JP6331259B2 - Position detection method and position detection system - Google Patents

Description

The present invention is a position detection method, and is intended to relate to the position detection system, in particular, to technology that enables detecting a positional relationship between the object facing each other with good accuracy.

  It is necessary to detect the position of each cutter face at shield tunnels that are starting from different work spaces and are tunneling, and connecting the tunnels excavated by each shield machine with high accuracy. There is. The following techniques have been proposed as techniques for identifying the positional relationship between such shield machines. That is, a boring hole for inserting an antenna is formed toward a cutter face to which a plurality of ID tags are attached, and the ID tag is read by the antenna of the boring hole along with the rotation of the cutter face. A method of detecting the tip position of the cutter face (Patent Document 1) has been proposed. The present applicant has also filed a patent application for a technique (Patent Document 2) for specifying the positional relationship between shield machines based on the reading operation for such a wireless IC tag.

Japanese Patent No. 3221320 JP2013-44134A

  However, the reading result of the ID tag by the above-mentioned antenna is irrelevant whether the location of the ID tag is close to the antenna or near the limit of the communication range, and the reading obtained from the ID tag that can communicate with the antenna. All results are handled in the same line. Accordingly, the position detection is performed based on the reading result of each ID without considering the distance between each ID tag and the antenna, and the position detection accuracy cannot be said to be good.

  Therefore, an object of the present invention is to provide a technique that can detect the positional relationship between opposing objects with good accuracy.

In the position detection method for solving the above problem, the tag reader that holds the position information of each location on the surface of the predetermined object and the ID of the wireless IC tag installed in each location in the storage unit is associated with the tag reader. A first process of performing a reading operation on the wireless IC tag on the surface a plurality of times for all the wireless IC tags, and counting the number of times of identification of each wireless IC tag that can identify the ID by the reading operation; The position information corresponding to the ID of the wireless IC tag is read from the storage unit, and the position information is weighted by multiplying the coordinate value indicating the position information by the value of the identification number counted for the corresponding ID, calculated the position of the tag reader based on each position information after the weighting, a position detection method of performing a second process of outputting the position information the calculation to the output unit, the The predetermined object is provided at the tip of one shield machine among the shield machines facing each other, the tag reader is provided at the tip of the other shield machine, and the tag reader is provided with the first process. And the positional information of the said tag reader obtained by performing the said 2nd process is output to an output part as the information of the opposing position of the said shield machines, It is characterized by the above-mentioned.
According to this, according to the distance between the wireless IC tag and the antenna of the tag reader, the position information of each wireless IC tag can be weighted and used for position detection processing, and the position detection accuracy is good. Become. Therefore, the positional relationship between the opposed objects can be detected with good accuracy.
Further, the positional relationship between the opposing shield machines, that is, the relative position of the other shield machine with respect to one shield machine can be detected with good accuracy.

In the above-described position detection method, the tag reader includes a plurality of antennas that are separated from each other. In the first process, the reading operation is performed a plurality of times by each antenna, and the ID is identified by the reading operation. The number of identifications of each wireless IC tag that has been made is counted for each antenna, and in the second process, the position information corresponding to the corresponding ID is weighted with the value of the number of identifications counted for each antenna. Assuming that the position information of the antenna is calculated based on each subsequent position information, the position information of the tag reader is calculated based on the position information of each antenna obtained by the calculation, and the calculated position information is output to the output unit Also good.
According to this, even if the position information obtained for one antenna includes a predetermined error due to the antenna characteristics of the tag reader or the radio wave environment, the position of the center of gravity is obtained among the position information of a plurality of antennas. Thus, the mutual error is canceled out, and the position detection accuracy of the tag reader or the installation of the tag reader is further improved.

