JPH112520A - Position measuring device of underground excavator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a position measuring device of an underground excavator which does not require the operation of applying light to a light receiving means during measurement of an excavated position, and therefore an operating mechanism for it. SOLUTION: Each of measuring units 4, 5, 6 comprises: a light source 42 which emits diffused light to all of the adjacent measuring units; a light-source-direction detecting means 41 having a convex lens which collects the diffused light from all the light sources 42 of the adjacent measuring units and having a CCD imaging element which receives the light collected by the convex lens to detect the directions of the light sources of the adjacent measuring units from the position of the light received; a light-wave range finder 10 attached to one of the adjacent measuring units to emit a light wave consisting of the diffused light; and a reflecting prism 11 attached to the other measuring unit to reflect the light wave toward the lightwave range finder 10. The relative position of a point for measurement to the start point of measurement is computed by a central processing unit 7 according to data about the direction of each light source 42 which are obtained from the results detected by the measuring units 4, 5, 6 and data about the distances between the measuring units 4, 5, 6 which are obtained by means of the light-wave range finder 10.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a pipe propelling machine (a small-diameter pipe propelling machine for burying a small-diameter pipe that cannot be inserted by humans or a human being). The present invention relates to a position measuring device for an underground excavator used for measuring the excavation position of an underground excavator such as a semi-shielding machine in which a large diameter pipe is buried in the ground.

[0002]

2. Description of the Related Art Drilling underground while excavating an underground pit,
Underground excavators such as a pipe propulsion machine and a shield excavator need to be able to excavate correctly along a planning line which is a preset excavation route. For this purpose, it is desirable that the current position of the underground excavator being excavated can be accurately measured in real time. In other words, when reliable information on the current position of the underground excavator is provided to the operator in real time, when the underground excavator attempts to excavate out of the planning line, the operator can quickly find this. It is possible to respond early, and it is easy to manage the underground excavator along the planning line, and it is expected that the construction accuracy will be improved. Conventionally, techniques for measuring the excavation position of an underground excavator include the method of "measuring manually by using a transit", and "installing a transmitting coil that generates an induced magnetic field on the underground excavator, and the strength of the induced magnetic field To measure the excavation position of the underground excavator by measuring with a receiving coil on the ground '', `` Conversely, laying an electric circuit on the ground, flowing a current through this electric circuit to generate an induced magnetic field, and Various methods have been used, such as a method of measuring the excavation position by detecting the strength with a receiving coil installed in an underground excavator. However, these conventional underground excavator position measurement techniques have inherently been unable to perform real-time measurement of the excavation position, or have been practically difficult to do in principle.

As a technique for measuring the position of an underground excavator to solve such a problem, a direction detecting device for a shield excavator described in Japanese Patent Application Laid-Open No. 61-45092 has been proposed. The direction detection device of the shield tunneling machine proposed in the prior art includes “a first laser beam oscillator that irradiates a forward tunnel and a first laser beam receiver that can receive a laser beam from the front. At the entrance of the tunnel, a measuring device that is attached to the gantry so that it can be rotated in the X direction (yaw direction) and Y direction (pitching direction) by a servomotor, and whose rotation angle can be detected by a sensor, is installed. A second laser beam oscillator for irradiating the first laser beam receiver on the rear side, a second laser beam receiver for receiving a laser beam from the first laser beam oscillator on the rear side, and a shield excavator in the forward direction And a third laser beam oscillator for irradiating the laser beam on a mount so that the laser beam can be rotated in the X and Y directions by a servomotor. The rotation angle repeaters for measurement were to be detected by a sensor installed in the middle of the tunnel,
In addition, a third laser beam receiver capable of receiving a laser beam from the rear second laser beam oscillator and capable of detecting the X, Y directions and the rolling angle and a pitching rolling meter are used in a shield machine. It is a device that is "attached".

[0004]

In this conventional apparatus, a laser beam oscillator is driven in a yawing direction or a pitching direction so as to irradiate a predetermined position of a laser beam receiver with a laser beam having a high convergence degree. Then, a rotation operation is performed to detect the rotation angle, and based on the detected rotation angle, the position of the shield excavator deviating from the planning line is calculated by a computer. for that reason,
When measuring the excavation position of an underground excavator, not only is the operation required to rotate the laser beam oscillator to accurately apply the laser beam to the predetermined position of the laser beam receiver, but also the operation is complicated, and the servo motor A rotating mechanism for rotating the equal laser beam oscillator is required, and the mechanism becomes complicated, which causes various problems. For example, the provision of such a rotation mechanism increases the size of the device to be placed in an underground mine, which not only increases the manufacturing cost but also the mechanical rotation of the optical mechanism. It is difficult to secure high measurement accuracy due to the addition of mechanical errors to mechanical errors, and it is also vulnerable to vibration.

An object of the present invention is to solve the above-mentioned problems in the prior art. The technical problem of the present invention is to measure the position of an underground excavator by exposing light to light receiving means. An object of the present invention is to provide a position measuring device of an underground excavator that does not require an operation and does not require an operation mechanism for the operation.

[0006]

An object of the present invention is to provide a method for measuring the excavation position of an underground excavator that excavates underground while excavating an underground pit, and is disposed in the excavation direction in front of the excavation direction. The position measurement device of the underground excavator that measures the position of the measured point that is the position index behind the excavation direction and measures it in relation to the measurement base point that is the measurement base point A light source capable of collecting diffused light from a light source in front of the light source and a light collecting means for receiving the light collected by the light collecting means so that the direction of the light source in front can be detected by the position of the received light. A base point measurement unit having an arranged light receiving means and setting a measurement base point, a light source capable of emitting diffused light behind, a light collecting means capable of collecting diffused light from a rear light source, and a light collecting means Receiving the collected light A measuring point measuring unit for setting a measuring point having light receiving means arranged so as to be able to detect the direction of the rear light source according to the position of the emitted light, and capable of emitting diffused light forward and backward The light source and the light collecting means capable of collecting the diffused light from the front and rear light sources, respectively, receive the light collected by the light collecting means, and determine the direction of each of the front and rear light sources according to the position of the received light. Providing at least one intermediate measurement unit disposed between the base point measurement unit and the measured point measurement unit in the underground pit having light receiving means arranged so as to be detectable, and these base point measurement units, An optical distance meter that emits light waves due to diffused light is attached to one of the adjacent measuring units in each of the measuring point measuring unit and the intermediate measuring unit. The other measuring unit is provided with a light reflecting means for reflecting the light wave toward the light wave distance meter, and the data on the direction of each light source obtained based on the detection result of each measuring unit and the light wave distance meter are used. The relative position of the measured point with respect to the measurement base point is calculated and calculated by the calculation means based on the data on each distance between adjacent measurement units in each measurement unit to be measured. "

