JPH0412219A - Position/attitude measuring method for underground excavator - Google Patents
Position/attitude measuring method for underground excavatorInfo
- Publication number
- JPH0412219A JPH0412219A JP11511190A JP11511190A JPH0412219A JP H0412219 A JPH0412219 A JP H0412219A JP 11511190 A JP11511190 A JP 11511190A JP 11511190 A JP11511190 A JP 11511190A JP H0412219 A JPH0412219 A JP H0412219A
- Authority
- JP
- Japan
- Prior art keywords
- excavator
- underground excavator
- measuring
- underground
- rotation angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 9
- 238000012937 correction Methods 0.000 claims description 2
- 238000012545 processing Methods 0.000 abstract description 6
- 238000009825 accumulation Methods 0.000 abstract 1
- 238000005259 measurement Methods 0.000 description 18
- 238000009412 basement excavation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000012790 confirmation Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000000691 measurement method Methods 0.000 description 1
Landscapes
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
Description
【発明の詳細な説明】
「産業上の利用分野］
本発明は、計画位置にトンネルを築造する地中掘削機の
位置および姿勢（方位角〉を計測する地中掘削機の位置
・姿勢計測方法に関するものである。Detailed Description of the Invention "Industrial Application Field" The present invention provides a method for measuring the position and orientation of an underground excavator that measures the position and orientation (azimuth angle) of an underground excavator that constructs a tunnel at a planned location. It is related to.
［従来の技術］
計画位置に正確にＩ〜ンネルを築造する目的で地中掘削
機を制御しなから、掘削計画線に沿って推進させるため
には、常時、地中掘削機の位置および姿勢を把握してい
なけれはならない。[Prior Art] In order to control an underground excavator for the purpose of constructing an I-channel accurately at a planned location and to propel it along the excavation planned line, it is necessary to constantly adjust the position and orientation of the underground excavator. must be understood.
従来、地中掘削機の位置計測は、１〜ランジツトによる
測量、レーザ光を利用した測量により行われている。ま
た、地中掘削機の姿勢計測は、常時、北を指すコンパス
で測量を行っている。Conventionally, the position of an underground excavator has been measured by a survey using a lunge or a laser beam. Additionally, the attitude of the underground excavator is always measured using a compass pointing north.
１〜ランシツ１へによる測量は、トンネル内に基準点を
設け、地中掘削機か進むとともに基準点を１〜ンネル前
方に移動させながら測量を行い、測量結果により地中掘
削機の掘削方向を修正し、１〜ンネルを築造していく。For surveying from 1 to 1, a reference point is set inside the tunnel, and as the underground excavator moves forward, the reference point is moved forward from 1 to 1 during the survey, and the excavation direction of the underground excavator is determined based on the survey results. Correct it and build a tunnel from 1 to 1.
一般的にトランシットによる測量は、曲線部では２０ｍ
〜３０ｍ間隔でまた、直線部では５０ｍ間隔で行ってい
る。Generally, surveying by transit is 20m on curved sections.
It is carried out at ~30m intervals, and at 50m intervals on straight sections.
一方、レーザ光を利用した測量は、１ヘランシツ１〜に
よる測量と同様にトンネル内に基準点を設け、レーザ光
発信器を設置し、地中掘削機に設置したレーザ光受信器
でレーザ光を受けることにより、測量を行っている。レ
ーザ光は直進する光であるなめにトンネル曲線部におい
ては、トンネル内基準点をトンネル前方に移動し、移動
した基準点にレーザ光発信器を移動設置し直して測量を
行ってる。On the other hand, surveying using laser light involves setting a reference point in the tunnel, installing a laser beam transmitter, and transmitting the laser beam with a laser beam receiver installed on an underground excavator, similar to the survey by 1 Heranshitsu 1~. Surveys are carried out by receiving measurements. Laser light travels in a straight line, so in curved tunnel sections, the reference point inside the tunnel is moved to the front of the tunnel, and the laser light transmitter is relocated and reinstalled at the moved reference point to perform surveying.