Further, the position detection system of the present invention includes a storage unit that stores position information of each location on the surface of a predetermined object and an ID of a wireless IC tag installed in each location, and a storage on the surface. A first process of performing a reading operation on the wireless IC tag a plurality of times for all the wireless IC tags, and counting the number of times of identification of each wireless IC tag that has been able to identify the ID by the reading operation; The position information corresponding to the ID is read out from the storage unit, and the position information is weighted by multiplying the coordinate value indicating the position information by the value of the number of identifications counted with respect to the corresponding ID. in the position detection system with calculated position of the tag reader based on each position information, and a calculation unit for executing a second process for outputting position information corresponding calculation on the output unit, the The predetermined object is provided at the tip of one shield machine among the shield machines facing each other, the tag reader is provided at the tip of the other shield machine, and the tag reader is The information processing apparatus further includes an output unit that outputs position information of the tag reader obtained by executing the first process and the second process as information on a position where the shield machines face each other .

  According to the present invention, the positional relationship between opposing objects can be detected with good accuracy.

It is a conceptual diagram of the shield machine to which the position detection system of this embodiment is applied. It is a sectional side view which shows the structure containing the position detection system of this embodiment. It is sectional drawing of the A-A 'surface in the structure containing the position detection system of this embodiment. It is a figure which shows the installation form of RFID (wireless IC tag) in this embodiment. It is a figure which shows the structural example of the position detection system in this embodiment. It is a figure which shows the example of a data structure of the tag table in this embodiment. It is a figure which shows the example of a data structure of the detection result table in this embodiment. It is a flowchart which shows the process sequence example of the position detection method in this embodiment. It is a figure which shows the position detection concept in this embodiment. It is a figure which shows the example of a display screen in this embodiment.

--- About the whole structure ---
Embodiments of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a conceptual diagram of a shield machine to which the position detection system of this embodiment is applied, FIG. 2 is a side sectional view showing a structure including the position detection system of this embodiment, and FIG. 3 is a position detection system of this embodiment. It is sectional drawing of the AA 'surface in the structure containing No ..

  As a result of the two shield machines 10 and 11 in the present embodiment forming the tunnels 7 and 8 by excavating the ground 1 to be excavated, respectively, the ground joints 5 face each other. The operation of joining the tunnels 7 and 8 is performed after confirming the misalignment and aligning them appropriately.

  Among the shield machines 10 and 11, the shield machine 11 is provided with a boring rod 30 having one end fixed to a girder portion (not shown) and capable of digging forward from the cutter head 13. The boring rod 30 has a cylindrical shape with a diameter of about 300 mm to 350 mm, and is provided with a cutter 32 at the tip. The boring rod 30 is fed forward in the digging direction of the shield machine 11 through a predetermined hole provided in a partition wall (both not shown) at the boundary between the hood portion and the girder portion.

  In addition, the excavation distance by the above-described boring rod 30 is about 30 to 50 m. This distance is determined as a distance in which the positional deviation can be corrected by excavation after the confirmation when the mutual positional deviation is confirmed between the shield machines 10 and 11. In order to excavate this distance in a straight line, the boring rod 30 is provided with a laser transmitter and a mechanism for adjusting the direction of excavation. That is, the boring rod 30 can advance the excavation linearly along the planned excavation direction by excavating the ground while adjusting the excavation direction so as to follow the laser beam irradiated from the laser transmitter.

  In addition, a tag reader 100 that performs a reading operation on RFID (described later) provided in the concave body 20 of the shield machine 10 that is opposed to the underground joint portion 5 is provided at the tip portion of the boring rod 30 (FIG. 2). . The tag reader 100 includes three antennas 33 to 35 and a control unit 80 connected to the antennas 33 to 35 via a cable 36. In the tag reader 100, the antennas 33 to 35 are driven via a predetermined oscillation circuit under the control of the control unit 80 to oscillate radio waves toward the above-described RFID, and radio waves returned from the RFID are transmitted to the respective antennas. 33-35, and this is demodulated by a predetermined demodulating circuit to obtain the tag ID value. The basic function of the tag reader 100 as an RFID reader device is the same as that of the existing device.

  As shown in FIG. 3, the antennas 33 to 35 provided in the boring rod 30 are provided in the vicinity of the outer periphery of the boring rod 30 at intervals of 120 degrees. For this reason, RFID identification can be performed for each of the antennas 33 to 35, that is, for three locations. Data processed by the tag reader 100 is sent to an external device such as a display or a speaker via the cable 39.