The underground excavator position measuring apparatus of the present invention employs such technical means, so that the intermediate measuring unit collects the diffused light emitted from the front and rear light sources of the adjacent measuring units. Each light collected by the light means is received by the light receiving means, and the relative direction of each light source before and after with respect to the intermediate measurement unit can be detected by the position of each received light. Data on the direction of each light source is obtained based on the detection result. In this case, a light source capable of emitting diffused light is used as the light source, and the diffused light from the light source is collected by the light condensing means and applied to the light receiving means. It is not necessary to perform an operation for precisely hitting the light receiving means. When data relating to the direction of each light source is obtained in this way, calculation can be performed without directly detecting each angle of each excavation route connecting each adjacent measurement unit with respect to the start direction line in relation to the start direction line. Can be obtained indirectly by In this case, even if the angle changes depending on the attitude of the intermediate measuring unit or the measuring point measuring unit when it is mounted, or if it changes due to yawing or pitching when excavating the underground excavator, such an effect is eliminated. It can be obtained correctly in the state where it was done. On the other hand, the light wave emitted from the light wave distance meter of one of the adjacent measurement units is reflected toward the light wave distance meter by light reflecting means attached to the other measurement unit, and is received by the light wave distance meter. , Data on each distance between adjacent measurement units is obtained. In this case, since the light wave due to the diffused light is reflected toward the light wave distance meter by the light reflecting means, particularly, the light wave due to the diffused light is used as the light wave, so that the light wave from the light wave distance meter is transmitted to the light reflecting means. It is not necessary to perform an operation for allowing the reflected light waves to be accurately received by the lightwave distance meter. The relative position of the point to be measured with respect to the measurement base point can be calculated from the data on each distance obtained in this way and the data on each angle obtained by the calculation.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will now be described with reference to FIGS. 1 to 21 which illustrate embodiments of the present invention. I do. The position measuring device of the underground excavator according to the embodiment of the present invention is used for measuring the excavation position of an underground excavator that excavates underground while excavating an underground pit, and is disposed in the forward direction of the excavation. This is an apparatus that measures the position of a measurement point, which is an index of the excavation position, at the rear of the excavation direction in relation to a measurement base point that is a measurement base point. First, the structure and usage of a position measuring device for an underground excavator according to a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a horizontal sectional view schematically showing an entire image of a position measuring device for an underground excavator according to a first embodiment of the present invention, and FIG. FIG. 3 is a horizontal cross-sectional view showing the measuring unit in detail, FIG. 3 is a perspective view seen from the rear side of the intermediate measuring unit in the underground excavator position measuring device in FIG. 1, and FIG.
FIG. 5 is a perspective view of the intermediate measuring unit in the underground excavator position measuring device of FIG. 1 as viewed from the front side, and FIG. 5 is a cross-sectional view illustrating a schematic structure of an optical distance meter.

1 to 4, reference numeral 1 denotes an excavator which is a main part of an underground excavator; 2, an underground pit excavated by a shield excavator or a sewer excavated by a pipe propulsion machine; A starting shaft 4 serving as a starting point for excavation of the inner excavator, an intermediate measuring unit 4 disposed between a base point measuring unit 5 described later and a measured point measuring unit 6 described later in the underground shaft 2, and 5 a starting shaft 3. The arranged base point measuring unit, 6 is the measured point measuring unit arranged in the excavator 1, and 7 is the intermediate measuring unit 4, the base point measuring unit 5, and the measured point measuring unit 6, which are connected by communication lines respectively to the ground. A central processing unit 8 for calculating the excavation position of the middle excavator, displays the calculation result of the central processing unit 7 and information obtained based on the calculation result in numerical values and graphs for the convenience of the operator's operation. Display device The excavator 1 may be any excavator, such as a pipe propulsion machine and a shield excavator, as long as it is an underground excavator that excavates underground while excavating an underground shaft. Underground pit 2
In the case of a pipe propulsion machine, a pit wall is formed by a buried pipe such as a fume pipe or a steel pipe, and in the case of a shield excavator, a pit wall is formed by steel or concrete segments. The intermediate measurement unit 4, the base point measurement unit 5, and the measured point measurement unit 6 can be roughly classified into light sources 4 of adjacent measurement units.
At least one of a light wave distance meter 10 and a reflecting prism 11 which comprises light source direction detecting means 41 and a light source 42, which are configured to receive light from the light source 2 and detect the direction of the light, is provided. In any case, the basic structure does not change.

Therefore, these measuring units 4, 5, 6
The structure of the intermediate measurement unit 4 will be described with reference to FIG. As shown in detail in FIG. 2, the intermediate measurement unit 4 includes a light source 42 that can emit diffused light toward an adjacent measurement unit and a collection device that can collect diffused light from the light source 42 of the adjacent measurement unit. A convex lens 411 as light means, and a CCD image pickup device 412 (CCD) as light receiving means capable of receiving light collected by the convex lens 411 and detecting the position of the received light
Is an abbreviation for Charge-Coupled-Device. ). CCD as this light receiving means
As will be described in detail later, the imaging element 412 is arranged so that the direction of the light source of the adjacent measurement unit can be detected based on the position of the light received with respect to the convex lens 411 as the light collecting means. The illustrated light source direction detecting means 41 is an aggregate of the convex lens 411 and the CCD image pickup device 412. In the intermediate measurement unit 4, the light sources 42 are arranged on the left and right sides of FIG. 2 so as to be able to emit diffused light forward and backward, respectively, based on the direction of excavation of the underground excavator. In addition, the convex lenses 411 are similarly arranged on the left and right so as to collect the respective diffused lights from the light sources 42 of the different measurement units adjacent to each other in the front and rear, and the CCD image pickup device 412 is also mounted on each of the convex lenses 411. They are arranged on the left and right so that they can receive the collected light. Each convex lens 411 and each CCD image sensor 412 are arranged in parallel with each other and mounted inside the case of the intermediate measurement unit 4, and the light source 42 is mounted outside the case.

Although the CCD image pickup device 412 may be a one-dimensional line sensor, this embodiment assumes that a two-dimensional surface sensor is used. Although the CCD image pickup device 412 is used as the light receiving means in this embodiment, a PSD (Position) that can know the position of the light spot using the surface resistance of the photodiode instead is used.
On-Sensitive-Device) may be used. In other words, any device that can receive light collected by a light condensing unit such as a convex lens 411 and detect the position of the received light can be used. Any type is acceptable. As the light source 42, a light source such as a so-called point light source is used, and a light source that emits a light beam having a high degree of convergence, such as a laser beam, cannot be used. However, basically, a so-called diffused light that spreads radially from a small area. Anything can be used as long as it emits. The intermediate measuring unit 4 is often 5 m to 50 m
m at a distance of m
May be any light having a low convergence and having a spread capable of illuminating substantially the entire area of the underground pit 5 m to 50 m away. That is, although it depends on the inner diameter of the underground pit 3, any light that spreads at an angle of at least 5 ° to 10 ° can be used in the present invention. Therefore, even a laser beam can be put to practical use as long as the laser beam has a low convergence and spreads at an angle larger than such an angle. As described in the section of the problem to be solved by the invention, in the conventional apparatus, since the laser beam is used as a light source, the laser beam is used when measuring the excavation position of the underground excavator. Although it was necessary to rotate the laser beam oscillator so as to accurately hit the predetermined position of the light receiver, in the present invention, since a light source that emits diffused light was used, any Even if the posture of the unit changes, the light from the light source 42 can be reliably applied to the CCD image pickup device 412 as the light receiving means, and such an operation is not required.

The above-described structure is used to obtain data relating to the direction of each light source 42 of each of the measurement units 4, 5, and 6, which is the first data necessary for measuring the relative position of the measured point with respect to the measurement base point. Next, means for obtaining data on the distance between the measurement units 4, 5, and 6, which is the second data necessary for measuring the relative position, is provided by the intermediate measurement unit 4. 1 and 2 focusing on the structure
It will be described based on. Means for obtaining such data on the distance include a lightwave distance meter 10 attached to one of the adjacent measurement units and emits light waves due to diffused light, and a lightwave distance meter 10 attached to the other measurement unit. It is composed of a reflecting prism 11 as a light reflecting means for reflecting the light wave generated by the light. The intermediate measurement unit 4 shown in FIG. 2 will be described as an example. The transmitter 101 and the light receiver 102 are provided on one side before and after the intermediate measurement unit 4.
And an optical distance meter 10 having
The light wave emitted from the first measuring unit is transmitted toward the reflecting prism 11 of the adjacent measuring unit, and the light wave reflected by the reflecting prism 11 of the adjacent measuring unit is received by the light receiver 102. This light wave means pulsed intermittent light, in other words, modulated light.
A reflection prism 11 is provided on the other side before and after the intermediate measurement unit 4 so that light waves emitted from an adjacent measurement unit are reflected toward the light receiver 102 of the adjacent measurement unit.

