JP3247143B2 - Positioning / posture surveying device for moving objects - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for measuring the position and orientation of a moving object. More specifically, the present invention relates to a new position / posture measuring method capable of measuring the position and posture of a moving body such as a shield machine with high efficiency and high accuracy.

[0002]

2. Description of the Related Art In recent years, with the technological progress of shield construction and propulsion construction, studies on automatic control and automatic measurement means for moving a shield machine along a predetermined planning line have been vigorously pursued. Have been However,
These means for automation remain problematic, and further improvements are needed for highly efficient and accurate shield drilling. Similarly, automatic operation of construction equipment as a moving object is also expected from the viewpoint of reducing labor and improving safety, but it is difficult to implement it because the surveying system for automatic operation is not perfect. Has become.

For example, regarding a method of measuring the position and attitude of a shield machine, pitching and rolling are conventionally detected by an inclinometer, and yawing is performed by a gyro or the like. However, in the case of these conventional methods for measuring the attitude of the shield machine, errors due to restrictions such as temperature drift, linearity, and horizontal axis sensitivity (of the inclinometer) are unavoidable and affect the measurement accuracy. Was. For this reason, there is a limit in improving the accuracy of the attitude survey.

[0004] Further, based on a reference point installed in a mine, the center line of the shield plan and the position and direction of the shield excavator are also grasped by a manual operation using a transit, a level, and a steel tape. However, according to this method, surveying is inefficient, labor saving and automation are not possible, and high level experience and skills are required for surveying. In addition, there is a disadvantage in that the smaller the cross section of the tunnel, the lower the accuracy, and there is a time lag in grasping the position and attitude of the shield machine.

Therefore, as a means for solving these disadvantages and achieving higher efficiency and labor saving, a shield excavator has been proposed.
A method of setting a bright point of a point, detecting the bright point by a detecting unit including a rear TV camera and a light wave distance measuring device, and obtaining a position / posture from a two-dimensional coordinate position of the three points on the television image and the distance measurement value. Has also been proposed. However, in this method, the surveying accuracy depends on the resolution of the television image, and the system is complicated. Further, since the device is expensive, the introduction effect may not be obtained depending on the site.

Accordingly, a new surveying method as a more efficient, more accurate, simpler, and lower cost system is a common problem of the position / posture survey of a moving body without being limited to the shield machine. The realization of this was strongly desired. The present invention has been made in view of the above circumstances, and provides a new method capable of overcoming the drawbacks of the conventional method and measuring the position and orientation of a moving object with high efficiency and high accuracy. It is intended to be.

[0007]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems by providing a three-point target.
Moving body and a rear bogie with an automatic tracking rangefinder
Self-propelled trolley and rear trolley or 2 installed behind the self-propelled trolley
Via a control device to two different rear reference points and a rangefinder
And a computer device connected to
Before moving , two different rear reference points are surveyed by an auto-tracking ranging angle measuring instrument installed on the rear bogie or self-propelled bogie.
In addition to calculating the coordinates of the moving tracking type distance measuring and angle measuring instrument, the three-dimensional coordinate position of the moving body on which the three targets serving as the survey reference are set before movement is obtained, and then, after the predetermined movement of the moving body.
Similarly, after two different distances by the automatic tracking rangefinder
Surveying with three reference points and three targets
Performs surveying as a survey reference, thereby detecting the position of the moving object and identifying the three targets of the moving object.
In the survey to survey reference, moving objects from the change amount of the 3-dimensional coordinate position of the moving body moving around the target determined, the rolling of the moving object, and detecting the yawing and / or pitching tilt Provide a position / posture surveying device .

That is, the present invention relates to a method for automatically measuring the position, posture, and the like of a shield excavator or the like as a moving body. An automatic tracking distance measuring goniometer installed behind the body, that is, a target such as a reflective prism is automatically searched for, and the distance and angle to this target are measured by a surveying device, and based on its own coordinates. The three-dimensional coordinates of this target can be obtained. In addition, if three prisms are used at the same time by using three auto-tracking distance measuring and angle measuring instruments, the position and orientation of the moving object can be measured in real time.