  On the other hand, in the shield machine 10, a concave body 20 is provided on a partition wall (not shown) that is the boundary between the hood portion and the girder portion. The concave body 20 is configured by a bottomed cylindrical structure that is recessed from the surface of the partition wall to the rear side (opposite to the digging direction). The concave body 20 receives the tip portion of the boring rod 30 drawn out from the shield machine 11 (that is, the antennas 33 to 35 of the tag reader 100) up to the back portion 21 in the region surrounded by the outer peripheral portion 22. The concave body 20 is formed at a position corresponding to the boring rod 30 of the shield machine 11 (specifically, when the cutter head 12 of the shield machine 10 and the cutter head 13 of the shield machine 11 face each other at the underground joint 5) It is provided integrally with the partition wall at a position symmetrical to the rod 30.

  The concave body 20 includes a cylindrical outer peripheral portion 22 and a disc-shaped inner portion 21. The opening diameter of the outer peripheral part 22, that is, the diameter of the inner part 21 is determined to be sufficiently larger than the diameter of the boring rod 30 in consideration of the relative displacement between the boring rod 30 and the concave body 20. In the present embodiment, the diameter is set to 900 mm, which is twice or more larger than the diameter of the boring rod 30. In addition, the depth of the outer peripheral portion 22 is determined to be a length that can accommodate the tip portion of the boring rod 30 (eg, about 1000 mm to 1200 mm).

  The concave body 20 is filled with earth and sand 6 generated by excavation of the ground 1. The filled earth and sand 6 do not flow even when the cutter head 12 of the shield machine 10 rotates and remains in the internal space of the concave body 20. For this reason, the earth and sand 6 in the concave body 20 functions as a filler that protects the substrate 40 from the earth and sand of the face 2 that flows with the cutter head 12 when the ground 1 is excavated in the shield machine 10. Therefore, the boring rod 30 moves forward by scraping the earth and sand 6 filled in the concave body 20 by the cutter 32 provided at the front end thereof. The concave body 20 may be filled with an appropriate resin instead of the earth and sand 6.

  In addition, about each structure regarding the boring rod 30 and the concave body 20 mentioned above, the attachment structure with respect to those shield machines, etc., it is the same as that of the existing application content (refer patent document 2) by the inventors of this application.

  As shown in FIG. 2, a circular substrate 40 is attached to the inner surface of the back portion 21 of the concave body 20 with the center position 46 of the back portion 21 as a base point. As shown in an enlarged view in FIG. 4, the substrate 40 is a plate-like member in which a plurality of RFIDs 41 are installed at a predetermined pitch (for example, 50 to 70 mm pitch) in, for example, a matrix shape (matrix shape). In the example shown in FIG. 4, 241 RFIDs 41 of “0” to “240” are installed on the substrate 40.

  For convenience of explanation, a predetermined rectangular area on the substrate 40 centering on each RFID 41 is shown as a unit section 42. This unit section 42 is merely conceptual, and is intended to clearly indicate whether or not the RFID 41 at the center can be identified by the tag reader 100 for each region.

  In the example of FIG. 4, among the antennas 33 to 35 provided in the boring rod 30 close to the substrate 40, the antenna 33 is “74”, “75”, “91” to “93”, “108”. , “109” can be identified by putting the unit section of each RFID 41 in the communication range 43, and the antenna 34 has the unit sections of each RFID 41 of “69” to “71”, “86” to “88”, and “104”. The antenna 35 can be identified by including the unit sections of the RFIDs 41 of “156” to “158” and “173” to “175” within the communication range 45.

  Note that the RFID 41 attached on the base 40 is an existing RFID, stores a unique tag ID in each memory, operates by obtaining power from radio waves from the antennas 33 to 35 of the tag reader 100, and operates. It has a function of returning a tag ID value.

--- Configuration of position detection system ---
Next, a configuration example of the tag reader 100 that is a position detection system will be described. FIG. 5 is an overall configuration diagram including the tag reader 100 of the present embodiment. A tag reader 100 shown in FIG. 1 is an information processing apparatus that can detect the positional relationship between opposing objects with good accuracy. As already described, the tag reader 100 includes the control unit 80 and the antennas 33 to 35. Among these, the hardware configuration of the control unit 80 is as follows.

