure the positions of the marks T _k-1 and T _k associated with the sensors S _k-1 and S _k of the other party. As a result, one can detect the relative position of the other. The measuring device 8 sums the average values of the relative position Lf _k measured forward and the relative position Lr _k measured backward between the sensors S from k = 1 to n according to the equation (4). Then, the relative position L of the leading sensor S ₁ with respect to the reference position is calculated.

Alternatively, the measuring device 8 uses the formula (5) to measure the total of the relative positions Lf _k measured forward from the reference position sensor Sz to the head sensor S ₁ and heads backward from the head sensor S ₁ to the reference position sensor Sz. The relative position L of the leading sensor S ₁ with respect to the reference position may be calculated by averaging the total of the relative positions Lr _k measured.

The position measuring method of Patent Document 1 (Japanese Patent Application Laid-Open No. 2009-198329), which is a conventional technique, corresponds to a method of calculating only the total of the relative positions Lf _k measured toward the front with respect to Expression (5). In the method of Patent Document 1, there is no idea that the imaging means images the target in the rear in addition to the target in the front. Therefore, the position measurement system alone cannot evaluate and correct the measurement error caused by each image pickup unit. Therefore, there is a problem that a large number of man-hours are required when trying to correct an error by using another measurement technique together.

On the other hand, in the second embodiment, a three-dimensional side area sensor capable of measuring a wide range is used, and from the average value of the relative position Lf _k measured toward the front and the relative position Lr _k measured toward the rear, the “reference The measurement error can be reduced by calculating the “relative position L” of the head sensor S ₁ with respect to the position. Further, when the difference between the relative position Lf _k and the relative position Lr _k is large, it can be determined that there is an abnormality in any of the sensor S, the mark T, or the measuring device 8.

(Other embodiments)
(A) The first embodiment and the second embodiment may be combined and a plurality of common marks T may be provided between adjacent sensors S, and a mark T associated with each sensor S may be provided. Thereby, the relative positions L _k between the sensors S are averaged based on the measurement data of the plurality of common landmarks T, and also averaged based on the front and rear measurement data. By double calculating the average value, the measurement error can be further reduced.

(B) In the first embodiment, two common marks T are provided between the sensors S, but one or three or more common marks T may be provided between the sensors S. When providing three or more common landmarks T, each common landmark T may be treated equally and a simple average of three or more relative positions L _k may be calculated. Alternatively, a master-slave relationship is set for a plurality of common landmarks T, and a relative position via another common landmark T is set only when the variation of the relative position L _k calculated through the main common landmark T is equal to or more than a predetermined value. L _k may be used as an auxiliary correction.

  (C) Each sensor S may further measure the position of the mark T farther than the sensor S adjacent to the front or the rear, as long as there is no interference in imaging. In this case, from the viewpoint of the mark T, the position is measured not only by the adjacent sensors S before and after, but also by the sensor S ahead thereof, and a plurality of position data measured by different sensors S can be averaged. Therefore, the measuring device 8 can further reduce the measurement error by calculating the relative position based on more position data.

  As described above, the present invention is not limited to such an embodiment and can be implemented in various forms without departing from the spirit of the present invention.

1 ... excavator, 2 ... propulsion pipe, 8 ... measuring device,
80 ... Position measurement system,
S ₁ ... Leading sensor, S _{2 to} S ₅ ... Intermediate sensor, Sz ... Reference position sensor,
T ₁ ~T ₉ ··· mark.

Claims (5)

A position measuring system for measuring a relative position of the excavator with respect to a reference position for the excavator (1) that excavates the ground from a start shaft (6) as a starting point,
A plurality of sensors that measure a distance and a direction to an imaged object as a position of the imaged object, the head sensor being installed at a rear portion of the excavator and measuring a position of the imaged object behind the excavation route ( S ₁ ), one or more intermediate sensors (S) installed on a plurality of propulsion pipes (2) continuously connected to the rear of the excavator to measure the positions of the imaging object in front of and behind the excavation path. ₂ to S _5), and wherein is installed in a reference position, a plurality of sensors including a reference position sensor (Sz) to measure the position of the front of an image object excavation route,
A plurality of marks (T _{1 to} T ₉ ) installed between the head sensor and the reference position sensor as objects to be imaged by the plurality of sensors;
The relative position (L _k ) between the plurality of sensors is summed by vector sum to calculate the relative position (L) of the leading sensor with respect to the reference position, and further, from the leading sensor to the tip of the excavator. A measuring device (8) for adding the relative position (L ₀ ) to calculate the relative position (LL) of the tip of the excavator with respect to the reference position;
Position measurement system equipped with. A position measuring system (80) according to claim 1;
Image processing is performed based on the position data of the excavator, or analysis and evaluation processing of the position data of the excavator is performed based on information acquired from a detector other than the plurality of sensors or information received from the outside. A data processing device (9),
Position data processing system including. A position measuring method for measuring the relative position of the machine to the reference position using the position measuring system according to claim 1.
The step of installing the leading sensor at the rear of the machine, and installing the mark on the propulsion pipe subsequent to the machine,
The excavator starts excavation, and after advancing a predetermined distance, stopping excavation,
Measuring a position of one or more of the marks ahead of the excavation route from any of the sensors, and a position of one or more of the marks behind the excavation route from any of the sensors, ,
The measuring device calculates a relative position (L _k ) between the adjacent sensors based on the position of the mark;
A step in which the measuring device sums relative positions between the sensors to calculate a relative position (L) of the leading sensor with respect to the reference position;
The measuring device adds the relative position (L ₀ ) from the head sensor to the tip of the excavator to the relative position of the tip sensor with respect to the reference position to determine the relative position of the tip of the excavator with respect to the reference position. Calculating a position (LL),
Determining whether the machine has reached its final destination,
Including,
When the excavator has not reached the final destination, the new propulsion pipe is connected behind the last propulsion pipe, the mark or the sensor is installed in the new propulsion pipe, and the excavator The position measuring method in which the steps from the start of excavation to the calculation of the relative position of the tip of the excavator with respect to the reference position are repeated. Between a rear sensor and a front sensor which are two adjacent sensors, a plurality of the marks whose positions are commonly measured by the rear sensor and the front sensor are installed,
The measuring device is
The location of the landmark forward backward sensor is measured (Pf _a, Pf _b) and the position of the rear of the landmarks front sensor is measured (Pr _a, Pr _b) by the vector sum of the said rear sensor The relative position (L _ka , L _kb ) with respect to the front sensor is calculated,
The position measuring method according to claim 3, wherein a relative position calculated between the rear sensor and the front sensor is calculated by averaging relative positions calculated through a plurality of the marks. A pair of the sensors arranged relatively rearward and forward, by measuring the position of the mark, one is capable of measuring the relative position of the other,
The measuring device averages a relative position measured forward from the reference position sensor to the leading sensor and a relative position measured backward from the leading sensor to the reference position sensor to obtain the reference position. The position measuring method according to claim 3, wherein a relative position of the leading sensor with respect to is calculated.

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