JPH06307184A - Correction of position and attitude angle of driving machine - Google Patents

Abstract

PURPOSE:To avoid cumulative tolerance and, at the same time, to detect accurately a position of an underground driving machine. CONSTITUTION:A gyrocompass 6 is mounted on an underground driving machine 1, an attitude angle including tolerance measured by an angle velocity sensor 2 by means of the attitude angle obtained from the gyrocompass 6 is corrected every certain driving distance, cumulative tolerance is avoided and, at the same time, electromagnetic field from an originating coil 10 mounted on the underground driving machine is detected by the originating coil on the ground. A position is confirmed, and a laser beam emitted from the entrance of a tunnel focuses the image on a target plate 12 provided to the rear of the underground driving machine 1 to confirm the position thereof from a position of the image.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for correcting the position and attitude angle of an underground propulsion device for measuring the position and (azimuth) of the underground propulsion device in order to construct a tunnel at a planned position. is there.

[0002]

2. Description of the Related Art In order to construct a tunnel at a planned position accurately and to propel it along a propulsion plan line while controlling the underground propulsion device, always grasp the position and attitude angle of the underground propulsion device. I have to

Conventionally, the position of an underground propulsion unit has been calculated and obtained based on a signal detected by a stroke meter for measuring an underground propulsion distance. The attitude angle (azimuth angle) will be described with reference to the underground propulsion device shown in FIG. 1 of the present invention. Angular velocity sensor 2 for detecting yawing installed on the ground propulsion unit,
It has been calculated and calculated based on the signals of three detectors of the elevation angle measuring accelerometer 3 for detecting pitching and the rotation angle measuring accelerometer 4 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 the attitude and position measurement error of the ground propulsion unit.

The present invention provides a conventional ground propulsion machine with a gyro compass, a transmission coil and a target plate at the rear,
By the attitude angle obtained from the gyro compass, the attitude angle including the error measured by the angular velocity sensor is corrected for each propulsion distance to prevent the accumulation of the error in the attitude angle measurement and to receive the tunnel ground along the propulsion plan line. The position of the propulsion device is detected by detecting the electromagnetic field from the transmission coil by the coil, and a laser beam generator is further provided at the tunnel mouth to emit a laser beam, and the position of the image formed on the target plate provided on the propulsion device is used. This is a method of correcting the position of the propulsion unit calculated from the attitude angle including an error for each certain propulsion distance.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an underground propulsion device equipped with the measuring instrument of the present invention, and FIG. 2 is an explanatory view of a method for obtaining the position of the underground propulsion device using the underground propulsion device of the present invention. In FIG. 1, reference numerals 1, 2, 3, and 4 are the instruments described in the conventional example. 6 is a gyro compass, 10 is a transmission coil, and 12 is a target plate. In FIG. 2, 7 is a vertical pile, 8 is an extruding device, and 9
Is an arithmetic unit, 11 is a receiving coil, 13 is a laser transmitter, 14 is a power / signal cable, 15 is a console, and T is a tubular body.

The operation of each instrument mounted on the ground propulsion unit 1 will be described. The angular velocity sensor 2 measures a changing angular velocity of a lateral course deviation (yawing) on a surface on which the angular velocity sensor 2 is installed. That is, using the elevation angle and the rotation angle measured by the elevation angle measurement accelerometer 3 and the rotation angle measurement acceleration 4, the change angular velocity in the horizontal direction of the underground propulsion device is calculated.