また、コンパスによる地中掘削機の姿勢計測方法は、コ
ンパスか常時、水平に設置された状態で北を指すことを
利用し、ある一定距離の間での変化した角度を方位角に
換算するものである。In addition, the method of measuring the attitude of an underground excavator using a compass is to use the fact that the compass is always pointing north when installed horizontally, and convert the angle that changes over a certain distance into an azimuth. It is.
［発明が解決しようとする課題］
従来、地中掘削機の位置計測は、トランシットによる測
量、レーザ光を利用した測量により行なわれている。し
かしなから、トランシットによる測量は、測量作業に時
間を要し、地中掘削機の姿勢（方位角）を把握すること
が困難であり、測定した方位角の値は精度が低く、地中
掘削機の制御の指標となり得ない。一方、レーザ光を利
用した測量は、トンネルの計画線が曲線である場合、レ
ーザ光発信器などの盛り替えなどの煩雑な作業が必要で
あり、トランシットによる測量での確認が必要である。[Problems to be Solved by the Invention] Conventionally, the position of an underground excavator has been measured by surveying using a transit or by surveying using a laser beam. However, surveying by transit takes time, and it is difficult to grasp the attitude (azimuth) of the underground excavator, and the measured azimuth value has low accuracy. It cannot be used as an indicator for machine control. On the other hand, surveying using laser light requires complicated work such as replacing laser light transmitters when the planned line of the tunnel is a curve, and confirmation by surveying using a transit is required.
また、小断面のトンネルを築造する場合、レーザ光か通
過するスペースを確保することか困難である。Furthermore, when constructing a tunnel with a small cross section, it is difficult to secure a space for the laser beam to pass through.
地中掘削機の姿勢については、従来、仰角計測用加速度
計による地中掘削機の仰角および回転計測用加速度計に
よる地中掘削機の回転角をかなり正確に把握できる。一
方、方位角については、コンパスよる方位角測定法が用
いられている場合かあるか、精度が低く、トランシット
による測量による確認作業が必要である。しかしながら
、極小断面トンネルを築造する場合、トランシラ１〜に
よる測量での確認作業が不可能である。Regarding the attitude of an underground excavator, conventionally, the elevation angle of the underground excavator can be determined fairly accurately using an accelerometer for measuring elevation angle, and the rotation angle of the underground excavator can be determined using an accelerometer for measuring rotation. On the other hand, as for azimuth, compasses are sometimes used to measure the azimuth, which has low accuracy and requires confirmation by surveying using a transit. However, when constructing a tunnel with a very small cross section, it is impossible to perform confirmation work by surveying using Transira 1~.
また、コンパスによる地中掘削機の姿勢計測方法は、コ
ンパスが常時、水平に設置された状態で測定されなけれ
ば、測定値は極めて不正確な値となるため、測定時には
地中掘削機制止時にコンパスか水平であることを確認し
て計測を行なわなければ高精度を確保できない。また、
コンパスは、電源の入り切りにより誤差が生じるため、
−旦電源を入れると、電源を切ることが困難であり、地
中掘削機によるトンネル築造作業が行われていない時に
も作動させていなければならず、コンパス自身の９子命
を短くするという問題があった。In addition, when measuring the attitude of an underground excavator using a compass, the measured value will be extremely inaccurate unless the compass is always placed horizontally. High accuracy cannot be ensured unless you measure using a compass and make sure it is level. Also,
Compasses have errors due to turning the power on and off, so
- Once the power is turned on, it is difficult to turn it off, and it has to be kept running even when tunnel construction work is not being done with underground excavators, which shortens the life of the compass itself. was there.
このように従来の地中掘削機の位置および姿勢の計測作
業は、トンネル内での人による工程が必ず必要であり、
また、断続的な測定のため、測定精度が低く、小断面、
長距離２曲線状トンネル築造にとって極めて困難な作業
であった。In this way, measuring the position and orientation of conventional underground excavators always requires a human process inside the tunnel.
In addition, due to intermittent measurement, measurement accuracy is low, and small cross-sections and
This was an extremely difficult task for constructing a long-distance two-curve tunnel.
