GB2314157A

GB2314157A - Method and apparatus for measuring position and posture of tunnel excavator

Info

Publication number: GB2314157A
Application number: GB9718777A
Authority: GB
Inventors: Hiroaki Yamaguchi
Original assignee: Komatsu Ltd
Current assignee: Komatsu Ltd
Priority date: 1995-03-29
Filing date: 1996-03-28
Publication date: 1997-12-17
Also published as: KR970065962A; WO1996030720A1; DE19681330T1; TW324045B; KR100192851B1; JPH08271251A; GB9718777D0

Abstract

A method and an apparatus for measuring the position and posture of a tunnel excavator even in a sharp bend execution, or an execution in which the gradient changes greatly. An arbitrary point of a third measurement point (C) of an excavator (5) is sighted from the second measurement point (B) so that the angle from the third measurement point (C) to the second measurement point (B) may be a predetermined angle. The position of the third measurement point (C) is calculated by using the angle of the second measurement point (B) to the third measurement point (C) and the distance and position of the arbitrary point. The posture of the excavator (5) is calculated from the angle of the third measurement point (C) to the second measurement point (B) and the horizontal level of the third measurement point (C) of the tunnel excavator (5). During the measurement, a first measurement point (A) of a known position at the back of the second measurement point (B) is sighted so that the position of the second measurement point (B) and the position of the excavator (5) are calculated.

Description

SPECIFICATION METHOD AND APPARATUS FOR MEASURING POSITION AND POSTURE OF TUNNEL EXCAVATOR Technical Field The present invention relates to a method and an apparatus for measuring the position and the posture of a tunnel excavator.

Background Art The measurement of the position and the posture of the tunnel excavator is important art, for example, in correcting the direction of a tunnel excavator accurately, and in avoiding the interference with a segment which is assembled by a tunnel excavator in an after process. Especially in an area which has a number of underground structures, the excavating line becomes complicated and has a sharply curved line, and in an execution of sewage or the like, highly accurate line of execution is required, therefore more sophisticated art of measuring a position and a posture is demanded. As the excavating speed of a tunnel excavator becomes higher, it is difficult to measure a position and a posture manually, and the automation of the art of measuring a position and a posture is demanded. To the above demand, various kinds of methods and apparatuses for measuring the position and the posture of a tunnel excavator have been conventionally proposed.

For example, there is the measurement of the position and the posture of a tunnel excavator by using an inclinometer which utilizes the gravity, and by using azimuth gyro which utilizes the earth rotation. Specifically, based on the azimuth of a tunnel excavator by the azimuth gyro and the angle shown by the inclinometer, the excavating distance between the measurement points (normally, the length of the jack stroke of a tunnel excavator) is integrated, and thereby obtaining the position and the posture of an tunnel excavator. The azimuth of a tunnel excavator is the angle made by the direction of the tunnel excavator which is projected on a horizontal surface and by the direction of due north, and is an angle of yawing. The angle shown by an inclinometer is an angle of pitching which is made by the direction of the tunnel excavator and the horizontal surface, and an angle of rolling which has an angle element with the excavating direction as the axis. However, in this case, a tunnel excavator sometimes excavates as it is skidding, therefore it is actually difficult to measure an excavating distance along a real excavating direction.

For example, in Japanese Patent Application Laid-open No. 6-11344, the position of a moving object is detected by obtaining the position of the three-dimensional coordinates of three targets as a measurement reference which are placed on the moving object before moving, and then by obtaining the position of the three-dimensional coordinates of the targets after moving by using an automatically tracking type of distance and angle measuring device. With this, a method for measuring the position and the posture of a moving object is disclosed, in which the amount of inclination of the moving object (specifically, the posture) is detected from the amount of displacement of the coordinates of three targets before and after moving. However, the above art has a disadvantage that the accuracy of the amount of inclination is determined by the accuracy of the position measurement and the area in which three targets are placed.

Specifically, in order to measure the accuracy of a rotational angle in three minutes, the accuracy to 1 / 1000 or more is necessary for the length. For example, if a measuring device with the accuracy to 1 mm is used, it is necessary to place targets with the spacing of 1 m from one another. However, inside a tunnel excavator, a number of parts such as a jack, a mud discharging pipe, and so on are placed. Therefore it is difficult to place a plurality of targets with the above spacing from one another and to secure the space for sighting each of the targets.

Especially, in a sharp bend execution which requires greater space for sighting, it is actually difficult to use the above method.

For example, in Japanese Patent Application Publication No. 4-74649, an automatic measuring apparatus and measuring method is disclosed which consists of a laser oscillator and a light distance measuring device which face in the same direction and which are integrally'held on a pedestal capable of oscillating, and a target for detecting a position and a target for measuring a distance which are provided on a moving object away from the pedestal. The target for detecting a position, which consists of a screen and a camera, receives a laser beam from the laser oscillator on the screen, and detects the position coordinates of a light receiving spot with the camera. The target for measuring a distance regressively reflects light from the light distance measuring device. Specifically, a measuring method is disclosed in which a housing is rotated so that the light from the laser oscillator strikes the screen vertically. However, in the art, there is no description of a method for directing the screen vertically to the laser oscillator. As a result, automatic tracking is difficult in the case of a combined execution of a liner execution part and a curve execution part, in the case in which curvature is changed on the way of excavation, or in the case of winding slightly as the result of excavation. Accordingly, frequent manual regulations are necessary, therefore there exists a practical disadvantage of reducing time efficiency. Furthermore, the art is for detecting a position. and there is no description of the detection of a posture.

Specifically, according to the conventional art, there is a disadvantage of requiring the targets for which space for sighting is difficult to secure, or a disadvantage that the restriction of the incident angle of light makes automatic tracking difficult, and as a result, in a sharp bend execution, in an execution in which the gradient changes greatly, or in an execution in which the height changes on the way, there is a disadvantage that the position and the posture of a tunnel excavator are difficult to be measured with high accuracy.

Disclosure ot the Invention The present invention is made to eliminate the abovedescribed disadvantages of the conventional art, and its object is to provide an apparatus for measuring the position and the posture of a tunnel excavator which can measure the position and the posture of a tunnel excavator with high accuracy even in a sharp bend execution of which examples are seen recently, in an execution in which the gradient changes greatly, and in an execution in which the height changes on the way.

A method for measuring the position and the posture of a tunnel excavator relating to the present invention is a method for measuring the position and the posture of the tunnel excavator based on a traverse survey, and is characterized by including the steps of sighting an arbitrary point at a third measurement point from a second measurement point, while ensuring that the angle from the third measurement point to the second measurement point is a specified angle, when sighting the third measurement point which is provided at a tunnel excavator from the second measurement point which is provided at the position opposite to the travel direction of the tunnel excavator, calculating the position of the third measurement point by using the angle and the distance from the second measurement point to the third measurement point, and the position of the arbitrary point, calculating the posture of the tunnel excavator based on the angle from the third measurement point to the second measurement point, and a horizontal level of the third measurement point or a horizontal level of the tunnel excavator, calculating the position of the second measurement point by sighting a first measurement point of a known position which is provided further in the rear from the second measurement point at a desired time during the measurement of the position and the posture of the tunnel excavator, and calculating the position of the above-described tunnel excavator from the first measurement point based on the above.