  The control unit 80 includes a storage unit 101 configured with an appropriate non-volatile storage device such as a hard disk drive, a memory 103 configured with a volatile storage device such as a RAM, and reads the program 102 held in the storage unit 101 into the memory 103. The CPU 104 (arithmetic unit) for performing various determinations, computations and control processes, the input interface 105 for accepting key input and voice input from the user input device 140 via the cable 39, An output interface 106 that outputs processing data to the output device 150 such as a display via the cable 39 and a communication unit 107 that performs communication processing with the antennas 33 to 35 via the cable 36 are provided. The storage unit 101 stores at least a program 102 for implementing functions necessary for the tag reader 100 of the present embodiment, a tag table 125, and a detection result table 126.

  Next, functional units provided in the tag reader 100 of this embodiment will be described. The functional unit described below is a functional unit that is implemented when the tag reader 100 executes the program 102. The tag reader 100 includes a first processing unit 110 and a second processing unit 111 described below. Among them, the first processing unit 110 performs a reading operation on the RFID 41 on the substrate 40 a plurality of times, and counts the identification number of each RFID 41 that has been able to identify the tag ID by the reading operation. In addition, the first processing unit 110 counts the identification number of each RFID 41 that has been able to identify the tag ID by the above-described reading operation for each of the antennas 33 to 35 and stores the count value in the detection result table 126 in the storage unit 101. It has a function to do.

  On the other hand, the second processing unit 111 described above reads the coordinate value (position information) corresponding to the tag ID of each RFID 41 from the tag table 125 of the storage unit 101 and counts the corresponding tag ID with respect to the coordinate value. The value of the number of times of identification is multiplied and weighted, the position of the center of gravity between each weighted coordinate value is calculated, and the information on the position of the center of gravity is used as the coordinates of the center position of the boring rod 30 where the tag reader 100 is installed. The value is output to the output device 150 via the output interface 106. In addition, the second processing unit 111 multiplies the coordinate value corresponding to the tag ID by the value of the number of identifications counted by the first processing unit 110 for each of the antennas 33 to 35 as described above, and the same weighting as described above. To calculate the position of the center of gravity between the weighted coordinate values as the position of the corresponding antenna, calculate the position of the center of gravity between the positions of the antennas obtained by the calculation, and calculate the calculated position of the center of gravity. And a function of outputting the coordinate value of the center position of the boring rod 30 to the output device 150 via the output interface 106.

--- Tables used by tag readers ---
Next, an example of a data structure in a table used by the tag reader 100 of this embodiment will be described. FIG. 6 is a diagram showing an example of the data structure of the tag table 125 in this embodiment. The tag table 125 is an aggregate of records in which the tag ID 1251 of each RFID 41 installed on the substrate 40 is associated with the coordinate value 1252 of the installation location of the corresponding RFID 41 on the substrate 40. The coordinate value 1252 of each RFID 41 in the tag table 125 is a coordinate value when the substrate 40 is regarded as an xy coordinate plane and a predetermined location is the origin. In the example of the tag table 125 shown in FIG. 6, a horizontal x-axis extends rightward on the paper surface with the position of the RFID 41 of the tag ID “112” among the RFIDs 41 on the substrate 40 illustrated in FIG. Suppose that the vertical y-axis extends vertically.

  FIG. 7 is a diagram showing an example of the data structure of the detection result table 126 in the present embodiment. Of the tables used by the tag reader 100, the detection result table 126 indicates the value of the number of times of identification of each RFID 41 (identified by any one of the antennas 33 to 35) that can identify the tag ID by the reading operation with respect to the RFID 41. It is the table which the above-mentioned 1st process part 110 stored with the identification information of the antennas 33-35 which received the response from the applicable RFID41. The detection result table 126 is a collection of records in which the identification number 1262 related to the corresponding RFID 41 and the identification information 1263 of the antenna that has received the response including the corresponding tag ID are associated with the tag ID 1261 as a key. ing.