The reflecting prism 11 includes a light transmitter 101
Is emitted by the diffused light and thus enters in a spread state. However, if such a reflecting prism 11 is used as the light reflecting means, the spread and incident light wave can be reflected back in the incident direction and returned. Although the spread light wave spreads, it can be illuminated reliably so as to surround the light receiver 102. In this embodiment, a light emitting diode is used as a light wave generation source for generating a light wave.
Anything that emits a light wave of diffused light having the same spread can be used in the present invention. Therefore, even a laser light having such a spread and a low convergence degree can be used practically. Can be provided. As described above, a light wave caused by the diffused light is used as the light wave, and the light wave caused by the diffused light is reflected by the reflecting prism 11 to the lightwave distance meter 10.
The light wave distance meter 1
There is no need to perform an operation for causing the light wave from 0 to strike the reflecting prism 11 and reflect the light wave, and for the reflected light wave to be accurately received by the lightwave distance meter 10.

The measuring unit 4 emits diffused light from the light source 42 and emits light waves from the lightwave distance meter 10 so as to emit two types of diffused light. Therefore, when the light source direction detecting means 41 receives the diffused light from the light source 42 and obtains data on the direction of the light source 42, the light wave emitted by the lightwave distance meter 10 may also be received and adversely affect the data. Conversely, when the lightwave distance meter 10 receives the diffused light from the reflecting prism 11 and obtains data on the distance, the lightwave emitted from the light source 42 may also be received and adversely affect the data. In order to prevent this, the light source 42 and the light receiving unit of the lightwave distance meter 10 are filtered by using light having different wavelengths as the diffused light emitted by the light source 42 and the lightwave distance meter 10, so that the filter is necessary. Only unnecessary light may be transmitted and unnecessary light may be absorbed. Further, the light source direction detecting means 41
Alternatively, the time zone for detecting the direction of light and the time zone for detecting the distance with the lightwave distance meter 10 may be shifted to detect by time division.

FIG. 5 shows a schematic structure of the lightwave distance meter 10.
It will be described based on. Reference numeral 101 denotes a light transmitter composed of a light emitting diode or the like which emits light having a low convergence, that is, light having a low convergence, which is a pulse-like intermittent light having an equal interval, and 102 receives a light wave of the light transmitter 101 reflected by the reflection prism 11. A light receiver 104 constituted by a photoelectric conversion element (photo sensor) or the like for converting the intensity of the received light into a voltage signal, receives a light wave of the light transmitter 101 reflected by the concave mirror 107 described later, and determines the intensity. Photoelectric conversion element for converting to a voltage signal, 105
Is a lightwave distance calculating means to which voltage signals respectively output from the light receiver 102 and the photoelectric conversion element 104 are input, and 106 generates the pulse-like intermittent light in the light transmitter 101 in accordance with a command of the lightwave distance calculating means 105. Generator for generating a reference pulse for the light source 107
01 is a concave mirror that reflects a part of the light wave emitted by the photoelectric conversion element 104 so that it can be received.

The light receiver 102 is of the same quality as the photoelectric conversion element 104, and has the same function. The lightwave distance calculating means 105 adjusts the respective pulse waveforms of the input voltage signals of the photodetector 102 and the photoelectric conversion element 104 into sine waves and frequency-converts them to extend the wavelength. Then, the phase difference (time) between the two sine waves is measured, and the light transmitter 101 and the reflection prism 1 are measured based on the measurement result and the known light speed.
By calculating the distance between the measurement units, data on the distance between adjacent measurement units is obtained. Thus, the lightwave distance meter 10
Is a distance measuring device that measures a distance from a phase shift between emitted light and reflected light using a light wave (modulated light), and can measure the distance with extremely high accuracy.

The intermediate measuring unit 4 includes, in addition to the above-described convex lens 411, CCD image pickup device 412, light source 42, lightwave distance meter 10, and reflecting prism 11, transparent plates 103, 111, and 413 made of transparent glass as ancillary structure. And a controller unit 43. Transparent plates 103, 11
Reference numerals 1 and 413 are attached so as to cover the light collecting holes provided before and after the case of the intermediate measurement unit 4, maintain the airtightness of the case, and transmit the light transmitter 101 and the light receiver 10 in the case.
2. Protect the reflection prism 11, the convex lens 411 and the like.
The controller unit 43 is built in the case of the intermediate measurement unit 4, and is electrically connected to the lightwave distance meter 10, the CCD image pickup device 412, and each light source 42, and is connected to a cable 45. The cable 45 is pulled out from an outlet formed in the case and is connected to the central processing unit 7. At this time, the cable 45 is inserted through the ground 44 fitted in the outlet and pulled out. The airtightness is maintained. The controller unit 43 includes a power supply unit for causing the light source 42 to emit light, a CCD image pickup device 412
And a communication processing unit for outputting the data processed by the data processing unit to the central processing unit 7 and the like. You. The data processing unit of the controller unit 43 also performs calculations for converting data on the position of light detected by the CCD image pickup device 412 into data in the direction of each light source 42 and correcting the converted data. The cable 45 is connected to the controller 43
A signal path for transmitting and receiving a communication signal between the communication processing unit and the central processing unit 7 and an electric path for guiding a power supply current to the intermediate measurement unit 4 are built in.

Although the structure of the intermediate measurement unit 4 has been mainly described above, the base point measurement unit 5 includes a light source 42 capable of emitting diffused light forward and a convex lens capable of collecting diffused light from the front light source 42. 411 and this convex lens 4
CCD capable of receiving light collected by 11
An image sensor 412 and a lightwave distance meter 10 that emits lightwaves due to diffused light are provided in the front. Further, the measured point measuring unit 6 includes a light source 42 capable of emitting diffused light backward, a convex lens 411 capable of collecting diffused light from the rear light source 42, and receiving light collected by the convex lens 411. And a reflection prism 11 for reflecting the light wave emitted by the lightwave distance meter 10 toward the lightwave distance meter 10. In other words, the base point measurement unit 5 and the measured point measurement unit 6
It has a structure that fulfills the functions of the front half and the rear half of the intermediate measurement unit 4, and there is essentially no difference from the structure of the intermediate measurement unit 4 except for this point.
Therefore, the intermediate measurement unit 4 is used as it is for the base point measurement unit 5 and the measured point measurement unit 6 so that only the front half and the rear half respectively work when setting, Only the half and the rear half may be used. If the measurement unit used for the intermediate measurement unit 4 is also used as the base point measurement unit 5 and the measured point measurement unit 6, the types of devices to be manufactured can be reduced, and the manufacturing thereof can be saved. Not only can it be used, but the types of equipment used can be reduced, and the convenience of using the equipment is good. When measuring the excavation position of an underground excavator, it is necessary to set a measurement base point that is a base point for the measurement and a measured point that can be an index indicating the current position of the underground excavator being excavated. The measurement unit 5 plays a role of setting a measurement base point, and the measurement point measurement unit 6 plays a role of setting a measurement point.

When each of the measuring units 4, 5, and 6 is used for measuring the position of an underground excavator, the base point measuring unit 5 is usually installed in the starting shaft 3 in any of shield work and pipe propulsion work. The measuring point measuring unit 6 is usually installed on the excavator 1 (a shield excavator in shield construction, and a leading conductor in pipe propulsion construction). In that case, the base point measurement unit 5 is accurately installed so that its reference line coincides with the start direction. However, even if the reference line of the base point measurement unit 5 is installed so as not to coincide with the starting direction, the angle between the two is measured accurately, and the measured value is used as an offset value in the controller 43 or the central processing unit. 7 is stored in advance, and if the value is reflected when calculating the excavation position of the underground excavator by the central processing unit 7, there is no problem in measuring the position of the underground excavator. Such a method can also be adopted.

