JP2509029B2 - Attitude measurement device using laser light - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a posture measuring device used for controlling the posture of a shield excavator or the like.

[0002]

2. Description of the Related Art Conventionally, as an attitude measuring device of this type, a level level built into a device for controlling the attitude measures a rotation angle in two directions (pitching / rolling), and further, a gyro compass or a laser transit with a light distance meter. It is generally known to obtain the displacement and the rotation angle in the horizontal plane by using.

[0003]

However, in the above-mentioned conventional attitude measuring device, in order to read displacements and rotations by a plurality of independent measuring instruments, several measuring operations are performed in parallel, and measurement with different accuracy is performed. The work of synthesizing the values was necessary. Further, since a plurality of measuring instruments are required, the cost of the posture measuring device becomes high.

The present invention was devised in view of the above-mentioned circumstances, and an object thereof is to use a laser beam capable of easily and surely performing posture measurement and having a simple and inexpensive structure. An object is to provide a posture measuring device.

[0005]

[Means for Solving the Problems] First, second and third laser light receiving portions which form a U shape and are independent of each other, and T
The light receiving and measuring device main body in which the independent fourth and fifth laser light receiving portions forming a letter shape are arranged in the two parallel surfaces of the space forming the rectangular parallelepiped is positioned with time,
The U-shaped horizontal portion, which is the second light-receiving portion and the T-shaped portion, is attached to the body to be measured whose posture changes so as to behave as a unit.
A fixed vertical reference laser surface that intersects the fourth light receiving portion, which is a horizontal portion of the U-shape, the first and third light receiving portions that are U-shaped vertical portions, and the fifth light receiving portion that is a T-shaped vertical portion. A laser light source that is installed outside the object to be measured and that forms a fixed horizontal reference laser surface that intersects the section.
2, 3, 4, and 5 using the amount of movement over time of the five intersections of the reference laser surface read by the light receiving unit, the displacement in the X-axis direction that is the horizontal direction and the displacement in the Y-axis direction that is the vertical direction, Attitude measuring device using a laser beam, comprising means for calculating in real time at once a total of 5 degrees of freedom of rotation angles around the X axis, the Y axis, and the Z axis that is the depth direction. The main purpose is

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An attitude measuring apparatus using a laser beam according to the present invention will be described below with reference to the illustrated embodiments.

FIG. 1 is a diagram showing the configuration of the attitude measuring apparatus body 6. The attitude measuring device main body 6 forms a U-shape with the vertical light receiving portions 1 and 3 and the horizontal light receiving portion 2 which are independent of each other,
Furthermore, a horizontal light receiving portion 4 and a vertical light receiving portion 5 which are independent of each other are provided.
The two sets of T-shaped light receiving portions are arranged at positions that can be accommodated in two parallel surfaces of the space forming the rectangular parallelepiped, and are fixed outside the measuring device main body to a horizontal reference laser surface 7 and a vertical reference laser surface. A laser light source 9 for forming 8 is provided to configure a measuring device.

FIG. 2 is a diagram showing an example in which the attitude measuring apparatus of the present invention is applied to the shield excavator 10. The main body 6 of the attitude measuring device is attached to the shield excavator 10 so as to move with the shield excavator 10. A horizontal and vertical laser light source 9 is fixed to the outside of the shield excavator 10. The light receiving unit of the attitude measuring apparatus body 6 detects the laser light from the laser light source 9 and sends information to, for example, a computer on the ground, and the computer calculates the attitude with five degrees of freedom. In addition,
Each of the light receiving units 1, 2, 3, 4, and 5 detects the level of laser light with an internal optical fiber. FIG. 3 (called electronic staff) is a diagram showing the principle of posture measurement.
The vertical light receiving portions 1, 3, 5 forming the U-shape and the T-shape intersect the horizontal reference laser surface 7, and the horizontal light receiving portions 2, 4 intersect the vertical reference laser surface 8. When the attitude measuring apparatus body 6 moves from the initial state 6a of the attitude measuring apparatus body 6 to the state of 6b, the point where the light receiving unit 1 intersects the horizontal reference laser plane 7 moves from 1a to 1b, The crossing point of the light receiving portion 3 with the horizontal laser plane 7 moves from 3a to 3b, and the light receiving portion 5 moves from 5a to 5b. Similarly, the intersections of the vertical reference laser plane 8 and the horizontal light receiving portions 2 and 4 are changed from 2a to 2b and 4a.
To 4b. In this way by using a computer or the like combining five displacements measured in real time at the same time, the displacement [delta] _x of the horizontal direction i.e. X-axis direction, and the displacement [delta] _y in the vertical direction, i.e. Y-axis direction, of the X-axis The rotation angle θ _X , the rotation angle θ _Y around the Y axis, and the rotation angle θ _Z around the depth direction, that is, around the Z axis can be obtained.