［課題を解決するための手段］
このようなな課題を解決するために本発明に係る地中掘
削機の位置・姿勢計測方法は、地中掘削機内に設置され
た回転角速度計測用ジャイロスコープにより得られた信
号を、地中掘削機内に設置された仰角計測用加速度計２
回転角計測用加速度計および立坑内に設置された地中掘
削機距離計測用ストローク計信号により補正計算するよ
うにしたものである。[Means for Solving the Problems] In order to solve such problems, the method for measuring the position and orientation of an underground excavator according to the present invention uses a gyroscope for measuring rotational angular velocity installed in the underground excavator. The obtained signal is transmitted to the elevation measurement accelerometer 2 installed inside the underground excavator.
Correction calculations are performed using signals from an accelerometer for measuring the rotation angle and a stroke meter for measuring the distance of the underground excavator installed in the shaft.
［作用］
本発明においては、地中掘削機の地中掘削機推進中の姿
勢を正確かつ連続的に測定把握することが可能となる。[Operation] In the present invention, it becomes possible to accurately and continuously measure and understand the attitude of the underground excavator while the underground excavator is being propelled.
［実施例］ 以下、図面を用いて本発明の実施例を詳細に説明する。[Example] Embodiments of the present invention will be described in detail below with reference to the drawings.
第１図は、本発明による地中掘削機の位置・姿勢計測方
法の一実施例を説明するための地中掘削機の位置・姿勢
計測システムの構成を示す概略図である。同図において
、１は地中掘削機、２は回転角速度計測用ジャイロスコ
ープ、３は仰角計測用加速度計、４は回転角計測用加速
度計、５は地中掘削機１の推進方向、６は地中掘削機距
離計測用ス）〜ローフ計、７は回転角速度計測用ジャイ
ロスコープ２の入力軸、８は仰角計測用加速度計の入力
軸、９は回転角計測用加速度計４の入力軸、１０は例え
ば地上装置に設けられた処理演算表示装置、１１はケー
ブルである。FIG. 1 is a schematic diagram showing the configuration of a position/attitude measurement system for an underground excavator for explaining an embodiment of the method for measuring the position/attitude of an underground excavator according to the present invention. In the figure, 1 is an underground excavator, 2 is a gyroscope for measuring rotation angular velocity, 3 is an accelerometer for measuring elevation angle, 4 is an accelerometer for measuring rotation angle, 5 is the propulsion direction of underground excavator 1, and 6 is 7 is the input axis of the gyroscope 2 for measuring rotational angular velocity, 8 is the input axis of the accelerometer for measuring elevation angle, 9 is the input axis of the accelerometer 4 for measuring rotational angle, Reference numeral 10 indicates a processing calculation display device provided, for example, on the ground equipment, and reference numeral 11 indicates a cable.
第２図は前述した地中掘削機の位置・姿勢計測システム
により地中内にトンネルを築造する状態を説明する図で
あり、同図（ａ＞は上から見た平面図、同図（ｂ）は断
面図、同図（ｃ）は同図（ａ）のＡ−Ａ’線の断面図で
ある。同図において、２０は路面、２］は路面２０に開
設された立坑、２２は地中内のトンネル計画位置である
。Figure 2 is a diagram illustrating the state in which a tunnel is constructed underground using the position and orientation measurement system of the underground excavator described above. ) is a cross-sectional view, and figure (c) is a cross-sectional view taken along line AA' in figure (a). In the figure, 20 is a road surface, 2] is a shaft opened in the road surface 20, and 22 is a ground shaft. This is the planned location of the Nakauchi tunnel.