On the other hand, the installation method of the intermediate measurement unit 4 among the measurement units 4, 5, and 6 is slightly different between the shield construction and the pipe propulsion construction. That is, in any of the shield work and the pipe propulsion work, the same applies in that the intermediate measurement unit 4 is disposed in the underground pit 2. However, in the former case, the existing segment forming the inner peripheral wall of the underground pit 2 is usually used. In the latter case, it is usually mounted on the inner wall of a buried pipe constituting the underground pit 2, an auger casing forming an earth discharging device, an outer wall of an earth discharging pipe, or the like. In the case where the intermediate measurement unit 4 is installed in the underground pit 2 in pipe propulsion work, in particular, the auger casing is temporarily installed while extending the installation distance in accordance with the progress of excavation of the underground pit 2, and is removed after the excavation of the underground pit 2 If it is attached to a temporary extension body such as a drainage pipe or the like, the intermediate measurement unit 4 can be automatically removed when the temporary extension body is removed, which is convenient.
Further, even in the case of shield construction, the same effect can be obtained by attaching to a stretched temporary body such as a mud pipe, a mud pipe, or a drain pipe.

In the shield construction, while excavating while propelling the shield excavator with a shield jack, segments are assembled in the underground pit 2 formed by the excavation, and the construction is advanced by repeating such a process. ,
If the measured point measurement unit 6 cannot be seen from the installation position of the base point measurement unit 5, these measurement units 5, 6
The intermediate measurement unit 4 is newly installed at an appropriate position in the middle of the above.
If the construction progresses and the measured point measuring unit 6 cannot be seen from the installation position of the newly installed intermediate measuring unit 4, a new intermediate measuring unit 4 is added to an appropriate position between the measuring units 4 and 6. And repeat these installation tasks. In the pipe propulsion work, the last part of the buried pipe connected to the back of the leading conductor is buried in the ground while the last part of the buried pipe is buried under the ground while pushing with the main push jack, and every time the burial of the last buried pipe is completed, The construction is proceeded by adding a new buried pipe. When the buried pipe is buried by a certain distance in the course of the construction, the intermediate measurement unit 4 is installed in the last buried pipe. When the construction progresses and the buried pipe is further promoted by a certain distance and buried, the intermediate measurement unit 4 is again placed in the last buried pipe.
Are added, and the installation is repeated to maintain the intervals between the measurement units 4, 5, and 6 at appropriate intervals. The standard of the interval is set at a position where the measurement units 4, 5, and 6 can be seen from each other in the planned curve construction section.

A method of calculating the relative position of the point to be measured with respect to the measurement base point by using the measurement units 4, 5, and 6 will be described with reference to FIGS. FIG.
FIG. 1 is a conceptual diagram for explaining the principle of detecting the direction of a light source with a measurement unit in the underground excavator position measuring device of FIG. 1;
FIG. 17 is a horizontal sectional view of a main part showing a state when light is transmitted and received by the underground excavator position measuring device of FIG.
Is a conceptual diagram for explaining a method of calculating the direction of the measurement unit near the measurement base point with the underground excavator position measuring device of FIG. 1. FIG. 19 is a conceptual diagram of the underground excavator position measuring device of FIG. 1. FIG. 20 is a conceptual diagram for explaining a method of calculating the direction of a measurement unit at an arbitrary point. FIG. 20 illustrates a basic principle of calculating the excavation position of an underground excavator using the underground excavator position measuring device of FIG. FIG. 21 is a conceptual diagram for explaining a practical method of calculating the excavation position of the underground excavator using the underground excavator position measuring device of FIG.

First, as a basic matter, the light source direction detecting means 41 of the measuring units 4, 5, 6
The principle of detecting the direction is described with reference to FIG. Hereinafter, in describing each embodiment including this description,
The horizontal coordinate axis on the three-dimensional position coordinate (in short, the horizontal axis) is the X axis, the vertical coordinate axis on the three-dimensional position coordinate (the vertical axis, in short) is the Y axis, and the X axis The horizontal coordinate axis on the three-dimensional position coordinate orthogonal to (i.e., the axis in the front-back direction) is the Z-axis. Now, as shown in FIG. 16, when the convex lens 411 and the CCD image pickup device 412 are arranged in parallel with each other at an interval of Lc and diffuse light is emitted from the light source 42 of the adjacent measurement unit, the image of the light source 42 passes through the convex lens 411. The light passes through and forms an image on the surface of the CCD image sensor 412. In that case, the optical axis (the light source 42 and the convex lens 41
1 means the line connecting to the center. same as below. ) Is a reference line (meaning a line passing through the center of the convex lens 411 and orthogonal to the surface of the CCD image pickup device 412; the same applies to the following). , The component of the same angle on the YZ plane (rotation angle about the X axis) is defined as Φ, and the amount of deviation of the image point of the image of the light source 42 on the surface of the CCD image sensor 412 from the reference line (CCD image sensor) 4
CCD image pickup device 412 of the image forming point of light source 42 on surface 12
Of the X-axis direction among the deviation amounts from the center of the
Assuming that cX and its component in the Y-axis direction are δcY, the following equations are established. tanΘ = δcX / Lc (1) tanΦ = δcY / Lc (2) From the expressions (1) and (2), δcX /
The angle Θ and the angle Φ can be obtained by calculation based on Lc and δcY / Lc. According to such a principle, the direction of the light source 42 can be detected by the light source direction detecting means 41 of each of the measuring units 4, 5, and 6, based on the position of the light detected by the CCD image sensor 412. In the present embodiment, the actual calculation of the angle Θ and the angle Φ based on δcX / Lc and δcY / Lc is performed by the calculation means of the controller unit 43, but may be performed by the central processing unit 7.

It should be noted here that the angles Θ and Φ thus determined are the angles formed by the optical axis of the measuring unit with respect to the reference line of the measuring unit, and are the values when the underground excavator starts moving. It is not an angle to the starting direction, and cannot be a measure for determining the direction of the underground excavator.
In addition, the reference line itself of the measurement unit changes depending on the posture when the measurement unit is attached, and also changes due to yawing and pitching during the excavation of the underground excavator. Even if the values of the angles Θ and Φ are simply used, the digging direction of the underground excavator cannot be correctly calculated. For these reasons,
As described above, the intermediate measurement unit 4 is provided with convex lenses 411 on the left and right so as to collect the diffused light from both the front and rear light sources 42, and the CCD image pickup device can receive the light collected by the left and right convex lenses 411. The elements 412 are also provided on the left and right sides to detect the angles Φ and Φ both in the front and back, and use the detected values of the angles Θ and Φ in both the front and rear for a unique calculation method described in detail later to perform measurement. The digging direction of the underground excavator can be correctly calculated in a state in which the influence of the attitude at the time of mounting the unit and the yawing and pitching of the underground excavator are eliminated.

FIG. 17 schematically shows a state in which an appropriate number of intermediate measuring units 4 are arranged in the underground mine 2 to transmit and receive light to and from each other. Representing the n-th intermediate measurement unit when viewed from the 5 side, 4 (n
+1) and 4 (n-1) represent the intermediate measurement units before and after it. When the actual measurement units 4, 5, and 6 are installed in the underground mine 2, the light incident on the measurement unit and the radiation light of the measurement unit intersect each other as shown in FIG. Lens 4 before and after intermediate measurement unit 4
The measurement is performed in a state where the center positions of the light source 11 and the front and rear light sources 42 are not concentrated on a reference point, but are shifted in the XY plane direction or the Z-axis direction.