By the above-described structure, for example, when the third measurement point of the tunnel excavator is sighted from the second measurement point which is provided at the back of the tunnel excavator, an arbitrary point of the third measurement point is sighted form the second measurement point, so that the angle from the third measurement point to the second measurement point is a specified angle. Accordingly, a device (specifically, a surveying device) provided at the second measurement point and a device (specifically, a surveying device) provided at the third measurement point can face squarely to each other. By calculating the position of the third measurement point by using the angle and the distance from the second measurement point to the third measurement point, and by calculating the posture of the tunnel excavator based on the angle from the third measurement point to the second measurement point, and the horizontal level from the third measurement point to the second measurement point or the horizontal level of the tunnel excavator 5, the position of the third measurement point is found with the second measurement point as a reference position, and the excavating direction of the tunnel excavator as a horizontal angle and the posture of the tunnel excavator at a horizontal level are found with the horizontal angle from the second measurement point to the third measurement point C as a reference. At an arbitrary time during the survey of the tunnel excavator, the position of the second measurement point is calculated by sighting the first measurement point at a known position which is provided further to the rear of the second measurement point, and even if the first measurement point and the third measurement point do not have the positional relationship in which they can have an unobstructed view of each other, the position of the tunnel excavator is calculated from the first measurement point. As a result, the above-described structure is suitable for a curve execution.

An apparatus for measuring the position and the posture of a tunnel excavator relating to the present invention is a position and posture measuring apparatus of a tunnel excavator for measuring the position and the posture of a tunnel excavator, and is characterized by including a third measurement point which is provided at the tunnel excavator, and which is equipped with a light receiving device for receiving a laser beam from a laser oscillator and for detecting an incident position and an incident angle, and a second reflecting prism, integrally and rotatably at least in a horizontal direction, with an inclinometer for detecting a horizontal level of the light receiving device or a horizontal level of the tunnel excavator being equipped, a second measurement point which is provided at the position opposite to the travel direction of the tunnel excavator, and which is equipped with the laser oscillator and a light wave range finder integrally and rotatably in an elevating direction and a horizontal direction to face squarely to the third measurement point when sighting the third measurement point ahead, and face squarely to a first measurement point when sighting said first measurement point to the rear when the first measurement point, which is equipped with a first reflecting prism, is provided in the rearward position, with a light sensor for receiving the laser beam from the laser oscillator which is reflected from the first and the second reflecting prisms, and a controller which regulates the rotational angles in an elevating direction and a horizontal direction of the laser oscillator and the light wave range finder, and which calculates the position and the posture of the tunnel excavator after receiving the rotational angles in an elevating direction and a horizontal direction of the laser oscillator and the light wave range finder, and after receiving the rotational angle at least in a horizontal direction of the light receiving device and the second reflecting prism, the incident position and incident angle of the light which are detected at the light receiving device, respective distances up to the first and the second reflecting prisms which are detected at the light wave range finder, and the horizontal level or the horizontal level.

By the above-described structure, the laser oscillator and the light wave range finder are provided at the second measurement point at the back of the tunnel excavator so as to be rotatable in an elevating direction and a horizontal direction.

The light receiving device for receiving the laser beam from the laser oscillator and for detecting the incident position and the incident angle, and the second reflecting prism are provided at the third measurement point of the tunnel excavator so as to be rotatable at least in a horizontal direction. As a result, the controller can freely change an incident position at the light receiving device by regulating the elevating angle and the horizontal angle of the laser oscillator and the light wave range finder. The controller can make an incident angle (seen from a reverse direction, the angle from the third measurement point to the second measurement point) at the light receiving device a specified angle by regulating the angle of the pedestal on which the light receiving device and the second reflecting prism are placed so as to be rotatable at least in a horizontal direction.

Specifically, the laser oscillator and the light receiving device can be placed on such a position as to face squarely to each other by the command from the controller even during an excavating operation of the tunnel excavator. The light wave range finder measures the distance between the second reflecting prism and the first reflecting prism which is provided at the first measurement point. By adding the elevating angles and the horizontal angles of the laser oscillator and the light wave range finder, the distance measured by the light wave range finder and the incident position of the light which is detected at the light receiving device, the position of the third measurement point can be calculated from the position of the second measurement point.

Incidentally, the light receiving device and the tunnel excavator are linked to each other by the conversion by the rotation. Accordingly, the posture of the light receiving device can be computed by providing the inclinometer at the position at which the horizontal level of the tunnel excavator is detected.

Then the inclinometer 33 is provided which detects the horizontal level of the light receiving device or the horizontal level of the tunnel excavator. The controller reads the incident angle of the light detected by the light receiving device 31 and the signal of the inclinometer, corrects the error which is caused as the result of rolling of the light receiving device 31, and computes the yawing component and the pitching angle component of the incident angle of the light detected by the light receiving device with the absolute horizontal level as the reference. Further, the controller reads the angle at which the light receiving device is attached rotatably at least in a horizontal direction, and the posture of the tunnel excavator is computed by conducting the conversion of rotation. The posture includes the angle of yawing in the excavating direction of the tunnel excavator with the horizontal component of the incident angle of light as the reference.

In the above structure, the first reflecting prism is placed at the first measurement point, of which position is determined by another means (normal survey), further to the rear of the second measurement point, and when the laser oscillator sights the first reflecting prism, the position of the second measurement point can be obtained from the first measurement point at a known position based on the sighted elevating angle and horizontal angle, and the distance which is measured by the light wave range finder.

At this time, in order to confirm that the laser oscillator sights the reflecting prism, the light sensor for receiving the light from the reflecting prism is placed with the laser oscillator in the structure.

Brief Description of the Drawings Fig. 1 is an arrangement plan of elements of a first embodiment of the present invention; Fig. 2 is a perspective view of a pedestal in the first embodiment; Fig. 3 is an arrangement plan of the elements of a laser oscillating unit in the first embodiment; Fig. 4 is an arrangement plan of the elements of a light receiving unit in the first embodiment; Fig. SA is a side view of the arrangement of the elements of the light receiving device of a first example in the first embodiment; Fig. 5B is a perspective view of the arrangement of the elements of the light receiving device of the first example in the first embodiment; Fig. 6A is a side view of a second example of the arrangement of the other element of the light receiving device in the first embodiment; Fig. 6B is a side view of a third example of the essential part of the other element of the light receiving device in the first embodiment; Fig. 7A is a sectional view of a reflecting prism in the first embodiment; Fig. 7B is a perspective view of the reflecting prism in the first embodiment; Fig. 8 is a flow chart showing the steps of the installation and the measurement of a position and posture of the first embodiment; Fig. 9 is a view showing the relative rotations between the laser oscillator and the light receiving device; Fig. 10 is an arrangement plan of elements of a second embodiment; and Fig. 11 is a flow chart in which part of Fig. 8 is changed.