--- Execution procedure of position detection method ---
Hereinafter, the actual procedure of the position detection method in the present embodiment will be described with reference to the drawings. Various operations corresponding to the position detection method described below are performed by the functional units 110 and 111 implemented by the program 102 executed by the tag reader 100 as the position detection system. The program 102 includes codes for performing various operations described below.

  FIG. 8 is a flowchart showing a processing procedure example of the position detection method in the present embodiment. Here, it is assumed that the shield machines 10 and 11 approach each other at the underground joint 5 and face each other at a certain distance and stop the excavation for the relative position confirmation and the displacement adjustment operation. Further, it is assumed that a person in charge located in a predetermined place such as behind the shield machine 11 or on the ground facility operates the input device 140 to instruct the tag reader 100 to execute the position detection process of the present embodiment.

  In this case, the first processing unit 110 in the tag reader 100 receives the instruction from the input device 140 via the input interface 105 (s100: y), and starts a predetermined number of reading operations for the RFID 41 in response to the instruction. Here, it is assumed that the reading operation is performed five times.

  In addition, the first processing unit 110 of the tag reader 100 stores the number of times of the reading operation in the memory 103 or the storage unit 101 every time the reading operation for each RFID 41 on the substrate 40 is completed once. Accordingly, the first processing unit 110 determines whether or not the number of reading operations stored therein has reached five (s101).

  When the number of reading operations has reached five, that is, when all five reading operations have been completed (s101: y), the first processing unit 110 advances the processing to step s105. On the other hand, when the number of reading operations has not reached five, that is, when all five reading operations have not yet been completed (s101: n), the first processing unit 110 issues an instruction to the control unit 80, A radio wave is oscillated from each of the antennas 33 to 35, and a reading operation for each RFID 41 on the substrate 40 is executed (s102).

  The reading operation for the RFID 41 is performed in the order of the list of tag IDs 1251 in the tag table 125. For example, for the RFID 41 with the tag ID “0” included in the first record in the tag table 125, the read radio wave is oscillated from each of the antennas 33 to 35 to perform the read operation, and then the next record in the tag table 125 is The reading operation is similarly performed on the RFID 41 with the tag ID “1” included, and the reading operation is repeated corresponding to all the records in the tag table 125. When the reading operation is performed once for all the records of the tag table 125, that is, all the RFIDs 41 on the substrate 40, the number of times of performing the reading operation as a determination target in step s101 is “1”.

  The read radio waves oscillated by the antennas 33 to 35 are directed to the opposing substrate 40 and reach the RFID 41 in the communication ranges 43 to 45 of the antennas 33 to 35. Since the read radio wave is oscillated in response to each RFID 41, if there is no corresponding RFID 41 in any of the communication ranges 43 to 45, there is no response from the RFID 41. On the other hand, when the corresponding RFID 41 exists in any one of the communication ranges 43 to 45, a response radio wave including the tag ID is returned from the corresponding RFID 41.

  In this way, the first processing unit 110 of the tag reader 100 acquires the tag ID value to which the RFID 41 responds as a result of the above-described reading operation via the antennas 33 to 35, and obtains the tag ID response. Is identified for each of the antennas 33 to 35 (s103). The first processing unit 110 associates this count value with the identification information of the corresponding antenna and stores it in the detection result table 126 of the storage unit 101 (s104), and returns the process to the above-described step s101 to read all five times. Steps s102 to s104 are repeatedly executed until the operation is completed.

  In the example of the detection result table 126 illustrated in FIG. 7, the tag ID “69” is “1” times by the antenna 34, the tag ID “70” is “4” times by the antenna 34, and the tag ID “71” is “ It is shown that the tag ID “74” can be identified “2” times by the antenna 33 and the tag ID “75” by the antenna 33 “3” times.

  As described above, when steps s102 to s104 by the first processing unit 110 are completed for five times (s101: y), the second processing unit 111 of the tag reader 100 causes the antennas 33 to 35 in the detection result table 126 to be detected. Weighting is performed by multiplying the value of the identification number of each RFID 41 counted every time by the coordinate value corresponding to the corresponding tag ID in the tag table 125 (s105).