When the position of the underground excavator is calculated based on the data obtained by measuring in such a state, for convenience of calculation, as shown in FIGS. 18 and 19, the front and rear lenses 411 and the front and rear lenses 411 are used. Each center position of the light source 42 is positioned at the reference point of each of the measurement units 4, 5, and 6 (the front and rear lenses 411).
(For example, a center point on the center line), the respective center positions thereof are corrected in the XY plane direction or the Z-axis direction and calculated. In this case, in order to more accurately measure the position of the underground excavator, the angle between the optical axis and the reference line is slightly corrected, but the correction value is determined by the front and rear lenses 411 and the front and rear light sources 42. The angles Θ and Φ obtained from the above equations (1) and (2) are taken into consideration while taking into account the positional relationship between each center position and the reference point.
Is calculated by the controller 43 based on Later angle _{ΘN n, ΦN n, ΘS n} , ΦS n is
This is obtained through such correction. in this way,
In the present embodiment, the angle between the optical axis and the reference line is corrected for more accurate measurement. However, the amount of deviation between the center positions of the front and rear lenses 411 and the light source 42 is determined by each measurement unit 4. , 5 and 6 are small values, and if the arrangement of the lens 411 and the light source 42 in the intermediate measurement unit 4 is appropriately selected, even if such correction is not made,
A practical position measuring device can be obtained.

Therefore, a method of calculating the position of the underground excavator based on the data obtained by the measuring units 4, 5, and 6 is as follows.
This will be described with reference to FIGS. In the description, the meaning of symbols used in these drawings and the following mathematical expressions will be explained. V; a line of sight indicating a straight line connecting the reference points of the adjacent measurement units 4, 5, 6; this line of sight V is the light of light transmitted and received between the adjacent measurement units 4, 5, 6 It can be seen as an axis. V ₀ : a starting direction line indicating the starting direction of the underground excavator when starting, V _n : a line of sight connecting the (n−1) th measuring unit and the nth measuring unit of the line of sight G; The above-mentioned reference line, which means a line passing through the center of the convex lens 411 of the measurement unit and orthogonal to the surface of the CCD image sensor 412 of the measurement unit, G _n ; the reference line of the n-th measurement unit among the reference lines G; _n; X-Z plane on components of an angle line of sight V _n with respect to the starting direction line V ₀ (sight line V _n and starting direction line V ₀
The angle of the positive projected lines onto X-Z plane, In short, the angle in the horizontal direction toward the axial direction of the underground mine 2), Φ _n; line of sight V _n Whereas starting direction line V ₀ component on angle of Y-Z plane Te (line of sight V _n and starting direction line V ₀
Is an angle formed by a line orthogonally projected on the YZ plane, that is, an angle in a vertical direction toward the axial direction of the underground pit 2), ΘN _n ; a line of sight V behind the n-th surveying unit _n is the component of the X-Z plane of the angle formed between the reference line G _n (the angle of the line of sight line V _n and the reference line G _n and orthographic projection onto X-Z plane), .PHI.N _n; n-th survey component of the angle of Y-Z plane formed line of sight V _n of the rear reference line G _n in the unit (the angle of the line of sight line V _n and the reference line G _n and orthographic projection onto Y-Z plane) , ΘS _n ; component on the XZ plane of the angle formed by the line of sight V _{n + 1} ahead (the line of sight rearward for the (n + 1) th surveying unit) with the reference line G _{n in the n-} th surveying unit the line V _{n + 1} and the reference line G _n to X-Z plane angle) of positive projected line, .PHI.S _n; n th The amount that the forward line of sight in the unit V _{n + 1} component on angle of Y-Z plane formed by the reference line G _n (n + 1 th rear of the line of sight for the surveying units) (line of sight V _{n + 1} and the reference and Tonaria' was n-1 th measuring unit of the distance between the reference points of each measurement unit 4, 5, 6; angle) of the line the line G _n and orthographic projection onto Y-Z plane, L _n In describing the method of calculating the distance between the reference points of the n-th measurement unit and the position of the underground excavator, for convenience of explanation, not only the intermediate measurement unit 4 but also all the measurement units 4, 5, 6 is unified by the code 4 (n) with 4 as the initial letter. In that case,
4 (n) means the n-th measurement unit counted from the measurement unit next to the base measurement unit 5, and 4 (0) means
The reference point measurement unit 5 is meant. Further, G ₀ means the reference line G of the base point measurement unit 4 (0), and is set so as to coincide with the direction of the starting direction line V _{0 in} this embodiment. Angle _{Θ n, Φ n, ΘN n} , ΦN n, ΘS n, ΦS
The _n, and remembering polarity, 18 and 19, the angle when the line of sight V _n with the reference line G _n based is inclined in a clockwise direction - polarity, counterclockwise The angle when tilted around is defined as + polarity. Thus, for example, in FIG. 18, the angle theta _1, [Phi
_1, arc tip arrows representing the direction of inclination of the line of sight V _n is the angle of plus they face the counterclockwise direction, the angle Θ
_{N 1, ΦN 1, ΘS 1} , ΦS 1 is arc tip arrows representing the direction of inclination of the line of sight V _n is an angle of minus be oriented to a clockwise direction.

As is apparent from the above description, the angles { _{N n} , Φ _{N n} , Θ} formed by the line of sight V _{n and the} reference line G _n.
S _n and ΦS _n can be obtained by the measurement unit 4 (n). When calculating the position of the underground excavator, the angle finally obtained in this embodiment is determined by the line of sight V _n Are the angles Θ _n and Φ _n with the starting direction line V ₀ . The calculation method of the angles Θ _n , Φ _n will be described with reference to FIGS. 18 and 19. First, for the angles Θ ₁ , Φ ₁ , the reference line G ₀ of the base point measurement unit 4 (0) is set to the starting direction line V _In other words, Θ ₁ = ΘS ₀ , so as to match the direction of ₀ .
Since it is set in advance so that Φ ₁ = ΦS ₀ , it can be directly obtained from the measurement result in the base point measurement unit 4 (0). Then, the angle theta _2, the [Phi ₂ are groups respectively, thus resulting angle theta _1, [Phi ₁ and the measurement unit 4 .theta.N ₁ · [theta] s ₁ obtained in (1), the value of .PHI.N ₁ · .PHI.S ₁ To
It can be obtained by the following equations. Θ ₂ = Θ ₁ −ΘN ₁ + ΘS ₁ ... (3) Φ ₂ = Φ ₁ −Φ N ₁ + Φ S ₁ (4) Similarly, angles Θ _{n + 1} , Φ _{n + 1} , If the angles Θ _n , Φ _n are obtained, the angles Θ _n , Φ _n and ΘN _n ΘS _n , Φ N _n Φ obtained by the measurement unit 4 (n)
Based on the value of S _n, it can be determined by the following respective formulas. Θ _{n + 1} = Θ _n -ΘN _n + ΘS _n (5) Φ _{n +1} = Φ _n -Φ _{N n} + ΦS _n (6) In these equations (5) and (6) Θ _n , Φ _n is the angle Θ
_Since the values of _n-1 and Φ _n-1 are obtained by calculation in the process of measuring the position of the underground excavator, based on these values (5),
It can be obtained from equation (6). That is, the values of the angles Θ ₂ and Φ ₂ obtained by the equations (3) and (4) are substituted into Θ _n and Φ _n of the equations (5) and (6) to calculate Θ ₃ and Φ _3. The values of the angles 演算_n-1 and Φ _n-1 can be obtained by sequentially performing the operation of calculating Θ ₄ and Φ ₄ from the equations (5) and (6) again based on the calculation results. ,Finally,
By substituting these values into equations (5) and (6), angles Θ _n and Φ _n can be obtained. In this embodiment, the data relating to the directions of the respective light sources 42 such as the angles Θ _n and Φ _n are stored in the central processing unit 7 according to the above equations.
Is calculated by the calculation unit. In this embodiment example, of the data relating to the direction of each light source 42 obtained based on the detection result of each measurement unit 4, 5, 6, angle _{ΘN n, ΦN n, ΘS n} , for .PHI.S _n is the controller 43 Although the angles Θ _n and Φ _n are obtained by the calculation means in accordance with the above equations, the angle に 従 っ_{て n} and Φ _n are obtained by the calculation unit of the central processing unit 7. The choices above.

