JP3441006B2 - Correction method of position and attitude angle of thruster - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underground thruster for measuring the position and (azimuth) of an underground thruster in order to construct a tunnel at a planned position. The present invention relates to a method for correcting a position and a posture angle. 2. Description of the Related Art In order to build a tunnel at a planned position accurately and to propel the underground thruster along a propulsion plan line while controlling the underground thruster, the position and attitude of the underground thruster are always required. You must know the corner. Conventionally, the position of an underground thruster has been obtained by a stroke meter for measuring an underground thrust distance based on a detected signal. The attitude angle (azimuth angle) will be described with reference to the underground propulsion device shown in FIG. 1 of the present invention. An angular velocity sensor 2 installed in the underground thruster to detect yawing,
It has been obtained by calculation based on the signals of three detectors, an accelerometer for elevation angle measurement 3 for detecting pitching and an accelerometer 4 for rotation angle measurement for detecting rolling. [0004] In the conventional method, the angular velocity sensor installed in the underground propulsion device includes a drift amount in the measurement angle during long-time measurement. This angular velocity sensor causes a measurement error of the attitude and position of the underground propulsion device. According to the present invention, a gyrocompass, a transmitting coil, and a target plate are provided at a rear portion of a conventional underground propulsion device,
Based on the attitude angle obtained from the gyro compass, the attitude angle including the error measured by the angular velocity sensor is corrected for each certain propulsion distance to prevent accumulation of errors in the attitude angle measurement and to receive the ground on the tunnel along the propulsion plan line. Using a coil to detect the electromagnetic field from the transmitting coil and determine the position of the propulsion device, further using a laser beam generator provided at the tunnel entrance to emit a laser beam, and using the position of the image formed on the target plate provided in the propulsion device In this method, the position of the propulsion device calculated from the attitude angle including the error is corrected for each certain propulsion distance. FIG. 1 is an underground thruster equipped with a measuring instrument according to the present invention, and FIG. 2 is an explanatory diagram of a method for determining the position of the underground thruster using the underground thruster according to the present invention. is there. In FIG. 1, reference numerals 1, 2, 3, and 4 denote instruments described in the conventional example. 6 is a gyrocompass, 10 is a transmitting coil, and 12 is a target plate. In FIG. 2, 7 is a standing pile, 8 is a main pushing device, 9
Denotes an arithmetic unit, 11 denotes a receiving coil, 13 denotes a laser transmitter, 14 denotes a power / signal cable, 15 denotes a console, and T denotes a tube. The operation of each instrument mounted on the underground propulsion device 1 will be described. The angular velocity sensor 2 measures a change angular velocity of a course deviation (yawing) in a left-right direction on a surface on which the angular velocity sensor 2 is installed. In addition, the accelerometer 3 for measuring the elevation angle is
The pitching change angle is determined by the rotation angle measurement acceleration 4 .
The angle of change of the ring is measured. As shown in FIG. 2, the arithmetic unit 9 calculates the underground thruster from this value and the distance signal obtained from the underground thrust distance measuring stroke meter 5 installed in the main pushing device 8 in the standing pile 7. 1 is calculated. When the angular velocity sensor 2 is used for a long time, the detected change angular velocity includes the drift amount. That is, an error occurs in the measurement of the attitude angle and the position of the underground propulsion device 1. Therefore, in order to correct the measurement error of the attitude angle and the position of the underground thruster 1, the gyro compass 6 installed in the underground thruster 1 before the amount of drift of the angular velocity sensor 2 increases does not cause the underground thruster 1 to move. A more accurate attitude angle is measured, and this value is used as the attitude angle of the underground thruster 1 instead of the attitude angle of the underground thruster 1 measured by the angular velocity sensor 2. The main pushing device 8 is a device for sequentially inserting the pipe T into the excavated hole of the underground propulsion device 1. FIG. 2 is a sectional view for explaining a method for determining the position of the underground thruster using an electromagnetic coil or a laser beam. A method of detecting the position by sensing the electromagnetic field generated by the transmitting coil 10 installed in the underground thruster 1 with two receiving coils on the ground, or a standing pile on the target plate 12 installed in the underground thruster 1 7, a laser beam is emitted from a laser transmitter 13, and the position of the underground propulsion device 1 is detected by a method of detecting the position by confirming the position from within the standing pile 7. I do. With this method, it is possible to eliminate the measurement error of the attitude angle and the position of the underground thruster 1, so that the attitude angle and the position of the underground thruster 1 can be measured with high accuracy. When the position of the underground thruster 1 is detected by the transmitting coil 10 and the receiving coil 11,
Since there is an underground material having magnetism in the ground and a magnetic field from the transmitting coil 10 may be generated, a laser transmitter 13 is provided for the purpose of correcting the magnetic field. On the other hand, the transmitting coil 10 is provided on a curved excavation road because the position cannot be accurately detected only by a laser beam traveling straight. Since the exact position of the underground propulsion machine 1 can be confirmed using the coils 10 and 11 or the laser transmitter 13,
If necessary for the position of the underground propulsion device 1 calculated from the attitude angle including the error, the position of the underground propulsion device 1 can be corrected for each certain propulsion distance. Since the present invention is based on the above method, the following effects can be obtained. Since the position and attitude angle of the underground thruster can be measured with high accuracy, it greatly contributes to accurately constructing a tunnel at a planned position.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a configuration diagram of an underground thruster of the present invention. FIG. 2 is a cross-sectional view illustrating a method for determining the position of the underground propulsion device using a transmission coil and a target plate mounted on the underground propulsion device according to the present invention. [Description of Signs] 1 Underground Propulsion Machine 2 Angular Velocity Sensor 3 Elevation Angle Measurement Accelerometer 4 Rotation Angle Measurement Accelerometer 5 Underground Propulsion Distance Measurement Stroke Meter 6 Gyro Compass 7 Standing Pile 8 Main Pushing Device 9 Computing Device 10 Transmitting Coil Reference Signs List 11 Receiving coil 12 Target plate 13 Laser transmitter 14 Power / signal cable 15 Console T tube

   ────────────────────────────────────────────────── ─── Continuation of front page       (56) References JP-A-4-12219 (JP, A)                 JP-A-2-40581 (JP, A)                 JP-A-5-65795 (JP, A)                 JP-A-5-5396 (JP, A)                 JP-A-4-68184 (JP, A)

Claims (1)

(57) [Claims] [Claim 1] The position of the underground thruster is for measuring the underground thrust distance.
Measures based on the signal detected by the stroke meter, and
The attitude angle of the motor is controlled by the angular velocity sensor that detects yawing and the pitch.
Elevation angle measurement accelerometer that detects
Based on the three detector signals of the accelerometer for measuring the rotation angle
In the method of measuring the position and attitude of the underground thruster, the underground thruster is provided with a gyro compass, a transmitting coil and a target plate at the rear, and a cumulative error measured by an angular velocity sensor by an attitude angle obtained from the gyro compass. Is corrected for each propulsion distance, preventing the accumulation of errors in the attitude angle measurement, and detecting the electromagnetic field from the transmitting coil by the receiving coil on the ground of the tunnel along the propulsion planning line, The position, the position of the propulsion device calculated from the attitude angle including the accumulated error using the position of the image formed on the target plate provided in the propulsion device, further providing a laser beam generator at the tunnel entrance and emitting the laser beam, Accumulated error in the position and attitude angle of the propulsion unit, which is corrected for each propulsion distance to prevent accumulation of errors in position measurement Correction method.