このような構成において、地中掘削機１が発進する立坑
２］内には、地中掘削機距離計測用ストローク計６が設
置される。また、地中を推進する地中掘削機１内には、
回転角速度計測用ジャイロスコープ２かその入力軸７を
地中掘削機１の推進方向５に直角、鉛直方向になるよう
に設置され、また、仰角計測用加速度計３かその入力軸
８を地中掘削機１の推進方向５に直角、水平方向になる
ように設置され、さらに回転角計測用加速度計４がその
入力軸９を地中掘削機１の推進方向５に平行、水平方向
になるように設置される。そして地中掘削機１内に設置
された回転角速度計測用ジャイロスコープ２は、入力軸
７回りの地中掘削機１の回転角速度を検知し、回転角速
度を積分することにより、地中掘削機］の方位角変化量
（角度）を求めることができる。地中掘削機１の方位角
２３は、地中掘削機１の発進時からの地中掘削機１の方
位角変化量の累積によって求めることかできる。また、
地中掘削機１は、地中掘削機推進中に同図（ｂ）に示す
ようにある仰角２４および同図（Ｃ）に示すように回転
角２５を生じるため、回転角速度計測用ジャイロスコー
プ２の入力軸７が鉛直方向に対して傾斜するため、仰角
計測用加速度計３および回転角計測用加速度計４により
得た信号によって処理演算し、地中掘削機１の真の方位
角２３を求めることができる。また、地中掘削機１の仰
角２４は仰角計測用加速度計３によって求めることがで
き、回転角２５は回転角計測用加速度計４によって求め
ることができる。これによって地中掘削機］、の推進中
の姿勢を連続的に把握することか可能となる。In such a configuration, a stroke meter 6 for measuring the distance of the underground excavator is installed in the shaft 2 from which the underground excavator 1 starts. In addition, inside the underground excavator 1 that propels underground,
The gyroscope 2 for measuring rotational angular velocity or its input shaft 7 is installed so as to be perpendicular to and perpendicular to the propulsion direction 5 of the underground excavator 1, and the accelerometer 3 for measuring elevation angle or its input shaft 8 is installed underground. The accelerometer 4 is installed so that its input shaft 9 is parallel to the propulsion direction 5 of the underground excavator 1 and is horizontal. will be installed in The rotation angular velocity measurement gyroscope 2 installed in the underground excavator 1 detects the rotation angular velocity of the underground excavator 1 around the input shaft 7, and integrates the rotation angular velocity. The amount of change (angle) in the azimuth angle can be determined. The azimuth angle 23 of the underground excavator 1 can be determined by accumulating the amount of change in the azimuth angle of the underground excavator 1 since the start of the underground excavator 1. Also,
The underground excavator 1 generates a certain elevation angle 24 as shown in FIG. 2(b) and a rotation angle 25 as shown in FIG. Since the input shaft 7 of the underground excavator 1 is inclined with respect to the vertical direction, the true azimuth angle 23 of the underground excavator 1 is determined by processing and calculations based on the signals obtained by the elevation angle measurement accelerometer 3 and the rotation angle measurement accelerometer 4. be able to. Further, the elevation angle 24 of the underground excavator 1 can be determined by the elevation angle measuring accelerometer 3, and the rotation angle 25 can be determined by the rotation angle measuring accelerometer 4. This makes it possible to continuously grasp the attitude of the underground excavator during its propulsion.
一方、地中掘削機１−の地中掘削機推進方向位置２６に
ついては、立坑２２内に設置された地中掘削機距離計測
用ストローク計６によって求められる。On the other hand, the underground excavator propulsion direction position 26 of the underground excavator 1- is determined by the underground excavator distance measuring stroke meter 6 installed in the shaft 22.
また、地中掘削機１の地中掘削機推進方向５に直角な地
中掘削機水平方向位置２７は、回転角速度計測用ジャイ
ロスコープ２により求められた信号を、仰角計測用加速
度計３および回転角計測用加速度計４により得られた信
号により処理演算した地中掘削機１の真の方位角２３と
地中掘削機距離計測用ストローク計６により得られた信
号により演算処理することによって求めることかできる
。Further, the underground excavator horizontal position 27 perpendicular to the underground excavator propulsion direction 5 of the underground excavator 1 transmits the signal obtained by the rotational angular velocity measurement gyroscope 2 to the elevation angle measurement accelerometer 3 and the rotational angular velocity measurement gyroscope 2. The true azimuth angle 23 of the underground excavator 1 processed and calculated using the signal obtained by the accelerometer 4 for angle measurement and the signal obtained by the stroke meter 6 for measuring the distance of the underground excavator 1 is calculated. I can do it.
