KR200315383Y1 - Apparatus for automatically surveying tunneling course - Google Patents

Abstract

An excavation path automatic measurement device in a tunnel propulsion method in which a pipe is sequentially inserted while digging a tunnel or a tunnel by an excavator, wherein the target display means 100 is attached to the rear of the excavator 10, and the target display means from the rear thereof. The housing 200 equipped with the target recognition means, the angle measuring means, and the distance measuring means for optically recognizing the optical signal is supported on the rotating stage 300 which can rotate in at least two axes with respect to the target display means. The stage is supported by the precision horizontal holding means so that the horizontal posture can be automatically calibrated so that the housing can be moved in the horizontal posture to recognize the target and then measure the moved angle and distance. It can eliminate the risks of human surveying by automating, and it can shorten the survey time and automatically survey the excavation route several times a day or in real time, so that more accurate and quantitative excavation can be performed. To be able. It is especially useful when drilling in narrow, curved tunnels or tunnels where people cannot enter.

Description

Apparatus for automatically surveying tunneling course}

The present invention relates to an excavation path automatic surveying device in a tunnel propulsion method for inserting a tube sequentially while digging a tunnel or a tunnel by an excavator.

Tunneling machine is a self-propelled machine for digging tunnels or tunnels underground. The tunnel propulsion method by this excavator is well known. In tunnel propulsion by excavator, in order to proceed with the planned route, the excavator must be continuously surveyed and the progress of the excavator is adjusted according to the survey results.

In surveying excavation routes, surveying by people generally takes not only the risk of fatal safety accidents from collapse, lack of oxygen or generated gases, but also long surveying time, especially in incomplete narrow trenches. In addition, there is a great economic loss, such as delaying the air by shutting down the excavator during surveying. Therefore, there is a need for an automated excavation route measurement plan that can consider safety and economic feasibility and minimize the occurrence of errors with the planned excavation route. Looking at the conventional technique proposed from the excavation path, in particular the need for automatic measurement of the micro-tunneling machine path is as follows.

Korean Patent Laid-Open Publication No. 2002-0055959 relates to a system and a control method for a tunneling path of a tube propulsion type tunnel excavator, including vertical error, horizontal error, rolling, vertical pitching during a tunneling process. ), A measuring device that can measure the position and position of the equipment (excavator) by continuously measuring the excavation distance, etc. has been proposed. The proposed measuring device combines an optical system using a laser and an inclinometer, and reads the laser beam reflected on the target through a target camera, a CCD camera and an image processing device to a CCD camera, and then tracks the position using an image processing algorithm. Serve However, since the laser beam is emitted from the oscillation port and the front cylinder of the tunneling equipment to analyze the laser pointer on the target installed in the rear cylinder of the tunneling equipment, there is a limit in tracking the curved excavation path. In addition, in calculating the excavation distance, a method of obtaining a forward pressure jack forward distance through a pressure stroke encoder is used. Therefore, an error is likely to occur in the curved excavation path, and the advance distance depends on the precision of the pressure stroke encoder.

Another method and apparatus for measuring the position attitude of a tunnel excavator in Korea Patent Registration 10-0192851 is to accurately measure the position and posture of a tunnel excavator even in a rapid curve construction, a gradient construction, or a construction whose height changes midway. As a measuring device and a method using the above, it is a method of calculating an excavation path by measuring an angle and a distance by measuring an angle at which a laser beam emitted by a laser oscillation unit is returned by a reflection prism. However, in order to find the reflection prism at an arbitrary position by the laser beam, a certain area needs to be scanned at regular intervals, which causes a problem of requiring a lot of time for measurement. In addition, a method of increasing the area of the reflective prism can be considered to shorten the measurement time, but the area of the reflective prism has a disadvantage in that it is economically disadvantageous since it has a correlation with the volume, weight, and price of the glass reflective prism. . Further, the collimation angle and distance from the station at the rear of the tunnel excavator to the target installed at the station at the tunnel excavator, and the collimation angle and distance from the station at the rear of the tunnel excavator to the target installed at the known station at the rear. Since the angle and distance from the station behind the tunnel to the tunnel excavator are measured by measuring each of them, the laser oscillator located at the station behind the tunnel excavator should rotate at least 180 ° very precisely. Since at least two rotation stages, inclinometers, and distance measuring means must be separated, there is a problem in that the signal processing and control system is complicated.