Best Mode for Carrying out the Invention A preferable embodiment of a method and an apparatus for measuring the position and the posture of a tunnel excavator relating to the present invention will be particularly described below with reference to the attached drawings.

As Fig. 1 depicts, a first embodiment is constructed by placing a first reflecting prism 1 at a known position (specifically, a first measurement point A) at the back of a tunnel excavator 5, by placing a laser oscillating unit pedestal 2 between the first reflecting prism 1 and the tunnel excavator 5 (specifically, a second measurement point B), by placing a light receiving unit pedestal 3 at a known position (specifically, a third measurement point C) of the tunnel excavator 5, and by placing a controller 4 at an arbitrary position inside a vertical shaft or the like of a tunnel 6. The details are as follows.

The laser oscillating unit pedestal 2 and the light receiving unit pedestal 3 are constructed by placing various kinds of devices, of which details will be described below, on device mounting pedestals 7. The device mounting pedestal 7 will be initially explained with reference to Fig. 2. The device mounting pedestal 7 is equipped with two axes intersecting at right angles, and a device mounting surface 73 is freely rotated around each of the axes in a elevating direction and a horizontal direction by, for example, stepping motors 71 and 72.

In the case of the laser oscillating unit pedestal 2, each kind of devices such as a laser oscillator 21, a beam splitter 22, a light sensor 23, a light wave range finder 24, and the like is placed on the device mounting surface 73 as Fig. 3 depicts. Here the laser oscillator 21 and the light wave range finder 24 are placed so that the respective optical axes are sighted almost in the same direction. On the other hand, in the case of the light receiving unit pedestal 3, each kind of devices such as a light receiving device 31, the second reflecting prism 32, and the like is placed as Fig. 4 depicts. Here, the light receiving device 31 and the second reflecting prism 32 are placed so that the respective light receiving surfaces face to the same direction. As a result. by rotating the light receiving device 31 and the second reflecting prism 32 in an elevating direction and a horizontal direction, the light receiving device 31 and the second reflecting prism 32 can almost face squarely to the above-described laser oscillator 21 and the light wave range finder 24. An inclinometer 33 for detecting a horizontal level S of the light receiving device 31 (specifically, an angle of pitching e f2 and an angle of rolling 6 s2) is also placed on the light receiving unit pedestal 3, as Fig. 1 depicts. In the below, the details of each device will be explained in order.

The laser oscillator 21 is a light source for projecting laser beams to the light receiving device 31 to obtain the light receiving position and the incident angle from the light receiving device 31. With a laser beam, of which beam diameter is difficult to be widened even in a long range, the light receiving position on the light receiving device 31, and the first and the second reflecting prisms 1 and 23 can be sighted in a small spot diameter. For this reason, as the details will be described below, a position, a horizontal angle, and a postural angle can be measured with higher accuracy.

Though only one of the laser oscillator 21 is used in the present embodiment, a number of laser oscillators may be placed when the characteristics (for example, a balance of the wave length which'is used, or the like) of the light receiving device 31, and the first and the second reflecting prisms 1 and 32 require individual laser oscillators. Though a laser oscillator is used as a light source which is incorporated in the light wave range finder 24 in the present embodiment, LED or the like may be substituted for the laser oscillator when the LED or the like is of such an optical system that the beam diameter of the radiated light is difficult be widened. It is necessary that the light wave range finder 24 should be equipped with a center detecting function for the first and second reflecting prisms 1 and 32 in order to prevent the collimation error.

The beam splitter 22 transmits the laser beam from the laser oscillator 21 when the first reflecting prism 1 is sighted from the second measurement point B and when the second reflecting prism 32 is sighted ahead from the second measurement point B, and thereafter the beam splitter 22 receives the laser beams regressively reflected from the reflecting prism 1, or the second reflecting prism 32 to change the light path to the light sensor 23.

The light sensor 23 receives the laser beams reflected from the first and the second reflecting prisms 1 and 32. As Fig.

7A depicts, the reflecting prisms generally have the characteristics in which reflected light is returned in parallel with the incident light, and as Fig. 7B depicts, the reflecting prisms have the characteristics in which light is returned from the position which is symmetric to incident light with respect to the center of the prism when the incident light with a diameter smaller than the diameter of the prism enters the position deviated from the center of the prism. As a result, the light sensor 23 can detect the center of the prism, so that the collimation error can be eliminated. Incidentally, a number of light sensors 23 are arranged in a plane form so as to detect the displacement of irradiated laser beams from the reflected laser beams. In this case, a sensor which can detect the incident position of beams can be used like the light receiving device 31 which is described below.

In order that the above-described displacement is originally eliminated, the centers of the first and the second reflecting prisms 1 and 32 may be detected by controlling the angle of elevation and the horizontal angle of the laser oscillator 21. It goes without saying that the other effective optical system which eliminates the above-described displacement can be placed between the light sensor 23 and the laser oscillator 21.

The light wave range finder 24 measures a backsight distance L1 from the laser oscillating unit pedestal 2 to the first reflecting prism 1 and a foresight distance L2 from the laser oscillating unit pedestal 2 to the second reflecting prism 32.

As for the light receiving device 31, a light receiving device is used which can simultaneously measure the displacement between the center position of the light receiving surface and the light receiving position of the laser beam, and the incident angle of the laser beam to the normal direction of the light receiving surface, when a fine light beam (in the present embodiment, the laser beam from the laser oscillator 21) enters the light receiving device. Thereby securing the space for optical path which matters when the position and the posture of the tunnel excavator 5 are measured by using light. As for the light receiving device 31, such a light receiving device is suitable as is provided with the first light receiving surface 31a having translucency and the second light receiving surface 32b which is positioned at the back of the first light receiving surface 31a and which receives the transmitted light from the first light receiving surface 31a, as illustrated in Fig. SA, and Fig. SB, which is a perspective view of the Fig. SA. As for the light receiving device 31, such a light receiving device may be suitable as is provided with a condenser 31c with a center 02 of the second light receiving surface 31b as its focus between the light receiving surfaces 31a and 31b as Fig.

6 A depicts. As for the light receiving device 31, such a light receiving device can be used as is provided with the condenser 31c with a center 02 of the second light receiving surface 31b as its focus forward of the first light receiving surface 31a as Fig. 6B depicts. and each kind of other devices can be prepared. When the light receiving device 31 is explained based on Figs. 5A and SB, the coordinates (yl, z1) in the drawings show the positional displacement of the light receiving device 31 and an incident angle obtained from the coordinates (yl z1) and (y2, z2) in the drawings is the angle of yawing and the angle of pitching of the light receiving device 31. Here the angle of yawing is r tan {(y2 - yl) / L)J ,and the angle of pitching is rtan-1 {(z) z1) / Li j . Specifically, if a laser beam is horizontally irradiated and the light receiving device 31 is not rolled, the amount of positional displacement, the angle of pitching, and the angle of yawing are known from the light receiving device 31.