また、地中掘削機１の地中掘削機推進方向５に垂直な地
中掘削機鉛直方向位置２８は、仰角計測用加速度計３に
よって得られた信号と地中掘削機距離計測用ストローク
計６により得られた信号により演算処理することによっ
て求められる。Further, the underground excavator vertical position 28 perpendicular to the underground excavator propulsion direction 5 of the underground excavator 1 is determined by the signal obtained by the elevation angle measurement accelerometer 3 and the underground excavator distance measurement stroke meter 6 It is obtained by performing arithmetic processing on the signal obtained by .
このようにして地中掘削機１の位置く地中掘削機推進方
向位置２６．地中掘削機水平方向位置２７、地中掘削機
鉛直方向位置２８）および姿勢（方位角２３．仰角２４
２回転角２５〉を連続的にしかも高精度な測定が可能と
なる。In this way, the underground excavator 1 is located at the underground excavator propulsion direction position 26. Underground excavator horizontal position 27, underground excavator vertical position 28) and attitude (azimuth angle 23, elevation angle 24)
2 rotation angles 25> can be measured continuously and with high precision.
また、地中掘削機１の地中掘削推進中の位置姿勢を、処
理演算表示装置１０により連続的に表示することによっ
て地中掘削機操作者が地中掘削機１を適切に制御するこ
とが可能となり、地中掘削機１をトンネル築造の計画位
置２２に沿わせで推進することが可能となる。In addition, by continuously displaying the position and orientation of the underground excavator 1 while the underground excavation is being promoted by the processing calculation display device 10, the underground excavator operator can appropriately control the underground excavator 1. This makes it possible to propel the underground excavator 1 along the planned tunnel construction position 22.
［発明の効果］
以上、説明したように本発明に係る地中掘削機の位置
姿勢計測方法によれば、以下に記載されるような極めて
優れた効果が得られる。[Effect of the invention] As explained above, the position of the underground excavator according to the present invention
According to the posture measurement method, extremely excellent effects as described below can be obtained.
地中掘削機に設置した回転角速度計測用ジャイロスコー
プ、仰角計測用加速度計、および回転角計測用加速度計
により地中掘削機の地中掘削推進中の姿勢を正確にかつ
連続的に測定把握することが可能となる。Accurately and continuously measure and understand the posture of an underground excavator while it is moving underground using a gyroscope for measuring rotational angular velocity, an accelerometer for measuring elevation angle, and an accelerometer for measuring rotational angle installed on the underground excavator. becomes possible.
また、地中掘削機内に設置した回転角速度計測用ジャイ
ロスコープ、仰角計測用加速度計１回転角計測用加速度
計および立坑内に設置した地中掘削機距離計測用ストロ
ーク計により地中掘削機の地中掘削推進中の位置を正確
にかつ連続的に測定把握することが可能となる。In addition, a gyroscope for measuring rotational angular velocity installed inside the underground excavator, an accelerometer for measuring elevation angle, an accelerometer for measuring one rotation angle, and a stroke meter for measuring the distance of the underground excavator installed in the shaft are used to measure the distance between the underground excavator and the underground excavator. It becomes possible to accurately and continuously measure and understand the position during medium excavation.
さらにトンネル内での人による測量作業がなくなり、安
全でかつ高能率のトンネル築造が可能となり、Ｉ・ンネ
ル内に人が入れない、レーサ光発信器なとの測量機器が
入らないなどスペース」二の問題もなくなり、小断面の
トンネル築造が可能となる。Furthermore, it eliminates the need for manual surveying work inside tunnels, making it possible to construct tunnels safely and efficiently. This eliminates the problem of tunnels and allows tunnels to be built with small cross-sections.
また、地中掘削機推進中の地中掘削機の位置および姿勢
を連続的に把握することが可能でかつ高精度な地中掘削
機の位置・姿勢の把握か可能であるため、長距離９曲線
状トンネルの築造か可能となる。In addition, it is possible to continuously grasp the position and attitude of the underground excavator while it is being propelled, and it is also possible to grasp the position and attitude of the underground excavator with high precision. It becomes possible to construct curved tunnels.