As is clear from the above description, the angles Θ _n , Φ _{n of the} line of sight V _n of the measuring unit 4 (n) with respect to the starting direction line V ₀ , which are the basis for calculating the position of the underground excavator.
It is, without directly detecting the angle of the line of sight V _n in relation to the starting direction line V _0, the measurement unit 4 (n)
Reference line G in relation to the _n detected the line of sight V _n both before and after each measurement unit 4 (n) for each angle .theta.N _n,
ΦN _n , ΘS _n , and ΦS _n are sequentially measured, and the measurement results can be used indirectly by performing an arithmetic operation using the method described in the above equation. Therefore, the measurement unit 4 (n)
Reference line _Gn changes depending on the posture at the time of attachment,
The angle に よ っ_て N _n , ΦN _n , ΘS _n , ΦS even if it changes due to yawing or pitching during the excavation of the underground excavator.
_{As long as n} is properly measured, the direction of the excavation of the underground excavator can be correctly calculated in a state where such a change is woven as it is, and the change does not affect the calculation result.

Thus, for example, the values of angles Θ _{1 to} Θ _n and Φ
After sequentially measuring the values of _{1 to} Φ _n, the values of these angles and each of the measurement units 4 measured by the optical distance meter 10 are measured.
(N) based on the value of the distance L ₁ ~L _n between the reference point and the adjacent rear of the measuring unit 4 (n-1) and the position of the underground excavator in the three-dimensional position coordinates set That is, the relative position of the measured point with respect to the measurement base point is calculated. Therefore, the basic principle of the calculation method will be described with reference to FIG. FIG. 20 shows a case in which one of the angles Θ _n and Φ _n is changed and the other is not changed to construct an underground pit in order to facilitate understanding of the calculation method. The position of the reference point of each measurement unit 4 (n) in the case of performing the curve construction only on the two-dimensional position coordinates composed of the vertical axis shared by the X-axis and the Y-axis and the horizontal axis as the Z-axis, (X ₁ , Y ₁ , Z ₁ ), (X ₂ , Y ₂ ,
Z ₂ )... (X _n , Y _n , Z _n ). In this case, the Z axis of the two-dimensional position coordinates is made to coincide with the starting direction line V _0, and the origin is made to coincide with the measurement base point of the base point measurement unit 5 [4 (0)].

As apparent from FIG. 20,
The change amount of the coordinate position of the reference point of each measurement unit 4 (n) with respect to the reference point of the adjacent rear measurement unit 4 (n-1) is
The values of the angles Θ _{1 to} Θ _n and Φ _{1 to} Φ _n and the distances L _{1 to} L
can be sequentially calculated by trigonometric function using the values of _n (corresponding to the length of the line of sight V ₁ ~V _n). That is,
In the amount of change in the coordinate position of the reference point of each measurement unit 4 (n) with respect to the reference point of the adjacent rear measurement unit 4 (n-1), the component in the X-axis direction and the component in the Y-axis direction are L, respectively.
It can be found as _n · sin? _n and L _n · sin .PHI _n, component in the Z-axis direction, Ln · cos [theta] _n or L _n
- it can be obtained as cosΦ _n. Note that, in this example, the angles に 際_{し て n} , Φ _n
Of the angle Θ _n
The If so as to vary the amount changed in the Y-axis direction by the X-axis direction component of the variation of the coordinate position of the reference point L _n · sin? _N of the respective measuring unit 4 (n) the component does not change, if you vary the angle [Phi _n, only components of the Y-axis direction component in an amount changed by the X-axis direction L _n · sinΦ _n does not change.

Thus, the X-axis or Y-axis component and the Z-axis component of the amount of change in the coordinate position of the reference point of each measurement unit 4 (n) with respect to the reference point of the adjacent rear measurement unit 4 (n-1). When the components are obtained, the amounts of the components in each of these directions are integrated to obtain (X _n , Y _n , Z
_n ) The coordinate position can be calculated. In the example of FIG. 20, since each line of sight V _n is changed to be inclined always counter-clockwise direction with respect to the Z axis, when the integrated is directly the amount of each component in the direction of the respective What is necessary is just to add up. However, even _if the inclination direction of each line of sight Vn changes randomly in a clockwise direction and a counterclockwise direction, if the angles Θ _n and Φ _n are given the above-mentioned polarity, the aforementioned X axis, Y axis and Z axis
The amounts of the components in each direction of the axis are integrated as they are,
_{(X n, Y n, Z} n) can be calculated the coordinate position of.

In FIG. 20, the angles Θ _n ,
An example in which only one of Φ _n is changed has been described. Next, a case in which both the angles Θ _n and Φ _n are changed to change the excavation direction of the underground excavator in a three-dimensional manner such as up, down, and horizontally. The method of calculating the position of the underground excavator will be described with reference to FIG.
FIG. 21 shows the position of the reference point of each measurement unit 4 (n) in the case where the direction of the excavation of the underground excavator is three-dimensionally changed in this way, using the normal three-dimensional position composed of the X, Y, and Z axes. on the coordinate (X _1, Y _1, Z _1), are only exemplary shown for (X _2, Y _2, Z ₂₎ measurement and so units 4 (1), 4 (2). In this case, the Z-axis of the three-dimensional position coordinates is made to coincide with the starting direction line V _0, and the origin is made to coincide with the measurement base point of the base point measurement unit 5 [4 (0)]. In FIG. 21, similarly to FIGS. 18 and 19, the angles Θ _n and Φ _n have polarities, and for the angle Θ _n , the angle formed clockwise with respect to the YZ plane is represented by +. The polarity and the angle formed in the counterclockwise direction were defined as the negative polarity. On the other hand, for the angle Φ _n , X−
An angle formed clockwise with respect to the Z plane was defined as a negative polarity, and an angle formed counterclockwise with a positive polarity. Therefore, in FIG. 21, the angles Θ ₁ , Θ
₂ is a positive angle in which all the arrows at the tip of the arc representing the angle point clockwise. On the other hand, the angle Φ
₁ is a plus angle with the tip arrow of the arc representing the angle pointing in the counterclockwise direction, and the angle Φ ₂ is a minus angle with the tip arrow of the arc representing the angle pointing in the clockwise direction.