The object of the present invention is to attach the cross-shaped light emitter to the rear of the excavator remotely, and to adjust the center of the cross-shaped light emitter by means of a remote automatic control device equipped with a vertical contact angle measuring device and a non-contact distance meter fixed to the propulsion pipe. After optically recognizing, it measures the angle and distance to the center of the recognized illuminant and detects the data that tracks the path of the excavator, and provides the excavation path automatic surveying device that can be connected to a computer for automatic analysis and monitoring. have.

1 is a side view showing an installation state of the excavation route automatic surveying device according to the present invention.

Figure 2 is a cross-shaped light emitting unit pattern diagram of the target display means of the excavation route automatic surveying device according to the present invention.

Figure 3 is a front view of the installation state of the target display means automatic detection mechanism of the excavation route automatic measurement apparatus according to the present invention seen from the optical axis.

Figure 4 is a perspective view of the bracket for the installation of the target display means automatic detection mechanism of the excavation path automatic measurement apparatus according to the present invention.

5 is an optical layout of the target recognition means, the angle measuring means and the distance measuring means mounted in the housing of the target display means automatic detection mechanism of the excavation route automatic measurement apparatus according to the present invention.

6a and 6b is a control flow diagram of the excavation path automatic measurement apparatus according to the present invention.

7 is a waveform diagram of a line scan sensor pattern and its detection signal in the excavation route automatic surveying apparatus according to the present invention;

8 is an optical profile for explaining the principle of fine angle measurement by the line scan sensor in the excavation path automatic measurement apparatus according to the present invention.

Figure 9 is a longitudinal cross-sectional view of the curved section illustrating the maximum placement interval in the curved section of the excavation route automatic surveying apparatus according to the present invention.

10 is a control system diagram of the automatic surveying apparatus according to the present invention.

11 is an interface screen displayed on the computer processor in the control system of the automatic surveying apparatus according to the present invention.

Explanation of symbols on the main parts of the drawings

10: excavator 20: excavator

100: target display means 101,102: vertical and horizontal light emitting unit

200: housing 210: target recognition means

211: objective lens 216: eyepiece

217: photoelectric sensor 220: angle measuring means

221,222 Line scan sensor 225,226 Encoder

230: distance measuring means 300: rotating stage

320: horizontal rotary actuator 321: vertical axis

330: vertical rotation actuator 331: horizontal axis

400: precision level holding means 500: support means

610: computer processor 630: controller

640: power supply

The excavation route automatic measurement apparatus according to the present invention for achieving the above object, the target display means for distinguishing and displaying the vertical light emitting unit and the horizontal light emitting unit crosswise cross the rear end of the excavator, and the target display in the rear of the excavator A target recognition means for optically recognizing the means, an angle measuring means for measuring a change in the rotation angle of at least two axes of the target recognition means with respect to the target display means, and a distance of the target recognition means with respect to the target display means Distance measuring means, a rotating stage capable of rotating the target recognition means in at least two axial directions with respect to the target display means, and a precision horizontal holding means which is automatically operated to support the rotating stage and maintain its horizontal position. And fixed support means for fixing and supporting the precision horizontal holding means in the drilling hole by the excavator; A controller for controlling the flashing of the table display means and the driving of the rotating stage and the precision horizontal holding means and processing the data detected by the respective means, preferably the target recognition means, the angle measuring means, and the distance measurement. It may include a housing for receiving the means and moved to the rotating stage.

The target display means is provided with a light emitting body for the vertical vertical light emitting portion and a horizontal light emitting portion on a plate having a certain area, and can be attached to the excavator, preferably control the lighting of the light emitting itself or the like; It can be configured to include a control circuit that is connected to the control means to operate.

The target recognition means includes: an objective lens to which light enters from the target display means, an eyepiece for forming the incident light, a photoelectric sensor for detecting an electrical signal according to the amount of light formed by the eyepiece, and the objective lens And at least one reflective mirror disposed between the eyepiece and the photoelectric sensor to change the optical path. Preferably, the photoelectric sensor may be configured to detect a signal indicating the target recognition at the maximum amount of light.