The second reflecting prism 32 can reflect the laser beam from the laser oscillator 21 as well as the laser beam from the light wave range finder 24.

The inclinometer 33 consists of two inclinometers intersecting at right angles within the horizontal surface on the light receiving device 31, and detects the horizontal level S (specifically, the angle of pitching and the angle of rolling) of the light receiving device 31. Here the horizontal level S of the light receiving device 31 and the horizontal level S' of the tunnel excavator 5 can be linked with the movable rotational axis of the light receiving unit pedestal 3, therefore the inclinometer 33 can be attached to the tunnel excavator 5 itself instead of the light receiving device 31. Incidentally, the angle of pitching can be detected by the light receiving device 31 as described in the above, therefore it may be suitable that either one of the angles of pitching detected by the light receiving device 31 and the inclinometer 33 which has higher accuracy is adopted. Or only one inclinometer in a lateral direction within the horizontal surface on the light receiving device 31 may be used as the inclinometer 33, and only the angle of rolling of the light receiving device 31 may be measured. The angle of rolling of the tunnel excavator 5 can be converted from the relationship between the position for attaching the light receiving device 31 in the tunnel excavator 5 and the angle of rolling of the light receiving device 31.

The first reflecting prism 1 becomes a reference point in the traverse survey described below, and reflects the laser beam from the laser oscillator 21 so that the reflected laser beam is detected at the light sensor 23.

Prior to the explanation of the controller 4, in order to aid the understanding, the interrelationships among the abovedescribed devices will be now explained.

The laser oscillating unit pedestal 2 can be rotated in a horizontal direction in order to sight the light receiving unit 31 forward thereof and the first reflecting prism 1 at the back thereof, and the laser oscillating unit pedestal 2 can be rotated in an elevating direction so as to sight the light receiving unit 31 and the first reflecting prism 1 even if the respective heights when mounted are different, or even if the heights are changed during an excavating operation. The references of the rotation in an elevating direction and the rotation in a horizontal direction are as follows.

It is not necessary to set the reference of the horizontal angle e sl since only the narrow angle from the first reflecting prism 1 (backsight) to the light receiving device 31 (foresight) is measured. However, considering that the dir calculated as an excavating direction, a sight line when the laser oscillator 21 sights the first reflecting prism 1 in the rear may be a reference. If the horizontally rotational axis of the laser oscillating unit pedestal 2 is tilted, the detected narrow angle is followed by an error, therefore in this case, the verticalness of the horizontally rotational axis is corrected with a level vial separately prepared to eliminate the above-described error.

As for the reference of the elevation angle 6 fl, an elevation angle when the laser oscillator 21 can irradiate laser in the horizontal surface or the like can be the reference.

It is obvious that the angle of rolling of the tunnel excavator 5 can be calculated from the horizontal angle 61 s2 of the light receiving unit pedestal 3 which is detected at the inclinometer 33, as described in the above. If the irradiating direction (for example, irradiated horizontally and to the due north) of the laser beam is previously known, it is obvious that the angle of yawing and the angle of pitching of the tunnel excavator 1 can be calculated from the incident angle of the laser beam detected by the light receiving device 31, and the angle of elevation 6 f2 and the horizontal angle 6 s2 of the light receiving unit pedestal 3 as described in the above. Specifically, the posture of the tunnel excavator 5 (the angle of rolling, the angle of yawing, and the angle of pitching) can be measured.

It is also obvious that the light receiving position of the light receiving device 31 to the tunnel excavator 5 can be calculated by the coordinate transformation of the light receiving position (specifically, the above-described amount of positional displacement (y1, z1)) on the first light receiving surface 31a of the light receiving device 31 from an arbitrary position of the tunnel excavator 5. Accordingly the position of the tunnel excavator 5 can be measured by adding a traverse survey by the distance data L1 and L2 by the light wave range finder 24, and the narrow angle.

The hints in the above-described calculation are as follows. The irradiating direction of the laser beam from the laser oscillator 21 is previously known from the angle of elevation 6 fl and the horizontal angle 0 sl of the laser oscillating unit pedestal 2. For this reason, it is not necessary that the laser beam is received vertically to the first light receiving surface 31a of the light receiving device 31. In other words, the light receiving device 31 can detect an incident angle, therefore the laser beam may be received vertically to the first light receiving surface 31a of the light receiving device 31. In order that the laser beam is received vertically to the first light receiving surface 31a of the light receiving device 31, the angle of elevation 0 2 and the horizontal angle 6 s2 of the light receiving unit pedestal 3 may be automatically controlled by the controller 4 which is particularly described in the below. When the above-described follow-up operation is automatically carried out by the controller 4, it is necessary to previously input, memorize, and prepare to suitably use such information as the position for attaching the light receiving device 31 relative to the tunnel excavator 5, the difference between the rotation reference and the excavating direction (the angle of yawing) when the light receiving unit pedestal 3 is rotated horizontally, and the difference between the rotation reference and the angle of pitching of the tunnel excavator 5 when the light receiving unit pedestal 3 is elevated, as information which can be known when manufactured.

As is obvious from the above-described explanation, the controller 4 in the first embodiment conducts control as is described in the below.

The angle of elevation 6 fl and the horizontal angle 6 sl of the laser oscillating unit pedestal 2 and the angle of elevation 6 f2 and the horizontal angle 6 s2 of the light receiving unit pedestal 3 are respectively controlled. At the same time, the position and the posture of the tunnel excavator 5 are calculated from each of the angle of elevations and the horizontal angles 6 fl, 6 sl, 6 f2. and 6 s2, the amount of positional displacement of the received laser beam and the incident angle from the light receiving device 31, the inclination of the light receiving device 31 from the inclinometer 33, the distance data L1 and L2 up to the first and second reflecting prisms 1 and 32, and the narrow angle from the light wave range finder 24.

It is necessary that the first reflecting prism 1 is sighted back at an appropriate time when the laser oscillator 21 is attached and during an excavating operation of the tunnel excavator 5. For this reason at the time of sighting back, the angle of elevation 6 fl and the horizontal angle 6 sl are set at angles for sighting back. At the same time, the position of the laser oscillator 21 itself seen from the first reflecting prism 1 is examined from the horizontally rotating angle at this time and the distance data L1, then the presence or the absence of need for correction of the calculated value of the position and the posture of the tunnel excavator 5, and if there is any need for correction, correct the calculated value.

The angle of elevation 6 fl and the horizontal angle 6 sl of the laser oscillating unit pedestal 2, and the angle of elevation 6 f2 and the horizontal angle 6 s2 of the light receiving unit pedestal 3 are respectively set at certain angles.