第１図は本発明に係る地中掘削機の位置・姿勢計測方法
の一実施例を説明するための地中掘削機の位置・姿勢計
測システムの構成を示す図、第２図は本発明に係る地中
掘削機の位置・姿勢計測方法の２実施例を説明するため
の図である。
１・ ・・地中掘削機、２・ ・・回転角速度計測用ジ
ャイｌフスコープ、３・−・・仰角計測用加速度計、４
−・−回転角計測用加速度計、５−・・・地中掘削機推
進方向、６−・ ・地中掘削機距離計測用スＩ−ローク
計、７・−一回転角速度計測用ジャイロスコープ２の人
力軸、８・・、仰角計測用加速度計３の入力軸、９回転
角計測用加速度計４の入力軸、１０・・−処理演算表示
装置、１１・・・・ケーブル、２０−・・・路面、２］
・ −・立坑、２２−・・−）〜ンネル計画位置、２３
・・・・方位角、２４− ・・仰角、２５・・・・回転
角、２６・・・・地中掘削機推進方向位置、２７・・地
中掘削機水平方向位置、２８・・・・地中掘削機鉛直方
向位置３゜
特許出願人 日本電信電話株式会社FIG. 1 is a diagram showing the configuration of a position/attitude measurement system for an underground excavator for explaining an embodiment of the method for measuring the position/attitude of an underground excavator according to the present invention, and FIG. FIG. 2 is a diagram for explaining two embodiments of a method for measuring the position and orientation of an underground excavator. 1. ... Underground excavator, 2. ... Gylf scope for measuring rotational angular velocity, 3 ... Accelerometer for measuring elevation angle, 4
- Accelerometer for measuring rotation angle, 5 - Propulsion direction of underground excavator, 6 - Stroke meter for measuring distance of underground excavator, 7 - Gyroscope 2 for measuring angular velocity of one rotation human power axis, 8..., input axis of accelerometer 3 for elevation angle measurement, 9 input axis of accelerometer 4 for rotation angle measurement, 10...-processing calculation display device, 11... cable, 20-...・Road surface, 2]
・ -・Shaft, 22-...-)~Nell planned location, 23
... Azimuth angle, 24- ... Elevation angle, 25 ... Rotation angle, 26 ... Underground excavator propulsion direction position, 27 ... Underground excavator horizontal direction position, 28 ... Underground excavator vertical position 3° Patent applicant Nippon Telegraph and Telephone Corporation
Claims (1)
コープにより得られた信号を、前記地中掘削機内に設置
された仰角計測用加速度計、回転角計測用加速度計およ
び立坑内に設置された地中掘削機距離計測用ストローク
計の出力信号により補正計算することを特徴とした地中
掘削機の位置・姿勢計測方法。The signals obtained by the gyroscope for measuring rotational angular velocity installed inside the underground excavator are transmitted to A method for measuring the position and orientation of an underground excavator, characterized by performing correction calculations based on the output signal of a stroke meter for measuring the distance of an underground excavator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11511190A JPH0412219A (en) | 1990-05-02 | 1990-05-02 | Position/attitude measuring method for underground excavator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11511190A JPH0412219A (en) | 1990-05-02 | 1990-05-02 | Position/attitude measuring method for underground excavator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0412219A true JPH0412219A (en) | 1992-01-16 |
Family
ID=14654515
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11511190A Pending JPH0412219A (en) | 1990-05-02 | 1990-05-02 | Position/attitude measuring method for underground excavator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0412219A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100814642B1 (en) * | 2007-10-26 | 2008-03-20 | 주식회사 일성엔지니어링 | Inspection system for under ground duct |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53124472A (en) * | 1978-03-03 | 1978-10-30 | Japan Aviation Electron | Device for detecting attitude and displacement of moving body |
| JPS62288515A (en) * | 1986-06-09 | 1987-12-15 | Ohbayashigumi Ltd | Position/posture measuring apparatus in shielded excavator |
-
1990
- 1990-05-02 JP JP11511190A patent/JPH0412219A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53124472A (en) * | 1978-03-03 | 1978-10-30 | Japan Aviation Electron | Device for detecting attitude and displacement of moving body |
| JPS62288515A (en) * | 1986-06-09 | 1987-12-15 | Ohbayashigumi Ltd | Position/posture measuring apparatus in shielded excavator |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100814642B1 (en) * | 2007-10-26 | 2008-03-20 | 주식회사 일성엔지니어링 | Inspection system for under ground duct |
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