  For example, the identification number “1” regarding the tag ID “69” detected by the antenna 34 is multiplied by the coordinate value (45, 15) corresponding to the tag ID “69”, and the weighted coordinate value is (45, 15) is calculated. Similarly, the identification number “4” regarding the tag ID “70” is multiplied by the coordinate value (50, 15) corresponding to the tag ID “70”, and the weighted coordinate value is calculated as (200, 60). Similarly, the identification number “1” regarding the tag ID “71” is multiplied by the coordinate value (55, 15) corresponding to the tag ID “71”, and the weighted coordinate value is calculated as (55, 15). Similarly, the identification number “3” regarding the tag ID “86” is multiplied by the coordinate value (45, 10) corresponding to the tag ID “86”, and the weighted coordinate value is calculated as (135, 30). Similarly, the identification number “5” regarding the tag ID “87” is multiplied by the coordinate value (50, 10) corresponding to the tag ID “87”, and the weighted coordinate value is calculated as (250, 50). Similarly, the identification number “2” regarding the tag ID “88” is multiplied by the coordinate value (55, 10) corresponding to the tag ID “88”, and the weighted coordinate value is calculated as (110, 20). Similarly, the identification number “1” relating to the tag ID “104” is multiplied by the coordinate value (50, 5) corresponding to the tag ID “104”, and the weighted coordinate value is calculated as (50, 5).

  The second processing unit 111 calculates the position of the center of gravity between the coordinate values after such weighting, and specifies the position of the corresponding antenna (s106). In the case of the weighted coordinate values obtained with respect to the antenna 34 described above, the sum of the x coordinate values of the weighted coordinate values is calculated as “(45 + 200 + 55 + 135 + 250 + 110 + 50) = 845”, which is the corresponding tag ID. The total number of times of identification is divided by “1 + 4 + 1 + 3 + 5 + 2 + 1 = 17” to calculate “845/17 = 49.71” and the x coordinate of the barycentric position. Further, the sum of the y-coordinate values of the weighted coordinate values is calculated as “(15 + 60 + 15 + 30 + 50 + 20 + 5) = 195”, and this is divided by the total number of identifications “17” described above to obtain “195/17 = 1.11. 47 ”and the y-coordinate of the center of gravity position are calculated. Thus, the coordinate value (49.71, 11.47) of the center of gravity position with respect to the antenna 34 is specified as the antenna position information.

  The 2nd process part 111 can perform such a process about each antenna 33-35, and can specify the antenna positions 33A-35A for calculation for every antenna, as shown in FIG. In FIG. 9, the communication ranges 43 to 45 when the antennas 33 to 35 oscillate reading radio waves with respect to the substrate 40, the RFID 41 that responds in the communication ranges 43 to 45, and the corresponding unit section 42. (Represented in gray on the paper) and the number of times of identification (in parentheses such as “(3)” in the unit section 42). In the example of FIG. 9, the positions 33A to 35A obtained by calculation of the antennas 33 to 35 indicate that the actual antenna positions 33B to 35B are accurately calculated with a small error.

  Subsequently, the second processing unit 111 calculates the position of the center of gravity between each of the antennas 33 to 35 from the calculated position of each of the antennas 33 to 35 obtained in step s106, that is, the coordinate value. The center position 46A (FIG. 9) is specified (s107). For example, in step s106, the coordinate values obtained for the antenna 33 are (73.10, 11.25), the coordinate values obtained for the antenna 34 are (49.71, 11.47), and the coordinate values obtained for the antenna 35 are ( 62.90, -12.51), the x coordinate is “(73.10 + 49.71 + 62.90) /3=61.90”, and the y coordinate is “(11.25 + 11. 47 + (-12.51)) / 3 = 3.40 ", and (61.90, 3.40) is specified as the coordinate value of the center position 46A of the boring rod 30.