As a method of automatically obtaining the coordinates of the distance measuring angle finder, it can be realized by triangulation or the like. Such surveying is not limited to automatic surveying in shield construction, but can be applied to surveying the position and posture of various moving objects, for example, construction machines. Hereinafter, the surveying method of the present invention will be described in more detail as examples.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As shown in FIG. 1, for example, a shield excavator (1) is used as a moving body, and its position and posture are obtained. First, in position surveying, two reflecting prisms are used as rear reference points (2) whose coordinates are known, and they are attached to the trailing bogie (3) of the shield machine (1) or independent of them. The rear reference point (2) is surveyed by an automatic tracking distance measuring and angle measuring instrument (4) installed on the self-propelled vehicle. From the measured value at this time and the coordinates of the rear reference point (2), the coordinates of the distance measuring goniometer (4) are calculated.

Next, three targets (5) installed on the shield machine (1) are measured based on the coordinates of the distance measuring angle finder (4). Thereby, the target (5)
Calculate the coordinates before the movement. Next, in the same manner after the movement of the shield excavator (1), the automatic tracking type distance measurement is similarly performed.
Two different rear reference points are used as surveying standards by a goniometer
Surveying and surveying using a three-point target as a surveying reference
Is executed, calculation whereby, after the movement, the coordinates of the moving object
Out to detect the position displacement amount before and after the moving body moves when co
Next , the coordinates of the three-point target (5) of the moving body are calculated, and
The amount of change in the 3D coordinate position of the target before and after moving
Mobile rolling, yawing and / or
The amount of inclination of the pitching is detected .

A personal computer (6) is connected to the automatic tracking type distance measuring goniometer (4) via a control device so that calculations can be performed. Next, as the inclination of the shield machine (1), the calculation of the surveying of rolling, pitching and yawing will be described. The deviation of the coordinates associated with the rotation from the coordinates of the target (5) before the movement and the coordinates after the movement. From this, the inclination of the shield machine (1) is calculated. That is, the amount of rolling, yawing, and pitching is calculated from the amount of change between the coordinates before the movement and the coordinates after the movement.

FIG. 2 shows the relationship for this calculation. The center of gravity of P ₁ P ₂ P ₃ composed of the three points of the target (5) is represented by G (x _G , y _G , z _G ). age,
3 points before the movement of _{P 1 (x 1, y 1} , z 1) P 2 (x 2, y 2, z 2) P 3 (x 3, y 3, z 3) P after movement _'1 P''the center of gravity of the _{3 G' 2 P (x '} G,
y ′ _G , z ′ _G ), and the three points after the movement are P ′ ₁ (x ′ ₁ , y ′ ₁ , z ′ ₁ ) P ′ ₂ (x ′ ₂ , y ′ ₂ , z ′ ₂ ) P Assuming that ′ ₃ (x ′ ₃ , y ′ ₃ , z ′ ₃ ), the amount of change due to the movement can be considered as shown in FIG.

The amount of translation (ΔxΔyΔz) The amount of pitching ω The amount of rolling ψ The amount of yawing κ Therefore, the following calculation is performed. (A) Correction of the amount of parallel movement In order to calculate the amount of inclination (pitching, rolling, yawing), the amount of parallel movement must first be corrected. This parallel movement _{amount, (ΔxΔyΔz) = G (x} G, y G, z G) -G '(x' G, y 'G, z' G) because it is, the point P _'1 P' ₂ P ′ Correcting the translation amount of ₃

[0015]

(Equation 1)

## EQU1 ## Here, as shown in FIG.
Square P₁P_TwoP_ThreeAnd the triangle P ″₁P "_TwoP " _ThreeIs the center of gravity
Are the same, and the triangle P ″₁P "_TwoP "_ThreeIs the triangle P
₁P_TwoP_ThreeTo the xyz axis around the center of gravity point G
The shape is rotated by ωψκ.(B) Calculation of rotation amount Assuming that a rotation matrix around the center of gravity G is R,

[0017]

(Equation 2)

## EQU1 ## For example, if the rotation matrix when rotated in the order of κψω is Rκψω, this RκＲω is as follows.

[0019]

(Equation 3)

The following equations are derived from the above equations (1), (2) and (3).