Thereafter, when the incident position and incident angle of the laser beam which should be the detected date of the light receiving device 31 are not obtained the angle of elevation 6 fl and the horizontal angle 6 s1 of the laser oscillating unit pedestal 2 are regulated. At the same time, the setting of the angle of elevation 6 f2 and the horizontal angle 6 s2 are regulated again so that the light receiving device 31 is in the range in which the data of the incident position and the incident angle can be obtained.

Likewise, the angle of elevation 6 fl and the horizontal angle 6 sl of the laser oscillating unit pedestal 2, and the angle of elevation 6 f2 and the horizontal angle d3 s2 of the light receiving unit pedestal 3 are set at certain angles. Thereafter, the setting of the angle of elevation 6 fl and the horizontal angle 6 s1 of the laser oscillating unit pedestal 2 is regulated again when the first reflecting prism 1 can't sighted back. On the other hand, even if the laser beam from the laser oscillator 21 is properly projected on the first light receiving surface 31a of the light receiving device 31 and the first reflecting prism 1, when the laser beam from the light wave range finder 24 is not projected on the first and second reflecting prisms 1 and 32, the setting of the angle of elevation 6 fl and the horizontal angle 6 sl of the laser oscillating unit pedestal 2 is also regulated at this time.

The automation of the above-described follow-up operation by the controller 4 requires the position for attaching the light receiving device 31 to the tunnel excavator 5, the difference between the rotational reference and the excavating direction (the angle of yawing) when the light receiving unit pedestal 3 is horizontally rotated, the difference between the rotational reference and the angle of pitching of the tunnel excavator 5 when the light receiving unit pedestal 3, and so on, as described in the above. It is necessary to input and store each kind of known data when manufactured and to use it properly at the time of calculation.

In the below, the example of the steps of setting the apparatus in the first embodiment and the method for measuring the position and the posture of the tunnel excavator 5 in the present invention will be explained with reference to Fig. 8. At first, the example of the steps of setting the first reflecting prism 1 (specifically, the first measurement point A) and the laser oscillating unit pedestal 2 (specifically, the second measurement point B), and the example of the steps of regulating the postures of the laser oscillating unit pedestal 2 (specifically, the second measurement point B) and the light receiving unit pedestal 3 (specifically, the third measurement point C) by the controller 4 will be described.

(Step 100) The first reflecting prism 1 is set at the back of the tunnel excavator 5 almost in a direction of the laser oscillating unit pedestal 2, and the laser oscillating unit pedestal 2 is placed at a position in between the tunnel excavator 5 and the first reflecting prism 1. Both of the setting positions shall be positions which are known from the precise measurement previously made or the measurement which is made during execution.

(Step 200) Next, the angle of elevation and the horizontal angle 6 fl and 6 s1 of the laser oscillating unit pedestal 2 are set. The details are as follows. The positions of the first reflecting prism 1 and the laser oscillating unit pedestal 2 are known as described in the above. Accordingly, the rotational reference angle in a horizontal direction can be previously determined, for example, to be a direction of the tunnel excavator 5. Based on the reference angle, the controller 4 rotates the laser oscillating unit pedestal 2 in an elevating and horizontal directions, and makes the laser oscillator 21 face squarely to the first reflecting prism 1. Next, the laser oscillator 21 is oscillated, and the laser beam from the first reflecting prism 1 is detected at the light sensor 23. As explained with reference to Figs.7(a) and (b) previously, because of the reflecting characteristics of the light from the reflecting prism, the center of the first reflecting prism 1 can be detected when the laser oscillating unit pedestal 2 is slightly turned in an elevating and a horizontal directions. Accordingly, the precise elevation and horizontal angles of the laser oscillating unit pedestal 2 facing the first reflecting prism 1 can be measured. When the light sensor 23 can-t detect the reflecting laser light, the controller 4 slightly rotates the laser oscillating unit pedestal 2 in an elevating and a horizontal directions to search the first reflecting prism 1.

In the above, when the light sensor 23 receives the reflected laser light, and the light receiving signal is outputted to the controller 4, the sight of the first reflecting prism 1 (backsight) is achieved. If the sight of the first reflecting prism 1 is achieved, the controller 4 memorizes the elevation and horizontal angles 6 fl and 6 s1 of the laser oscillating unit pedestal 2. When the elevation and horizontal angles 6 fl and 6 s1 are measured by a rotary encoder or the like which is not illustrated in the drawings, the controller 4 may read the measured value. Until the above-described sight is achieved, the elevating and horizontal operations and the sight may be automatically carried out by a sub-controller, which is provided at or near the laser oscillating unit pedestal 2 and which is connected to the controller 4, based on the command from the controller 4. The operations and the sight by the time of the above-described sight may be conducted manually, and the elevation and horizontal angles 6 flans 6 s1 which result from the operations may be separately inputted into the controller 4.

(Step 300) Next, the distance L1 from the laser oscillating unit pedestal 2 to the first reflecting prism 1 is measured by the light wave range finder 24. The controller 4 inputs and memorizes the distance L1. When the first reflecting prism 1 does not enter the inside of the sight of the light wave range finder 24 due to the positional displacement caused when attaching the laser oscillator 21 and the light wave range finder 24, the output from the light wave range finder 4 (specifically, the distance L1) can't be obtained. In this case, in order to correct the positional displacement in attaching, the elevation and horizontal angles 6 fl and 6 sl are regulated again to obtain the output from the light wave range finder 24. The elevation and horizontal angles 6 fl and 6 sl which is necessary for the correction are different depending on the positional relationship between the measurement points of each other, therefore the step is carried out between Step 200 and Step 300 as Step 250 which is not illustrated in the drawings.

The settings in the above-described Steps 100 to 300 are predicated on the respective positions of the first reflecting prism 1 and the laser oscillating unit pedestal 2 which are previously known. However, if the reference of the horizontal angle of the laser oscillating unit pedestal 2 is previously specific, it is not necessary that the position of the laser oscillating unit pedestal 2 is not previously known. The rear part of the tunnel excavator 5 has no attached machine or the like, and has large space which can be used for measurement. Accordingly, a plurality of first reflecting prisms 1 can be placed. At this time, the position of the laser oscillating unit pedestal 2 can be obtained by a measuring method such as a method of resection and so on, and at the same time, the reference of the horizontal angle can be obtained. Therefore it is not necessary that the position and the reference of the horizontal angle of the laser oscillating unit pedestal 2 are previously known. In this case, it is suitable that Steps 100 to 300 are repeated as many times as the number of the first reflecting prisms 1 which are placed with a loop which is not illustrated in the drawings.