The coordinate position (X _n , Y _n , Z _n ) of the reference point of each measurement unit 4 (n) is determined by the values of the angles Θ _{1 to} Θ _n and Φ _{1 to} Φ _n obtained by the above-described method. Using the values of the distances L _{1 to} L _n obtained by measurement using an appropriate method, the three-dimensional calculation is performed by the same method as outlined in FIG. First,
The coordinate position (X ₁ , Y ₁ , Z ₁ ) is based on the values of the angles Θ ₁ , Φ _{1 and} the value of the distance L ₁ directly obtained from the measurement results of the base point measurement unit 4 (0). Can be obtained by the following equations. _{X 1 = L 1 cosΦ 1 sinΘ} 1 ............... (7) Y 1 = L 1 cosΘ 1 sinΦ 1 ............... (8) Z 1 = L 1 cosΘ 1 cosΦ 1 ............... (9 Next, with respect to the coordinate position (X ₂ , Y ₂ , Z ₂ ), X ₁ , Y ₁ , Z ₁ obtained by the above equations (7), (8), (9) are obtained.
And the angles Θ ₂ and Φ ₂ obtained by the above equations (3) and (4).
Of the values and based on the value of the distance L ₂ obtained by measuring an appropriate manner, it can be obtained by the following respective formulas. _{X 2 = X 1 + L 2} cosΦ 2 sinΘ 2 ............... (10) Y 2 = Y 1 + L 2 cosΘ 2 sinΦ 2 ............... (11) Z 2 = Z 1 + L 2 cosΘ 2 cosΦ 2 ... (12) Similarly, for the coordinate position (X _n , Y _n , Z _n ), X obtained by sequentially performing the same operation as in the previous (10), (11), and (12) is obtained. _{n-1, Y n-1} , Z n-1 values and the (5), the angle theta _n obtained by calculating equation (6), based on the value of Φ values of _n and the distance L _n , Next (13) ′, (14)
', (15)'. _{X n = X n-1 +} L n cosΦ n sinΘ n ............... (13) 'Y n = Y n-1 + L n cosΘ n sinΦ n ............... (14)' Z n = Z n- ₁ + L _n cosΘ _n cos Φ _n (15) ′ Therefore, the coordinate position (X _n , Y _n , Z _n ) of the reference point of each measurement unit 4 ( _n ) is eventually given by the following (13). , (1
4) and (15). _{X n = ΣL n cosΦ n sinΘ} n ............... (13) Y n = ΣL n cosΘ n sinΦ n ............... (14) Z n = ΣL n cosΘ n cosΦ n ............... (15 Note that Σ in the formulas (13), (14), and (15) means a value obtained by multiplying n by sequentially placing n from 1 to n. Therefore, for example, _{ L _n cosΦ _n sin _{} n} is L ₁ co
It means the sum of the values of _{sΦ 1 sinΘ 1 ~L n cosΦ n} sinΘ n. Suppose now that the n-th measurement unit 4
Assuming that (n) is the measured point measuring unit 6 for setting the measured point, the relative position of the measured point with respect to the measurement base point set by the base point measuring unit 5 is (X _n , Y _n ,
Z _n ), which can be easily calculated by the equations (13), (14) and (15). The calculation of the position by each of the above equations is performed by the calculation unit of the central processing unit 7.
Thus, the relative position of the measured point with respect to the measurement base point is
Based on the data on the direction of each light source obtained based on the detection results of the measurement units 4, 5, and 6, and the data on each distance between adjacent measurement units obtained by the lightwave distance meter 10, (3) to (3) to ( It can be measured by calculation according to equation (15).

Finally, the position measuring device of the underground excavator according to the second embodiment and the third embodiment of the present invention will be described with reference to FIGS. FIG. 6 is a horizontal cross-sectional view schematically showing an overall image of the underground excavator position measuring device according to the second embodiment of the present invention, and FIG. 7 is an intermediate diagram in the underground excavator position measuring device of FIG. FIG. 8 is a horizontal sectional view showing the measuring unit in detail, FIG. 8 is a perspective view of the underground excavator position measuring device in FIG. 6 as viewed from the rear side of the intermediate measuring unit, and FIG. 9 is the position of the underground excavator in FIG. FIG. 10 is a perspective view of the intermediate measuring unit in the measuring device as viewed from the front side, and FIG. 10 is a cross-sectional view schematically showing an image of the position measuring device of the underground excavator according to the second embodiment of the present invention during operation. Is a horizontal sectional view schematically showing an overall image of a position measuring device for an underground excavator according to a third embodiment of the present invention, and FIG. 12 is an intermediate measuring unit in the position measuring device for an underground excavator of FIG. FIG. 1 is a horizontal sectional view showing details
3 is a perspective view seen from the rear side of the intermediate measurement unit in the underground excavator position measuring device of FIG. 11, and FIG.
FIG. 115 is a perspective view of the intermediate measuring unit in the position measuring device of the underground excavator 1 as viewed from the front side, and FIG.
It is sectional drawing which shows roughly the image at the time of operation | movement of the position measuring device of the underground excavator of a specific example.

First, the position measuring device of the underground excavator according to the second embodiment of the present invention will be described with reference to FIGS. 6 to 10. As best shown in FIG. In the position measuring device of the underground excavator of the embodiment, when the lightwave distance meter 10 is attached to one of the adjacent measuring units 4 (n-1) and 4 (n), The light wave due to the diffused light emitted from the light transmitter 101 of the lightwave distance meter 10 is received by the CCD image pickup device 412 as the light receiving means arranged in the other measurement unit 4 (n) so that one of the measurement units 4 (n-1) light sources 42
Is replaced by a light transmitter 101 as a light wave generation source in the light wave distance meter 10. Since the position measuring device of this embodiment has such a structure, the light wave emitted from the light transmitter 101 of the light wave distance meter 10 attached to the measuring unit 4 (n-1) is incident on the reflecting prism 11 By reflecting the light toward the light receiver 102, the adjacent measurement units 4 (n−1), 4
(N) The distance between them can be measured and the light transmitter 1
01 emits a light wave from the lens 4 of the measurement unit 4 (n).
11 and is also received by the CCD image pickup device 412. As a result, the measurement unit 4 (n)
A value corresponding to the direction of the light source of (n-1) can be detected. The direction of the light source 42 of the measurement unit 4 (n) is collected by the lens 411 of the measurement unit 4 (n-1) and received by the CCD image sensor 412 as in the first embodiment. Can be detected. By adopting such a structure, the light source of one measuring unit 4 (n-1) of the adjacent measuring units 4 (n-1) and 4 (n) can be substituted by the light transmitter 101 of the lightwave distance meter 10. Measurement unit 4 (n-1)
Can be reduced in the number of light sources provided.

A position measuring device for an underground excavator according to a third embodiment of the present invention will be described with reference to FIGS.
As is well shown in FIG. 15, in the position measuring device of the underground machine in the first embodiment, one of the adjacent measuring units 4 (n-1) and 4 (n) is measured. −
When the lightwave distance meter 10 that emits a light wave due to diffused light is attached to 1) and the reflecting prism 11 that reflects the lightwave toward the lightwave distance meter 10 is attached to the other measurement unit 4 (n), this lightwave distance is used. The light wave due to the diffused light emitted from the total 10 is received by the CCD image pickup device 412 arranged in the other measurement unit 4 (n), and the light wave due to the diffused light reflected by the reflection prism 11 is transmitted to the one measurement unit 4
The light source 42 of one measurement unit 4 (n-1) is substituted by the light transmitter 101 of the lightwave distance meter so that the light is received by the CCD image sensor 412 arranged at (n-1), and the other is used. The light source 42 of the measurement unit 4 (n) was substituted by the reflection prism 11. By adopting such a structure, it is possible to eliminate the light source provided in the facing portion of the adjacent measurement unit, and it is possible to further reduce the number of light sources provided in the measurement unit. In addition, since there is only one light source, each measurement unit 4 (n-
1) and 4 (n), when obtaining data relating to the direction of each light source 42, the light wave of the lightwave distance meter 10 has an adverse effect on the data or the lightwave distance meter 10 obtains data relating to each distance between adjacent measurement units. In this case, it is not necessary to provide a means such as a frequency selection filter for preventing the diffused light from the light source 42 from affecting the data.

[0038]

As is apparent from the above description, the present invention employs the technical means described in the section of means for solving the problems. When measuring the excavation position, there is no need to perform an operation for applying light to the light receiving means, and a position measuring device for an underground excavator that does not require an operation mechanism for that purpose can be obtained. In addition, even if the mounting orientation of the measurement unit is not uniform or changes due to yawing or pitching during excavation of the underground excavator, the excavation position of the underground excavator can be It can always calculate and measure correctly. When the present invention is embodied, in particular, if the technical means described in claim 2 is employed, in addition to the above basic effects, the light source of one of the adjacent measurement units may be used. By substituting the light source of the light wave distance meter, the number of light sources provided in the measurement unit can be reduced. When the present invention is embodied, in particular, if the technical means described in claim 3 is employed, the light source of one of the adjacent measurement units in addition to the above basic effect can be obtained. By replacing the light source of the other measuring unit with the light reflecting means, and thereby eliminating the light source provided in the facing part of the adjacent measuring unit, thereby providing the light source provided in the measuring unit. Can be further reduced. Also,
When the data on the direction of each light source is obtained by each measurement unit, the light wave of the lightwave distance meter adversely affects the data, and when the data on each distance between adjacent measurement units is obtained by the lightwave distance meter, the diffused light of the light source There is no need to provide a means for preventing the data from being adversely affected.