The angle measuring means is installed on each axis of the rotating stage to detect signals corresponding to an encoder for detecting the rotation angle and a vertical light emitting portion and a horizontal light emitting portion of the target display means recognized by the target recognition means. It can be configured as a line scan sensor in two directions with an array of micro-sized photoelectric sensors.

The distance measuring means may use a conventional measuring device that measures a distance by detecting a reflection from the target after firing a medium such as a laser, an infrared ray, or an ultrasonic wave to the target display means. It can be integrated in one housing together with the recognition means.

The rotating stage has a housing for receiving the target recognition means, a housing holder for supporting the housing, a vertical axis for supporting the housing holder from below, and driving the vertical axis to rotate the housing holder horizontally with the housing. Horizontal rotating actuator which is attached to the housing holder and has a horizontal axis to fit the housing may be configured as a vertical rotating actuator which is operated to rotate the housing in the vertical direction by driving the horizontal axis.

The precision leveling means includes a normal automatic leveling device including sensors that sense the level of energy when the posture of the rotating stage is tilted, and actuators that operate automatically based on the signals of the sensors to maintain a horizontal posture. You can use a stand.

The support means may comprise a bracket fixed to the left and right sides of the inner circumferential wall of the drilling hole and a support plate fixed on the bracket to support the precision horizontal holding means, preferably, the bracket is the drilling hole. It can be configured to have a long anchor opening for the inclined shape corresponding to the inner circumferential wall of the elongated anchor and to be able to readjust the fixed position with respect to the inner circumferential wall.

In addition, the present invention, in order to achieve the above object, having a plurality of sets of fixing the target display means as described above in addition to the above support means, the plurality of sets can be measured along the drilling hole by the excavator It is arranged so that the surveying can be carried out continuously by arranging at intervals, and preferably, the controllers of the plurality of sets are connected to an external computer processor through a cable to be surveyed remotely through each set of control means in the computer processor. It is to implement an excavated route automatic surveying device that includes a control system that collects and calculates data and displays the results on a monitor.

Hereinafter, the configuration and operation of the present invention will be described in more detail with reference to the accompanying drawings.

1 is a side view showing an installation state of the excavation route automatic surveying apparatus according to the present invention. In FIG. 1, reference numeral 10 denotes an excavator, and 20 denotes an excavator by the excavator 10. The excavation route automatic surveying device according to the present invention has a target display means 100 for displaying a target at the rear of the excavator 10, a target recognition means for optically recognizing the target display means 100 at the rear of the excavator, and the target display. A housing 200 equipped with an angle measuring means for measuring a change in the rotation angle of at least two axes of the target recognition means with respect to the means and a distance measuring means for measuring the distance of the target recognition means with respect to the target display means; A rotating stage 300 capable of rotating in at least two axial directions with respect to the target display means while supporting the 200, and a precision horizontal support which is automatically operated to maintain the horizontal posture while supporting the rotating stage 300. Means 400, a fixed support means 500 for fixing and supporting the precision horizontal holding means in the drilling hole by the excavator, and a controller to be described later.

As shown in Fig. 2, the target display means 100 crosses the vertical light emitting portion 101 and the horizontal light emitting portion 102, which are light-emitting bodies having a predetermined length, on a plate having a predetermined area in the horizontal and vertical directions. It was installed to cross in shape. The vertical and horizontal light emitting units 101 and 102 are controlled by turning on and off by a controller not shown later or by separate control circuits, respectively. And it was considered to emit light of a sufficient amount of light toward the photoelectric sensor of the target recognition means described later. On the other hand, the target display means 100 is composed of a plate body having a predetermined area, which is for reflecting the laser or ultrasonic waves transmitted from the non-contact range finder described later. This target display means 100 is attached to the rear of the excavator 100, as shown in Figure 1, and additionally to face the support means of the housing 200 at the maximum arrangement interval that can be measured in accordance with the excavation path Can be installed.