(Step 400) Next, the position and the reference of the horizontal angle of the laser oscillating unit pedestal 2 are reviewed. The controller 4 calculates the position of the laser oscillating unit pedestal 2 from the elevation and horizontal angles 6 flans 6 sl, and the distance L1 which are memorized, and the reference of the horizontal angle is set once again. If there is difference from the position and the horizontal angle of the laser oscillating unit pedestal 2 which are stored in the controller 4, the difference is corrected. Usually, in the steps of setting the apparatus, the positions of the first reflecting prism 1 and the laser oscillating unit pedestal 2 are previously known by another means. Therefore the present Step 400 is abbreviated, or the position and the horizontal angle of the laser oscillating unit pedestal 2 are simply defined again with the horizontal angle 6 sl of the laser oscillating unit pedestal 2 which is obtained in the Step 200 as a reference. The present Step 400 functions only when the first reflecting prism 1 is sighted, and the position and the reference of the horizontal angle of the laser oscillating unit pedestal 2 is determined by excavation at a proper time during the excavating operation of the tunnel excavator 5. When the position or the reference of the horizontal angle of the laser oscillating unit pedestal 2 are not previously known as described in the above, the present Step 400 is also effective in performing the steps of setting the apparatus. Even if such a method as a method of resection is carried out in order to calculate the position of the laser oscillating unit pedestal 2 in the present step 400, there exists no problem. The data used in the present Step 400 are memorized in the controller 4 and are carried out in Step 600 described below in which the position of the tunnel excavator 5 is calculated.

(Step 500) Next, the postures of the laser oscillating unit pedestal 2 and the light receiving unit pedestal 3 are regulated.

The details are as follows.

(Step 510) The direction of the laser oscillator 21 to the light receiving device 31 are regulated with the elevation and the horizontal angles 6 fl and 6 s1 of the laser oscillating unit pedestal 2. The elevation and the horizontal angles 6 f2 and 6 s2 of the light receiving unit pedestal 3 are regulated so that the light receiving surface of the light receiving device 31 can receive the laser beam.

(Step 520) After carrying out Step 510, the controller 4 reads respective data and determines whether the light receiving device 31 receives light, or whether the light sensor 23 can detect the reflected light as the result that the laser beam strikes the second reflecting prism 32.

(Step 521) When the light receiving device 31 does not receive light, or when the light sensor 23 can't detect the reflected light as the result that the laser beam strikes the second reflecting prism 32 in the above-described Step 520, the light is adapted to be received on the light receiving device 31 by fixing the light receiving unit pedestal 3 (specifically, the postures of the light receiving device 31 and the second reflecting prism 32 are fixed), and by rotating the laser oscillating unit pedestal 2 in an elevating and a horizontal directions by the steps previously memorized by the controller 4 or the reflected light from the second reflecting prim 32 is adapted to be detected at the light sensor 23. If the light from the laser oscillator 21 is reflected from the second reflecting prism 32 and detected by the light sensor 23, the light from the laser oscillator 21 is adapted to be received on the light receiving device 31 by slightly regulating the elevation and horizontal angles 6 fl and 6 sl of the laser oscillating unit pedestal 2 once again from the geometrical relationship between the light receiving device 31 and the second reflecting prism 32 at the time of setting up. At this time, the standard of the light receiving device 31 is simply to receive light, and it may be suitable if the incident angle is not in the detecting range of the light receiving device 31.

(Step 522) It is determined that the searching steps in Step 521 are normally completed. The case in which the searching steps are not normally completed is a case in which the light receiving surface of the light receiving device 31 faces a direction in which the light receiving surface of the light receiving device 31 cannot be seen at all when sighted from the laser oscillator 21 or the like.

(Step 530) The laser oscillating unit pedestal 2 is fixed (specifically, the postures of the laser oscillator 21 and the light wave range finder 24 are fixed), and the elevation and the horizontal angles 6 f2 and 6 s2 of the light receiving unit pedestal 3 are rotated within an allowable range by the steps which are previously memorized in the controller 4 to enable the detection of an incident angle of light.

(Step 540) It is determined whether the incident angle enters the detectable range of the light receiving device 31 by reading data by the steps which are previously memorized in the controller 4.

(Step 541) When the incident angle does not enter the detectable range of the light receiving device 31 after carrying out Step 500, it is necessary to change the posture of the light receiving unit pedestal 3 more greatly so that the incident angle enters the detectable range. However, if the posture of the light receiving unit pedestal 3 is changed greatly, it is possible that the laser beam doesn't strike the light receiving device 31, so that the posture of the light receiving unit pedestal 3 is changed in such a way as follows. When the detectable range of an incident angle is searched in the vicinity of the posture of the light receiving device 31 in which the light receiving surface faces downwards, the elevation and the horizontal angles 6 fl and 6 sl of the laser oscillating unit pedestal 9 are slightly regulated at first so that the laser beam can be received at a position (the minus side of Z axis when referring to Fig. 5) on a lower part of the light receiving device 31, and a controlling operation of the posture of the light receiving device 31 is returned to that in the previous Step 530 to search the posture of the light receiving device 31 which is within the incident angle detecting range.

(StepS42) A step of searching the posture of the light receiving device 31 are previously memorized in the controller 4.

The range in which the posture is searched is previously specified in this step, and it is determined whether the area for a search is left.

(Step 550) Next, the elevation and the horizontal angles 6 flans 6 s1 of the laser oscillating unit pedestal 2 are slightly regulated so that the laser beam strikes any specified light receiving position of the light receiving device 31. For example, an arbitrarily specified position can be a position which is away from the second reflecting prim 32 as far as the space between the set positions of the laser oscillator 21 and the light wave range finder 24, and at this time, the light receiving device 31 measures the incident position and the incident angle of the light while the distance L2 between the light wave range finder 24 and the second reflecting prism 32 can be measured. In order to carry out simultaneous measurements, the position which is corrected as much as the angle of rolling of the light receiving device 31 which is measured by the inclinometer 33 can be a specified light receiving position. However, when the operation is carried Out, the incident angel of light is monitored, and the operation is stopped when the incident angle is in the detectable range of the light receiving device 31 then to proceed to the next Step 560.

(Step 560) Next, the posture of the light receiving device 31 is regulated by slightly regulating the elevation and horizontal angles 6 f2 and 9 s2 of the light receiving unit pedestal 3 with reference to the angel of incidence at this- time in order that the angle of incidence is in a arbitrarily specified range. For example, with reference to the angle of incidence vertical to the light receiving surface, the posture is regulated. In the Step 560, the operation is also stopped in a certain light receiving range of the light receiving device 31 by monitoring the incident position.

(Step 570) It is determined whether the incident position and the incident angle of the laser beam received by the light receiving device 31 as the result of Steps 550 and 560 have desired values. If the incident position and the incident angle does not have the desired values, the operation in Step 550 is performed again and repeated until the desired values are obtained. In the determination 570, the determination is included in the present Step 570 that an incident position P and an incident angle are suitable if they are within the range which is set for a specified incident position P and an incident angle.