  In addition, the second processing unit 111 includes the center position 46 of the concave body deep part 21 in the shield machine 10 that has been recognized by the surveying and the like, and the center position 46A of the boring rod 30 calculated in step s107. Is calculated as a relative displacement amount between the shield machines 10 and 11, and this is output to the output device 150 via the output interface 106 (s108), and the process is terminated. In the example of FIG. 9, it can be seen that there is a relative positional shift between the center position 46 of the concave body back portion 21 in the shield machine 10 and the center position 46A of the boring rod 30 calculated in step s107. . Regarding the amount of relative positional deviation between the shield machines 10 and 11, the second processing unit 111 sets the amount of deviation from the reference position, that is, the design position, as shown in the display screen 1000 in FIG. A direction (y-axis direction) and a horizontal direction (x-axis direction) are displayed respectively.

  If the person in charge sees the screen 1000 and recognizes the positional deviation, the person in charge presses the button 1012 to close the screen 1000, and sets the direction of the shield machines 10 and 11 to eliminate the positional deviation. The excavation process will be resumed.

  According to this embodiment, it is possible to detect the positional relationship between opposing objects with good accuracy.

  As mentioned above, although embodiment of this invention was described concretely based on the embodiment, it is not limited to this and can be variously changed in the range which does not deviate from the summary.

DESCRIPTION OF SYMBOLS 1 Ground 2, 3 Face 5 Underground joint part 6 Filling material 7, 8 Tunnel 10, 11 Shield machine 12, 13 Cutter head 20 Recessed body 21 Back part 22 Outer part 30 Boring rod 31 Rod part 32 Cutter 33-35 Antenna 36 39 Cable 40 Substrate 41 RFID (Wireless IC tag)
42 Unit section 43 to 45 Communication range 46 Concave body center position 46A Boring rod center position 100 Tag reader (position detection system)
101 Storage Unit 102 Program 103 Memory 104 CPU (Calculation Unit)
105 Input interface 106 Output interface (output unit)
107 communication unit 110 first processing unit 111 second processing unit 125 tag table 126 detection result table 140 input device 150 output device

Claims (3)

A tag reader that associates the location information of each location on the surface of the predetermined object with the ID of the wireless IC tag installed in each location and holds it in the storage unit,
A first process of performing a reading operation on the wireless IC tag on the surface a plurality of times for all the wireless IC tags, and counting the number of times of identification of each wireless IC tag that has been able to identify the ID by the reading operation;
The position information corresponding to the ID of each wireless IC tag is read from the storage unit, and the position information is weighted by multiplying the coordinate value indicating the position information by the value of the identification count counted for the corresponding ID. , Calculating a position of the tag reader based on each weighted position information, and outputting the calculated position information to the output unit;
A position detection method for executing
The predetermined object is provided at the tip of one shield machine among the shield machines facing each other, and the tag reader is provided at the tip of the other shield machine,
The tag reader outputs position information of the tag reader obtained by executing the first process and the second process to the output unit as information on a position where the shield machines are opposed to each other. Detection method. The tag reader
With multiple antennas spaced apart from each other,
In the first process, the reading operation is executed a plurality of times by each antenna, and the identification number of each wireless IC tag that can identify the ID by the reading operation is counted for each antenna.
In the second process, the position information corresponding to the corresponding ID is weighted with the value of the number of identifications counted for each antenna, and the position information of the antenna is calculated based on each weighted position information. Calculate the position information of the tag reader based on the position information of each antenna obtained by the calculation, and output the calculated position information to the output unit.
The position detection method according to claim 1. A storage unit that stores the positional information of each part on the surface of the predetermined object and the ID of the wireless IC tag installed in each part;
A first process of performing a reading operation on the wireless IC tag on the surface a plurality of times for all the wireless IC tags, and counting the number of times of identification of each wireless IC tag that has been able to identify the ID by the reading operation;
The position information corresponding to the ID of each wireless IC tag is read from the storage unit, and the position information is weighted by multiplying the coordinate value indicating the position information by the value of the identification count counted for the corresponding ID. Calculating the position of the tag reader based on each weighted position information, and executing a second process for outputting the calculated position information to the output section;
A position detection system comprising:
The predetermined object is provided at the tip of one shield machine among the shield machines facing each other, and the tag reader is provided at the tip of the other shield machine,
The tag reader further includes an output unit that outputs position information of the tag reader obtained by executing the first process and the second process as information on a position where the shield machines are opposed to each other. Position detection system.