The rotating stage 300 of the housing 200 includes a housing holder 310, a horizontal rotating actuator 320, and a vertical rotating actuator 330. The housing holder 310 has a shape surrounding the left and right side portions and the bottom portion of the housing 200, and may be rotated in the horizontal direction together with the housing 200 by the horizontal rotation actuator 320, by the vertical rotation actuator 330. The housing 200 is supported to be rotatable vertically. The horizontal rotating actuator 320 is supported on the precision horizontal holding means 400 described above and has a vertical axis 321 that is rotated by supporting the housing holder 200 from below. The vertical rotation actuator 330 is attached to one side of the left and right side portions of the housing holder 200 and has a horizontal axis 331 which is inserted into the housing 200 and driven to rotate together with the housing 200. The horizontal rotation and vertical rotation actuators 320 and 330 each use a control motor that can be driven forward and backward and easily stopped at any rotational position (angle).

The precision horizontal maintenance means 400 of the housing 200 is for automatically tracking the horizontal posture of the housing 200 at the initial stage of the survey and fixing the horizontal posture. Although not shown in detail in the drawing, the precision leveling means 400 is composed of sensors that detect the energy level when the posture is tilted and actuators that are operated to maintain the horizontal posture based on the signals of these sensors. For example, Japan's Nissho company's automatic leveling platform (model name: AS21) was used.

As shown in FIG. 3, the support means 500 of the housing 200 includes brackets 510 and 510 'fixed to the left and right sides of the inner circumferential wall of the excavation hole 20 described above and a support plate on the brackets 510 and 510'. 520). As shown in FIG. 4, the brackets 510 and 510 ′ are fixed to the anchor bolts in an inclined shape corresponding to the inner circumferential circumference of the above-described excavation hole 20, but are anchored to be long opened so that the fixing position can be readjusted later. There are several bolt holes 512 for fixing the hole 511 and the support plate 520 with bolts. The support plate 520 is suitable for the aluminum profile in view of the durability against the load and vibration of the mechanism mounted thereon, and may also use a board-like iron plate, wooden board or high strength synthetic resin panel.

5 shows the target recognition means 210, the angle measuring means 220 and the distance measuring means 230 mounted to the housing 200.

The target recognition unit 210 applies a telescope optical system that forms the cross-shaped vertical and horizontal light emitting units 101 and 102 of the target display unit 100 within the viewing angle, and includes an objective lens 211 to which light is incident. A plurality of reflecting mirrors 212, 213, 214, and 215 for controlling the optical path of the lens 211, the eyepiece 206 for forming an incident light, and an image obtained by receiving the formed image. Alternatively, when the image of the horizontal light emitting units 101 and 102 is partially positioned within the viewing angle, the photoelectric sensor 207 for detecting a signal indicating the target recognition is configured as an optical system.

The angle measuring means 220 is a vertical and horizontal line scan sensor 221, 222 additionally disposed on the optical system optical axis of the target recognition means 210 and the half mirrors (223, 224) for separating the optical path for this purpose and the horizontal of the housing 200 And encoders 225 and 226 for detecting changes in rotation angle and vertical rotation angle, respectively. The vertical and horizontal line scan sensors 221 and 222 are a kind of photoelectric sensor array in which hundreds to thousands of microscopic photoelectric sensors are arranged in a straight line, respectively. The vertical and horizontal light emitting units 101 and 102 of the target display means 100 are described. ). That is, by driving the horizontal and vertical rotation actuators 320 and 330 of the above-described rotating stage 300, the vertical and horizontal light emitting portions 101 and 102 of the target display means are all within the viewing angle in the optical system of the target recognition means 210 described above. In this case, the encoders 225 and 226 measure the approximate angle at which the optical axis is moved, and measure the fine angles with the vertical and horizontal line scan sensors 221 and 222. The principle of fine angle detection by the vertical and horizontal line scan sensors 221 and 222 will be described later. The encoders 225 and 226 are conventional using an optical sensor or a hall element. The encoders 225 and 226 may be coupled to each axis of the horizontal and vertical rotary actuators 320 and 330 as separate components or may be integrally mounted to each actuator.