[0021]

(Equation 4)

From equations (4), (5) and (6), the following equation is derived.

[0023]

(Equation 5)

From equations (7), (8) and (9), a ₁₁ a ₁₂ a
_Ask for ₁₃ . Here, the matrix when rotated in the order of κψω is

[0025]

(Equation 6)

Therefore, the equations (10), (11), (1)
2), ψ and κ are obtained. ω is (4) (5)
It is determined by using the equation (6). (C) Correction of Rotation Amount Although ωψκ is obtained as described above, in the case of the adopted formula, when one of the three xyz axes is rotated, the other two axes also rotate. Will be affected by quantity. That is, the result is as shown in FIG.

Since the pitching, rolling, and yawing amounts of the shield machine are the amounts of inclination from the reference coordinate system, when Rκψω is used in the above formula, only κ (the amount of yawing) is the amount of inclination from the reference coordinate system. Yes, ψ
ω is the amount of inclination of the coordinate system after correcting κ. Therefore,
In order to obtain the amount of inclination of ψ and ω from the reference coordinate system, instead of the above-mentioned Rκψω, R = Rψωκ or Rψκω. = Rωψκ or Rωκψ Further, in the case of obtaining κ, R = Rκωψ or Rκψω may be used. In the above example, the center of rotation is the center of gravity of the triangle before the movement, but the center of rotation suitable for the purpose can be set and calculated without depending on the center of gravity.

According to the above calculation, in the surveying method of the present invention, by detecting the coordinates of the target,
The survey can be performed with much higher accuracy than a conventional method using an inclinometer. Of course, in the present invention, various modes are possible for the device configuration for measurement and survey. The present invention includes these optional embodiments.

[0029]

According to the surveying method of the present invention, high-precision surveying can be performed and the target can be used for both position surveying and attitude surveying, so that the position and orientation can be measured efficiently. If the arrangement of the three points is optimized, the calculation formula is simplified and the accuracy is improved. In addition, install a distance measuring angler
Ancillary equipment can be installed because electrical components can be gathered at the place
Minimize and simplify location constraints and maintain
The trouble of relocating the surveying equipment can be saved.

[Brief description of the drawings]

FIG. 1 is a sectional view showing a surveying method in a shield machine as an embodiment of the present invention.

FIG. 2 is a coordinate relation diagram.

FIG. 3 is a coordinate system diagram after correction of a parallel movement amount.

FIG. 4 is a coordinate system diagram showing an influence of a rotation amount.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 shield excavator 2 rear reference point 3 trailing bogie 4 ranging finder 5 point target 6 personal computer

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-62-293115 (JP, A) JP-A-2-58669 (JP, A) JP-A-3-92712 (JP, A) JP-A-4-92 65631 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 15/00-15/14 E21D 1/00-9/14

Claims (2)

(57) [Claims] 1. A moving body on which three targets are installed,
A rear bogie or self-propelled bogie with an automatic tracking rangefinder
And two different trucks installed behind a rear bogie or self-propelled bogie.
Connected to the rear reference point and the rangefinder via a control device.
Before moving the mobile object ,
Automatic tracking type by measuring two different rear reference points by automatic tracking type distance measuring angle gauge installed on the rear bogie or self-propelled bogie
In addition to calculating the coordinates of the distance measuring angle finder, the three-dimensional coordinate position before the movement of the moving object on which the three targets serving as the surveying reference are set is obtained, and then the same applies after the predetermined movement of the moving object.
Two different rear reference points by automatic tracking rangefinder
Surveying with three survey targets and three targets as surveying standards
Is performed, thereby detecting the position of the moving object and determining the targets of the three points of the moving object based on the survey standard.
And in surveying, the amount of change in the three-dimensional coordinate position of the moving body moving around the target obtained, the position and orientation surveying of a moving body and detects an inclination amount of the moving object
Equipment . 2. The surveying device according to claim 1, wherein the moving body is a shield machine or another construction machine.