Through the operations regarding Step 500 in the above, the laser oscillating unit pedestal 2 and the light receiving unit pedestal 3 can be brought into a condition in which they squarely face to each other without any need for manpower, therefore the automation of the above is easily achieved. Step 523 can be set in which the controller 4 outputs an error signal to an indicator or the like which is not illustrated in the drawings, and in which either one or both of the postures of laser oscillating unit pedestal 2 and the light receiving unit pedestal 3 is or are regulated again by manpower to return to the step which is next to the step where an error is made or to return to Step 510 if the light receiving device 31 is not searched, or an incident angle of light does not enter the suitable range, or anything like this happens. At this time, either one or both of the posture data of the laser oscillating unit pedestal 2 and the light receiving unit pedestal 3 which are regulated by manpower can be inputted into the controller 4.

The steps of Step 500 are performed when the position of the tunnel excavator 5 is almost distinct (for example, in the case that the first reflecting prism 1 is sighted, while the tunnel excavator 5 is making an excavating operation, and the light receiving unit pedestal 3 is sighted in order to measure the position and posture of the tunnel excavator 5 again), and if the position is not distinct (in the case of initially setting the apparatus. and in the case of transferring (turning), or the like of the laser oscillating unit pedestal 2), the postures of the laser oscillating unit pedestal 2 and the light receiving unit pedestal 3 are set by manpower, and the set values are inputted into the controller 4, then the operations in Step 500 are performed, or, if the postures are regulated accurately. the operations in Step 500 can be skipped.

(Step 600) Next, the controller 4 reads the elevation and the horizontal angles 6 flans 6 sl of the laser oscillating unit pedestal 2, the elevation and the horizontal angles 6 f2 and 6 s2 of the light receiving unit pedestal 3, the distance L2 between the light wave range finder 24 and the second reflecting prism 32, the incident position and the incident angle which are detected by the light receiving device 31, and the horizontal level S of the light receiving device 31 which is detected by the inclinometer 33 as data, and the controller 4 computes the position and the posture of the tunnel excavator 5. If explaining further, the posture of the tunnel excavator 5 is calculated from the incident angle which is detected by the light receiving device 31, the horizontal level S of the light receiving device 31 which is measured by the inclinometer 33, and the elevation and the horizontal angles 6 f2 and 6 s2 of the light receiving unit pedestal 3, and the position of the light receiving device 31 or the second reflecting prism 32 is calculated from the elevation and the horizontal angles 6 fl and 6 sl of the laser oscillating unit pedestal 2, the distance L2 between the light wave range finder 24 and the second reflecting prism 32, and the incident position which is detected by the light receiving device 31. The abovedescribed position is relative to the laser oscillating unit pedestal 2, therefore by using the position of the laser oscillating unit pedestal 2 which is obtained in Step 400, the position from the first reflecting prism 1 can be calculated. Though the position of the tunnel excavator 5 is normally placed at the foremost end portion, if the position of the light receiving device 31 or the second reflecting prism 32 is obtained, and if the posture of the tunnel excavator 5 is determined, the position coordinate can be easily converted. As for the posture of the tunnel excavator 5 which is detected, the angle of pitching and the angle of rolling are calculated relative to the gravitation, and the angle of yawing is calculated relative to the horizontal angle of the laser beam from the laser oscillator 21. The reference of the horizontal angle of the laser oscillator 21 is an angle to the first reflecting prism 1 which is set up at the back thereof, therefore the angle of yawing of the tunnel excavator 5 is calculated with reference to the direction of the line which connects the laser oscillating unit pedestal 2 and the first reflecting prism 1. Accordingly, if the direction of the line which connects the laser oscillating unit pedestal 2 and the first reflecting prism 1 is linked to azimuth, the angle of yawing of the tunnel excavator 5 can be shown as azimuth.

(Determination 700) In an excavating operation of the tunnel excavator 5, the operation is passed to Step 550 (specifically, Step 500), and the measurement of the position and the posture of the tunnel excavator 5 is repeated (Loop 701).

For example, when the first reflecting prism 1 in the rear is sighted every 50cm of the excavating distance of the tunnel excavator 5 in order to determine whether the reference of the horizontal angle varies in order to repeat slight adjustment of the laser oscillating unit pedestal 2, the control is passed to Step 200 (Loop 702). When the laser oscillating unit pedestal 2 is transferred (specifically, when turning is carried out) as the result that the excavating operation of the tunnel excavator 5 proceeds, the position and the posture of the tunnel excavator 5 are maintained and then the measuring operation is finished so as to facilitate the setting of the posture of the laser oscillating unit pedestal 2 after being transferred.

In the above-described Steps 100 to 700, when the routines (Steps 100 to 500) in the setting procedure are initially performed, there exists a possibility to involve manpower for setting the apparatus, or transferring the apparatus, and the method for measuring the position and the posture of the tunnel excavator 5 during an excavating operation is a routine (Steps 200 to 700).

According to the above-described first embodiment, the following effect is produced.

(1) Since the light receiving device 31 is equipped on the pedestal 7 which is freely rotated in an elevating and a horizontal directions, even in a sharp bend execution, the light receiving device 31 can be controlled to have the incident angle in a limited range for the incident angle which is possessed by the light receiving device 31 by being horizontally rotated, and even in an execution in which the gradient changes greatly or in an execution in which the height changes on the way, the light receiving device 31 can be controlled to have the incident angle in a limited range for the incident angle which is possessed by the light receiving device 31 similarly to the above by being rotated elevatingly. Specifically, even in a sharp bend execution of which examples are seen recently, in an execution in which the gradient changes greatly, or in an execution in which the height changes on the way, the position and the posture of the tunnel excavator can be measured with high accuracy.

(2) The laser oscillating unit pedestal 2 can be freely located at any place so long as the first reflecting prism 1 in the rear, the second reflecting prism 32 toward the front, and the light receiving surface of the light receiving device 31 which is placed near the first reflecting prism 32 can be sighted. Specifically, degree of freedom for setting the space of sight becomes greater.

For example, even if collimation becomes impossible as the result that an excavating operation of the tunnel excavator 5 proceeds, the tunnel excavator 5 abruptly turns, or a slope occurs, the position and the posture of the tunnel excavator 5 can be measured with high accuracy by changing the position for setting the laser oscillating unit pedestal 2 to the position in which the collimation is enabled.

(3) As for the light receiving device 31, a device is used with which the amount of positional displacement between the light receiving center position and the laser receiving position, and the incident angle to a normal direction of the light receiving surface can be simultaneously measured with only one fine light beam entering. Therefore, a light passage can be easily secured which conventionally matters when the position and the posture are measured by using light. By extension, the facilitation of a light passage becomes a cause of the highly accurate measurement of the position and the posture of the tunnel excavator 5 even in a sharp bend execution, in an execution in which the gradient changes greatly, or in an execution in which the height changes on the way. Since such a device is used as can simultaneously measure the amount of positional displacement between the light receiving center position and the light receiving position of the light receiving surface, and the incident angle to a normal direction of the light receiving surface, the conditions for facing the laser oscillating unit pedestal 2 and the light receiving unit pedestal 3 almost squarely to each other can be easily obtained, therefore the facilitation of securing the light path also becomes a cause of omitting a complicated sight regulation by manpower as the result of automation.