The distance measuring means 230 measures the distance by detecting the reflection from the target after launching a medium such as a laser, infrared or ultrasonic wave to the target display means, and since the equipment is widely known in the market, the detailed description thereof Omitted for convenience. For reference, in the present invention, a laser rangefinder (trade name: DISTO) manufactured by Leica Co., Ltd., USA, was used. As shown in FIG. 5, the housing 200 is integrated with the target automatic detection means 210 described above. It was. Of course, the distance measuring means 230 may be installed and operated separately from the housing 200.

6A and 6B are control flow diagrams of the excavation path automatic surveying apparatus according to the present invention for driving the respective parts of the apparatus and detecting data. First, in order to maintain the horizontal posture of the housing 200 described above, the aforementioned precision horizontal holding means 400 is operated (S1), and it is determined whether a horizontal signal is detected therefrom (S2). If no horizontal signal is detected, it is determined whether or not a predetermined predetermined time has elapsed (S3), and the operation of the precision horizontal holding means is repeated, and if no signal is detected so that the predetermined time has elapsed, an error is displayed and waited (S4). . When the horizontal signal is detected after the precision horizontal holding means is operated, the precision horizontal holding means is fixed (S5). That is, by keeping the optical system optical axis such as the target recognition means 210 in the housing 200 horizontally with respect to the ground, the position of the target display means detected therefrom can be recognized and the shortest straight distance can be measured. Of course.

As such, when the horizontal posture of the optical system is maintained by the operation of the precision horizontal holding means, the vertical light emitting unit 101 of the target display means 100 is turned on (S6), and the horizontal rotating actuator of the above-described rotating stage 300 ( After driving 320, the driving is repeated while determining whether a photoelectric signal is detected from the photoelectric sensor 217 of the target recognition means 210 in the housing 200 described above (S8). When the photoelectric sensor signal is detected, the driving of the horizontal rotating actuator 320 is stopped, and the rotation angle data of the housing according to the driving is acquired from the horizontal angle encoder 225 (S9), and then the corresponding line scan sensor ( The data of 221 is read, and the precise rotation angle is calculated and stored based on the following equations (S10).

Next, when the horizontal rotation angle detection with respect to the vertical light emitting portion of the target display means as described above, as shown in Fig. 6B, the vertical light emitting portion is turned off and the horizontal light emitting portion 102 is turned on (S11), and the above-described rotation is performed. After driving the vertical rotation actuator 330 of the stage 300, it is determined whether the photoelectric signal is detected from the photoelectric sensor 217 of the target recognition means 210 in the housing 200 described above (S13), Repeat. When the photoelectric sensor signal is detected, the driving of the vertical rotation actuator 330 is stopped, and the rotation angle data of the housing according to the driving is obtained from the vertical angle encoder 224 and stored (S14), and then the corresponding line scan sensor The data of 222 is read, and the precise rotation angle is calculated and stored (S15).

Next, the horizontal light emitting unit of the target display means is turned off (S16), the above-described distance measuring means 230 is operated (S17), and the distance measuring data inputted from the distance measuring means is stored (S18), and the distance thereof. When the measurement is completed, the operation of the distance measuring means is stopped (S19), ending the program or repeating from the beginning.

Fig. 7 shows a waveform diagram of the line scan sensor pattern of the above-described angle measuring means and its detection signal. In FIG. 7A, reference numeral 103 denotes an image in which the vertical or horizontal light emitting units 101 and 102 of the target display unit 100 are located within the viewing angle of the target recognition unit. When the image 103 is received in the vertical or horizontal line scan sensors 221 and 222, the amount of light (light intensity) of the minute photoelectric sensor is in the vertical or horizontal line scan sensors 221 and 222 where the center of the image 103 overlaps. This greatly increases, resulting in a light amount distribution as shown in (b), whereby an arbitrary light voltage signal as shown in (C) is detected. Here, if the arbitrary optical voltage distribution center point Y1 is located between the M th photoelectric sensor and the N th photoelectric sensor,

Y1 = (N-M) / 2

It can be expressed as Also, if the distance between the photoelectric sensors is D, the distance Y2 from the first photoelectric sensor of each line scan sensor to the center point of the image 103 is

Y2 = D * (N-M) / 2

It can be represented as. That is, by storing and comparing the light quantity signals outputted from the micro-photoelectric sensors of each line scan sensor, it is possible to measure the position of the center of the target display means 100 entered into the viewing angle.