As shown in FIG. 2, the arithmetic unit 9 uses the value and the distance signal obtained from the underground propulsion distance measuring stroke meter 5 installed in the former pushing device 8 in the vertical pile 7 to cause the underground propulsion device to operate. Calculate the horizontal position of 1. When the angular velocity sensor 2 is used for a long time, the detected change angular velocity includes a drift amount. That is, an error will occur in the attitude angle and position measurement of the underground propulsion device 1. Therefore, in order to correct the attitude angle and position measurement error of the underground propulsion device 1, the gyro compass 6 installed in the underground propulsion device 1 is used to correct the underground propulsion device 1 before the drift amount of the angular velocity sensor 2 increases. A more accurate attitude angle is measured, and this value is used as the attitude angle of the underground propulsion machine 1 instead of the attitude angle of the underground propulsion machine 1 measured by the angular velocity sensor 2. The extruding device 8 is a device for sequentially inserting the tubular body T into the excavated hole of the underground propulsion device 1.

FIG. 2 is a cross-sectional view for explaining a method of determining the position of the underground propulsion device with an electromagnetic coil or a laser beam. A method of detecting the position by detecting the electromagnetic field generated by the transmission coil 10 installed in the ground propulsion machine 1 with two receiving coils on the ground, or standing piles on the target plate 12 installed in the ground propulsion machine 1. The position of the underground propulsion machine 1 is detected by the method of irradiating the laser beam from the laser transmitter 13 in 7 and confirming the position from the standing pile 7 to detect the position of the underground propulsion machine 1 and the position of the underground propulsion machine 1. To do. By this method, the attitude angle and position measurement error of the underground propulsion device 1 can be eliminated, so that the attitude angle and position of the underground propulsion device can be measured with high accuracy. When detecting the position of the underground propulsion device 1 by the transmitting coil 10 and the receiving coil 11,
Since there is an embedded material having magnetism in the ground and a magnetic field from the transmission coil 10 may be projected, the laser transmitter 13 is provided for the purpose of correcting this. On the other hand, the transmitting coil 10 is provided because the position cannot be accurately detected only by the laser beam traveling straight on the curved excavation road. By using the coils 10 and 11 or the laser transmitter 13, it is possible to confirm the exact position of the ground propulsion device 1.
If necessary, the position of the underground propulsion device 1 can be corrected for each propulsion distance with respect to the position of the underground propulsion device 1 calculated from the attitude angle including an error.

[0010]

Since the present invention is the above method, the following effects can be obtained. Since it becomes possible to measure the position and attitude angle of the ground propulsion device with high accuracy, it will greatly contribute to the accurate construction of the tunnel at the planned position.

[Brief description of drawings]

FIG. 1 is a block diagram of an underground propulsion device of the present invention.

FIG. 2 is a cross-sectional view illustrating a method of determining the position of an underground propulsion device by a transmission coil and a target plate mounted on the underground propulsion device of the present invention.

[Explanation of symbols]

 1 Underground propulsion device 2 Angular velocity sensor 3 Accelerometer for elevation angle measurement 4 Accelerometer for rotation angle measurement 5 Stroke meter for underground propulsion distance measurement 6 Gyro compass 7 Standing pile 8 Original push device 9 Computing device 10 Transmitting coil 11 Receiving coil 12 Target Plate 13 Laser transmitter 14 Power / signal cable 15 Operator's console T tube

Claims (1)

[Claims] 1. An elevation angle measuring accelerometer, a rotation angle measuring accelerometer, and an underground propulsion distance measuring stroke gauge signal, which are installed in an underground propulsion device, are obtained from signals obtained by an angular velocity sensor installed in the underground propulsion device. In the method of measuring the position and attitude of an underground propulsion machine, the error is measured by an angular velocity sensor based on the attitude angle obtained from the gyrocompass, which is provided with a gyrocompass, a transmission coil and a target plate at the rear. The attitude angle including the is corrected for each propulsion distance to prevent the accumulation of errors in the attitude angle measurement, and at the same time, the receiving coil on the ground of the tunnel along the propulsion planning line detects the electromagnetic field from the transmitting coil and A laser beam generator is installed at the tunnel mouth to emit a laser beam, and the position of the image to be connected to the target plate provided on the propulsion machine. A method for correcting the position and attitude angle of a propulsion device, characterized in that the position of the propulsion device calculated from the attitude angle including an error is corrected for each propulsion distance.