An apparatus of a second embodiment in Fig. 10 will be explained. In this example, a light receiving unit pedestal 3 can be only rotated in a horizontal direction, while the light receiving unit pedestal 3 of the above-described first embodiment can be rotated in an elevating and a horizontal directions. The other parts are the same as those in the above-described first embodiment. As for the laser oscillating unit pedestal 2 of the present embodiment, as Fig. 10 depicts, a horizontally rotating stage is formed into a U-shaped block, with a horizontal shaft being provided in a space of the U-shape, and a laser oscillator21, a beam splitter 22, a light sensor 23, and a light wave range finder 24 are integrally and fixedly provided around the horizontal shaft so as to be elevatingly rotatable.

The above-described second embodiment is effective for measuring the position and the posture of the tunnel excavator 1 in the case that an execution in which rolling of the tunnel excavator 5 is less, or a drive with less rolling is carried out.

The drive with less rolling prevents the occurrence of rolling when the rolling is likely to increase, therefore the drive which makes the tunnel excavator 1 carry out reversing excavation can be shown as an example.

It goes without saying that in the present second embodiment the same effect as in the above-described first embodiment can be obtained.

In the setting procedure and the method for measuring the position and the posture of the apparatus which is explained in the above the steps in Steps 530 to 570 (including 541 and 542) can be as follows as Fig. 11 illustrates.

(Step 530A) In order that the light wave range finder 24 can sight the reflecting prism 32 based on the information of the light receiving position of the light receiving device 31, the posture of the laser oscillating unit pedestal 2 is regulated and the distance L2 between the light wave range finder 24 and the reflecting prism is measured.

(Step 540A) With reference to the execution planning line data of the tunnel excavator 5 on the controller 4 or on another computer, based on the position of the laser oscillating unit pedestal 2 and the distance L2 between the light wave range finder 24 and the reflecting prism which is measured in Step 530a, the position and posture of the tunnel excavator 5 at this time is estimated.

(Step 550A) From the estimated position and posture, the posture of the light receiving unit pedestal 3 is determined, and at least, the horizontal angle is regulated. At this time, the posture of the laser oscillating unit pedestal 2 is left as it is, if the laser oscillating unit pedestal 2 is in the position at which the incident position can be detected by the light receiving device 31, and if the incident position is not detected, the posture of the laser oscillating unit pedestal 2 is regulated again so as to have the elevation and the horizontal angles which the posture has before Step 530A.

(Step 560A) Thereby determining whether the incident angle can be detected at the light receiving device 31.

(Step 570A) If the incident angle is not in a detectable range, the posture of the laser oscillating unit pedestal 2 is fixed, and the posture of the light receiving device 31 is regulated.

This procedure is previously memorized in the controller A.

(Step 580A) It is determined whether Step 570A is normally finished.

(Step 523) This Step 523 can be used as explained in the above.

The routine is a very effective procedure in order that the light receiving device 31 can detect the incident position and the incident angle quickly when the tunnel excavator 5 is not greatly deviated from the execution planning line (Specifically, as much as half of the size of the light receiving surface of the light receiving device 31). This routine may be combined with the routine which is previously described, and if the light receiving device 31 can't detect the incident position and the incident angle of the laser light in this routine, it can be adapted to enter Step 530 of the routine illustrated in Fig. 8.

Industrial Availability The present invention is useful as a method and an apparatus for measuring the position and the posture of a tunnel excavator by which the position and the posture of a tunnel excavator can be measured with high accuracy even in a sharp bend execution of which examples are recently seen, in an execution in which the gradient changes greatly, or in an execution in which the height changes on the way.

Claims

CLAIMS:

1. A method for measuring the position and the posture of a tunnel excavator based on a traverse survey, comprising the steps of: sighting an arbitrary point at a third measurement point (C) from a second measurement point (B), while ensuring that the angle from said third measurement point (C) to said second measurement point (B) is a specified angle, when sighting said third measurement point (C) which is provided at a tunnel excavator (5) from said second measurement point (B) which is provided at the position opposite to the travel direction of said tunnel excavator (5); calculating the position of said third measurement point (C) by using the angle and a distance (L2) from said second measurement point (B) to said third measurement point (C), and the position of said arbitrary point; calculating the posture of said tunnel excavator (5) based on the angle from said third measurement point (C) to said second measurement point (B), and a horizontal level (S) of said third measurement point (C) or a horizontal level (S') of said tunnel excavator (5); calculating the position of the second measurement point (B) by sighting a first measurement point (A) of a known position which is provided further in the rear from said second measurement point (B) at a desired time during the measurement of the position and the posture of said tunnel excavator (5); and calculating the position of said tunnel excavator (5) from the first measurement point (A) based on the above.

2. A position and posture measuring apparatus of a tunnel excavator for measuring the position and the posture of a tunnel excavator, comprising: a third measurement point (C) which is provided at said tunnel excavator (5), and which is equipped with a light receiving device (31) for receiving a laser beam from a laser oscillator (21) and for detecting an incident position ((yl, z1)) and an incident angle. and a second reflecting prism (32), integrally and rotatably at least in a horizontal direction, with an inclinometer (33) for detecting a horizontal level (S) of said light receiving device (31) or a horizontal level (S') of said tunnel excavator (5) being equipped; a second measurement point (B) which is provided at the position opposite to the travel direction of said tunnel excavator (5), and which is equipped with said laser oscillator (21) and a light wave range finder (24) integrally and rotatably in an elevating direction and a horizontal direction to face squarely to said third measurement point (C) when sighting said third measurement point (C) ahead, and face squarely to a first measurement point (A) when sighting said first measurement point (A) to the rear when the first measurement point (A), which is equipped with a first reflecting prism (1), is provided in the rearward position, with a light sensor (23) for receiving the laser beam from said laser oscillator (21) which is reflected from said first and second reflecting prisms (1, 32); and a controller (4) which regulates the rotational angles in an elevating direction and a horizontal direction of said laser oscillator (21) and said light wave range finder (24), and which calculates the position and the posture of said tunnel excavator (5) after receiving the rotational angles in an elevating direction and a horizontal direction of said laser oscillator (21) and said light wave range finder (24), and after receiving the rotational angle at least in a horizontal direction of said light receiving device (31) and said second reflecting prism (32), the incident position and incident angle of the light which are detected at said light receiving device (31), respective distances (L1, L2) up to the first and the second reflecting prism (1, 32) which are detected at said light wave range finder (24), and said horizontal level (S) or said horizontal level (S ).