8 is an optical profile illustrating the principle of micro-angle measurement by the vertical and horizontal line sensors of the above-described principle. When the housing 200 described above has the predetermined angle θ _E by the horizontal and vertical rotating actuators 320 and 330 of the rotating stage 300 described above, the target display means (within the viewing angle of the target recognition means 210 described above) 100) does not enter, but when rotated by θ ₂ , the target display means enters the viewing angle. Also, even when rotated by θ ₁ , the target display means does not deviate from the viewing angle. On the other hand, the center point position of the target display means irradiated to each line scan sensor when the center point position change of the target display means irradiated to each line scan sensor 221, 222 when rotated by θ ₂ is rotated by ΔY ₂ , θ ₁ . When the change is ΔY ₃ and the expected angle when the target display means is located at the center of each line scan sensor is θ _C , the following equations 3 and 4 are established. Where L2 is the distance of the optical system.

or,

Here, θ _C is the average of Equation 4, namely

θC-12-1212

By this, it can be seen that it can be obtained precisely. Therefore, even if the target display means does not form the image at the center of the angle measuring means through the optical system of the target recognition means, the precise angle can be measured by identifying the position of the image formed on the line scan sensor within the viewing angle.

In general, in the straight section of the drilling hole by the excavator, the measurement distance is not limited as long as the sensitivity of the above-mentioned target display means and the target recognition means for recognizing the same is allowed. However, in the curved section, the optically recognizable distance is limited. Therefore, in the curve section, the above-described set of the target display means and the target recognition means and the like may be arranged in succession at the maximum allowable interval for surveying, so that the survey for the entire section may be possible.

FIG. 9 is a view illustrating a maximum disposition distance that can be measured on a curved path of the excavation path automatic surveying device according to the present invention. As shown in the figure, when the excavation path by the excavator is curved, the maximum distance from the above-described goal display means to the target recognition means and the distance measuring means is the distance between the arrangement interval, the radius of rotation of the excavation path R, and the diameter of the excavation hole. When set to D, as shown in FIG.

Becomes

FIG. 10 shows a control system for remotely controlling and monitoring an apparatus implementing the excavation route automatic survey method according to the present invention as described above with an external computer. The control system includes a computer processor 610, a brancher 620, a plurality of controllers 630, and a power supply 640 connected to each controller 630.

The computer processor 610 has a personal computer, such as a notebook, for carrying out a command for controlling the driving and stopping of each part of the excavation path automatic surveying apparatus according to the present invention as described above, acquiring data therefrom, and analyzing the processing. The interface card for the data communication is equipped. The program displays the planned propulsion path of the above-mentioned excavator, and based on the operation of each part of the excavation path automatic surveying apparatus according to the present invention described above, the batch processing of control commands and the selectable icons for each function, and the obtained data. It is desirable to provide a user interface that calculates the error between the current excavation path and the planned propulsion path and displays the results in figures and figures for easy understanding.

The brancher 620 branches the communication port of the computer processor 610 to connect a plurality of controllers 620.

The controller 630 is a processing mechanism of the microcomputer programmed to perform the task of controlling the apparatus parts and detecting the data by the control flow of Figs. 6A and 6B described above, the aforementioned target display means 100, and the target recognition means. 210, the angle measuring means 220, the distance measuring means 230, the rotating stage 300, the precision horizontal holding means 400 and the input circuit for inputting a signal detected from them . The controller 630 has a means for communicating with the computer processor 610 through the tap-off 620, it can be operated separately even if not by the computer processor 610.

On the other hand, when the length of the communication line is long, the weakening of the communication signal is concerned, it is necessary to amplify the communication signal, and means for stably supplying the power required for the driving circuit in the controller 630 is preferable. The power supply 640 is for this purpose, it is composed of a transformer rectifier circuit, a power stabilization circuit, an overcurrent protection device.