That is, the displacements of the respective light receiving portions are respectively 1a and 1a.
b, 2a, 2b, ..., the reading differences of the respective light receiving units are Δ1 = (1a-1b) and Δ2 = (2a, respectively.
-2b) ..., Δ1 = f ₁ (δ _x , δ _y , θx, θy, θz) Δ2 = f ₂ (δ _x , δ _y , θx, θy, θz) Δ3 = f ₃ (δ _x , δ _y , θ _x , _{θ y} , _{θ z} ) 5 degrees of freedom such as Δ ₄ = f ₄ (δ _x , δ _y , _{θ x} , _{θ y} , _{θ z} ) Δ ₅ = f ₅ (δ _x , δ _y , _{θ x} , _{θ y} , _{θ z} ) A five-dimensional equation with the variable is established. The computer back-calculates the five degrees of freedom from these five equations, which indicates the amount of displacement and rotation that has occurred in that time. By accumulating changes in these five degrees of freedom in sequence, the posture of the object to be measured can be grasped.

Further, as shown in FIG. 4, it is possible to install the light receiving section in a space with no depth by using the electronic staff, which is each of the light receiving sections 1 to 5, and the mirror 11 together as needed. As a result, it is possible to provide a measuring device which has excellent economical efficiency and practicality and has a very wide range of applications.

[0011]

EFFECTS OF THE INVENTION The laser light receiving portion has a three-dimensional frame structure, and by irradiating the laser light in two directions at right angles, vertical and horizontal displacement and three-degree rotation angle posture with five degrees of freedom can be achieved with one device. Can be calculated at the same time. Further, the light receiving portion having a simple structure is economical, and unlike a planar receiving unit, it can be freely handled by adjusting the side length of the frame to the required measurement accuracy.

[Brief description of drawings]

FIG. 1 is a diagram showing a configuration of a posture measuring apparatus main body.

FIG. 2 is a diagram showing an example in which the attitude measuring device of the present invention is applied to a shield excavator.

FIG. 3 is a diagram showing a principle of posture measurement.

FIG. 4 is a schematic view showing another embodiment of the posture measuring apparatus using the laser light of the present invention.

[Explanation of symbols]

1 ... 1st light receiving part, 2 ... 2nd light receiving part, 3 ... 3rd light receiving part, 4
... Fourth light receiving section, 5 ... Fifth light receiving section, 6 ... Attitude measuring device body, 7 ... Horizontal reference laser surface, 8 ... Vertical reference laser surface, 9 ... Light emitting section, 10 ... Shield excavator, 11 ... Mirror.

Claims (1)

(57) [Claims] 1. An independent first, second, and third laser light receiving portion forming a U-shape, and an independent fourth and fifth laser light receiving portion forming a T-shape,
The main body of the light receiving and measuring device, which is arranged in a position to be accommodated on two parallel surfaces of a space forming a rectangular parallelepiped, is attached to a measured object whose position and orientation change with time so as to behave integrally, A fixed vertical reference laser surface that intersects the second light receiving portion that is the horizontal portion of the mold and the fourth light receiving portion that is the horizontal portion of the T shape, and the first and third light receiving portions that are the vertical portions of the U shape. And a laser light source installed outside the object to be measured that forms a fixed horizontal reference laser surface that intersects the fifth light receiving portion that is a vertical portion of the T-shape. Using the amount of movement over time of the five intersections of the reference laser surface read by the light receiving unit, the displacement in the X-axis direction that is the horizontal direction and the displacement in the Y-axis direction that is the vertical direction,
Attitude measurement using a laser beam, comprising means for calculating in real time at once a total of five degrees of freedom of rotation angles about the X axis, the Y axis, and the Z axis that is the depth direction. apparatus.