[Brief description of the drawings]

FIG. 1 is a horizontal sectional view schematically showing an overall image of a position measuring device for an underground excavator according to a first embodiment of the present invention.

FIG. 2 is a horizontal sectional view showing in detail an intermediate measurement unit in the underground excavator position measuring device of FIG. 1;

FIG. 3 is a perspective view of the underground excavator position measuring device in FIG. 1 as viewed from the rear side of an intermediate measurement unit.

FIG. 4 is a perspective view of the intermediate measuring unit in the underground excavator position measuring device of FIG. 1 as viewed from the front side.

FIG. 5 is a cross-sectional view showing a schematic structure of a lightwave distance meter.

FIG. 6 is a horizontal sectional view schematically showing an entire image of a position measuring device for an underground excavator according to a second embodiment of the present invention.

FIG. 7 is a horizontal sectional view showing in detail an intermediate measuring unit in the underground excavator position measuring device of FIG. 6;

8 is a perspective view of the intermediate measuring unit in the underground excavator position measuring device of FIG. 6 as viewed from the rear side.

FIG. 9 is a perspective view of the intermediate measuring unit in the underground excavator position measuring device of FIG. 6 as viewed from the front side.

FIG. 10 is a sectional view schematically showing an image when the position measuring device of the underground excavator according to the second embodiment of the present invention is operated.

FIG. 11 is a horizontal sectional view schematically showing an overall image of a position measuring device for an underground excavator according to a third embodiment of the present invention.

FIG. 12 is a horizontal sectional view showing in detail an intermediate measurement unit in the underground excavator position measuring device of FIG. 11;

13 is a perspective view of the underground excavator position measuring device in FIG. 11 as viewed from the rear side of the intermediate measurement unit.

14 is a perspective view of the intermediate measuring unit in the underground excavator position measuring device of FIG. 11 as viewed from the front side.

FIG. 15 is a sectional view schematically showing an image when the position measuring device of the underground excavator according to the third embodiment of the present invention is operated.

FIG. 16 is a conceptual diagram for explaining the principle of detecting the direction of a light source by a measurement unit in the underground machine position measuring device of FIG.

17 is a horizontal cross-sectional view of a main part showing a state when light is transmitted and received by the position measuring device of the underground machine shown in FIG. 1;

18 is a conceptual diagram for explaining a method of calculating the direction of the measurement unit near the measurement base point by the underground excavator position measurement device of FIG. 1;

FIG. 19 is a conceptual diagram for explaining a method of calculating the direction of a measurement unit at an arbitrary point by the underground excavator position measuring device in FIG. 1;

20 is a conceptual diagram for explaining a basic principle of calculating the excavation position of the underground excavator by the underground excavator position measuring device of FIG. 1;

FIG. 21 is a conceptual diagram for explaining a practical method of calculating the excavation position of the underground excavator using the underground excavator position measuring device of FIG. 1;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Excavator 2 Underground shaft 3 Starting shaft 4 Intermediate surveying unit 41 Light source direction detecting means 411 Convex lens 412 CCD image sensor 42 Light source 43 Controller unit 5 Base point measuring unit 6 Measured point measuring unit 7 Central processing unit 8 Display device 10 Light wave Distance meter 101 light transmitter 102 light receiver 104 photoelectric conversion element 105 light wave distance calculating means 106 pulse generator 107 concave mirror 11 reflecting prism G _n reference line L of _nth measurement unit Ln adjacent n-1st and nth the distance between the reference point of the measurement unit, LC; lens and the center of the distance V ₀ starting direction line V n _n-1 th between the center of the CCD imaging device and the n-th line of sight theta _n sight line V connecting the measuring unit _{angle n} is the component [Phi _n sight line V _n on X-Z plane of the angle formed with respect to the starting direction line V ₀ respect to the starting direction line V ₀ Component on Y-Z plane

 ──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Yoshiaki Shimomura 650, Kandamachi, Tsuchiura City, Ibaraki Prefecture Inside the Tsuchiura Plant of Hitachi Construction Machinery Co., Ltd. (72) Inventor Minoru Noguchi 292, Yoshidacho, Totsuka-ku, Yokohama-shi, Kanagawa Prefecture (72) Inventor Yasuhiko Hara 292 Yoshida-cho, Totsuka-ku, Yokohama-shi, Kanagawa Prefecture Incorporated Hitachi Manufacturing Co., Ltd. (72) Inventor Masaharu Nakamura 1-3-2 Shibaura, Minato-ku, Tokyo No. Shimizu Corporation (72) Inventor Hideki Hagiwara 1-3-2 Shibaura, Minato-ku, Tokyo Shimizu Corporation

Claims (5)

[Claims] An underground excavator that excavates an underground mine while excavating underground is used to measure the excavation position, and the position of a measurement point that is disposed in front of the excavation direction and serves as an index of the excavation position is determined. An underground excavator position measurement device that measures the position relative to the measurement base point, which is located rearward in the direction and that is the measurement base point, and diffuses light from a light source that can emit diffused light forward and diffused light from a forward light source. The measuring base point is set having light collecting means capable of collecting and light receiving means arranged to receive the light collected by the light collecting means and to detect the direction of the light source ahead based on the position of the received light. Base measurement unit, a light source capable of emitting diffused light backward, a light collecting means capable of collecting diffused light from the rear light source, and a position of the light received by the light collected by the light collecting means. Detects the direction of the light source behind A measuring point measuring unit having a light receiving means arranged so as to be capable of setting a measuring point, a light source capable of emitting diffused light forward and backward, and diffused light from forward and rear light sources respectively. It has a light collecting means that can be collected and light receiving means arranged to receive the light collected by the light collecting means and detect the directions of the front and rear light sources based on the position of the received light. And at least one intermediate measuring unit disposed between the base point measuring unit and the measured point measuring unit in the underground mine, and each measuring unit of the base point measuring unit, the measured point measuring unit and the intermediate measuring unit is provided. In one measuring unit of the adjacent measuring unit, a lightwave distance meter that emits light waves by diffused light is attached, and the lightwave is The light reflecting means, which reflects the light, is configured so as to be reflected, and the data on the direction of each light source obtained based on the detection result of each measuring unit and each distance between adjacent measuring units in each measuring unit obtained by the lightwave distance meter A position measuring device for an underground excavator, characterized in that a relative position of a point to be measured with respect to a measurement base point is calculated and calculated by a calculating means based on data relating to the measurement base point. 2. The underground excavator position measuring device according to claim 1, wherein when one of the adjacent measuring units is provided with a light wave distance meter that emits a light wave due to diffused light, A light wave generated by diffused light is received by light receiving means arranged in the other measurement unit, and a light source of one measurement unit is substituted by a light wave generation source of a light wave distance meter. Position measurement device for the drilling machine. 3. The underground excavator position measuring device according to claim 1, wherein one of the adjacent measuring units is provided with a light wave distance meter for emitting a light wave by diffused light, and the other measuring unit transmits the light wave to the other measuring unit. In the case where light reflecting means for reflecting toward the light wave distance meter is attached, the light wave due to the diffused light emitted from the light wave distance meter is received by the light receiving means arranged in the other measurement unit, and reflected by the light reflecting means. The light from the diffused light is received by the light receiving means arranged in one of the measurement units, and the light source of one of the measurement units is substituted for the light source of the lightwave distance meter, and the light source of the other measurement unit is used as the light source. A position measuring device for an underground excavator, wherein a light reflecting means is used instead. 4. The underground excavator position measuring device according to claim 1, wherein the light wave generated by the diffused light is generated by a light emitting diode. 5. The underground excavator position measuring apparatus according to claim 1, wherein a reflecting prism is used as the light reflecting means.