11 is an example of the preferable display screen which displays the calculation result by the computer processor 610 of the control system as described above. The display screen is divided into a horizontal axis path display unit 611, a vertical axis path display unit 612, a current angle / path deviation display unit 613, an automatic measurement control display unit 614, and a measurement step display unit 615.

The horizontal axis path display unit 611 and the vertical axis path display unit 612 in displaying the excavation paths based on respective distances and angles of one or more angle measuring means and one or more target display means obtained from the distance measuring means. ) Displays the degree of departure from each of the predetermined paths in a graph, and the current angle / path deviation display unit 613 displays the degree of deviation from the predetermined path from the current location in the shape of a bulge hole for easy understanding. On the other hand, the automatic measurement control display unit 614 is provided with remote control buttons (icons) necessary for automatic measurement or correction, and the measurement step display unit 615 at the bottom to display the current work being automatically measured to the operator step by step The work progress can be easily understood.

As described through the above embodiments, the excavation path automatic surveying apparatus according to the present invention is capable of surveying and analyzing through the above-described controller or an external computer processor, thereby eliminating the risk of human surveying. As well as shortening the survey time, the excavation route can be automatically measured several times a day or in real time, enabling more accurate and quantitative excavation. According to the present invention, it is possible to perform useful and precise surveying work especially when drilling a narrow tunnel or tunnel where a person cannot enter.

Claims (13)

Target display means for distinguishing and displaying a vertical light emitting unit and a horizontal light emitting unit that cross each other in a cross shape at the rear of the excavator; target recognition means for optically recognizing the target display means at the rear of the excavator; Angle measuring means for measuring a change in rotation angle of at least two axes of the target recognition means, distance measuring means for measuring a distance of the target recognition means with respect to the target display means, and at least the target recognition means with respect to the target display means. A rotating stage capable of rotating in two axes, a precision horizontal holding means that is automatically operated to support the rotating stage and maintain its horizontal position, and the precision horizontal holding means is fixed to and supported by the excavator by the excavator; Fixed support means, turning on and off the target display means, and driving the rotating stage and the precision horizontal holding means. And an excavation path automatic surveying device which is provided with a controller for controlling the data and processing the data detected by the respective means. The apparatus of claim 1, further comprising a housing mounted together with the target recognition means, the angle measuring means, and the distance measuring means and moved by the rotating stage. The excavation path automatic measurement device according to claim 1, wherein the target display means is configured to attach a light emitting body for the straight vertical light emitting portion and the horizontal light emitting portion on a plate having a predetermined area and attach the light emitting element to the excavator. The photoelectric device according to claim 1, wherein as the target recognition means, an objective lens into which light is incident from the target display means, an eyepiece for forming the incident light, and an electrical signal for detecting an electrical signal according to the amount of light formed by the eyepiece. An excavation path automatic surveying device comprising a sensor, at least one reflective mirror disposed between the objective lens and the eyepiece and the photoelectric sensor to change an optical path. delete The method according to claim 1, wherein the angle measuring means, which is installed on each axis of the rotary stage to detect the rotation angle, the vertical light emitting portion and the horizontal light emitting portion of the target display means recognized by the target recognition means; And a two-way line scan sensor comprising a microscopic array of photoelectric sensors for detecting signals. delete The housing according to claim 1, wherein the rotating stage includes a housing accommodating the target recognition means, the housing holder supporting the housing, a vertical axis supporting the housing holder from below, and driving the vertical axis to move the housing holder together with the housing. An excavation path having a horizontal rotating actuator operable to rotate in a horizontal direction, and having a horizontal axis attached to the housing holder and fitted with the housing, the vertical rotating actuator being operated to drive the horizontal axis to rotate the housing in a vertical direction; Automatic survey device. delete 2. The excavation path automatic surveying device according to claim 1, wherein the support means includes a bracket fixed to the left and right sides of the inner circumferential wall of the excavation port, and a support plate fixed over the bracket to support the precision horizontal holding means. 11. The excavation path automatic surveying device according to claim 10, wherein the bracket has an inclined shape corresponding to the inner circumferential wall of the excavation port and has an anchor fixing hole opened to reposition the fixing position with respect to the inner circumferential wall. delete delete