WO1996030720A1

WO1996030720A1 - Method and apparatus for measuring position and posture of tunnel excavator

Info

Publication number: WO1996030720A1
Application number: PCT/JP1996/000825
Authority: WO
Inventors: Hiroaki Yamaguchi
Original assignee: Komatsu Ltd.
Priority date: 1995-03-29
Filing date: 1996-03-28
Publication date: 1996-10-03
Also published as: KR970065962A; TW324045B; JPH08271251A; DE19681330T1; KR100192851B1; GB9718777D0; GB2314157A

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

Measuring method and device for measuring position and orientation of tunnel machine

The present invention relates to a method and an apparatus for measuring the position and orientation of a tunnel excavator. Background technology

Measuring the position and attitude of the tunnel excavator is an important technique for, for example, accurately correcting the direction of the tunnel excavator and avoiding interference with the segment assembled by the tunnel excavator in a later process. Particularly in areas with many underground structures and existing tunnels, the excavation line becomes complicated and becomes sharply curved, and in sewerage construction, etc., high accuracy is required for the construction alignment. Technology is required. With the high-speed evolution of tunnel excavators, it is difficult to measure position and orientation manually, and automation of position and orientation measurement technology is also required. In response to such a request, various position and orientation measuring devices and methods for tunnel excavators have been proposed.

For example, there is a position and orientation measurement of a tunnel machine using an inclinometer using gravity or an azimuth jay mouth using rotation of the earth. That is, the excavation distance between measurements (usually, the length of the jack stalk of the tunnel excavator) is determined based on the azimuth of the tunnel excavator using the azimuth gyro and the angle indicated by the inclinometer. Know the position and attitude of the aircraft. The azimuth of the tunnel excavator is the angle between the direction in which the direction of the tunnel excavator is projected on the horizontal plane and the true north direction, that is, the joing angle. The angles indicated by the inclinometer are the pitching angle, which is the angle between the direction of the tunnel machine and the horizontal plane, and the rolling angle, which is the angle component with the direction of the excavation as an axis. However, in this case, the tunnel excavator may excavate while skidding, making it difficult to measure the excavation distance along the true excavation direction.

Also, for example, in Japanese Patent Application Laid-Open No. Hei 6-111334, an automatic tracking distance measuring angle finder is used. The position of the mobile object is detected by obtaining the three-dimensional coordinate position of the target before the movement of the mobile object with the three targets set as the survey reference, and then obtaining the three-dimensional coordinate position of the target after the movement. I do. Also disclosed is a method for measuring the position and orientation of a moving body, which detects the amount of inclination (that is, the posture) of the moving body from the coordinate change amounts of three targets before and after the movement. However, this technique has a problem that the accuracy of the tilt amount is determined by the position measurement accuracy and the area of the three target arrangements. Specifically, when measuring the rotation angle accuracy in, for example, 3 minutes, the accuracy with respect to the length is required to be 1Z100 or more. For example, if a surveying instrument with a precision of 1 mm is used, it is necessary to arrange the target so that the distance between them is 1 m. However, inside the tunnel machine, many jacks and mud discharge pipes are installed in a complicated manner. For this reason, it is difficult to allocate a plurality of targets with such an arrangement interval and to secure a collimating space for each target. In particular, it is difficult to actually use it for turning construction that requires a larger collimation space.

In addition, for example, Japanese Patent Publication No. 4-74649 discloses that a laser oscillator and an optical distance measuring device of the same direction, which are integrally held on a swingable base, and a movable body separated from the base. There is disclosed an automatic fibre-measuring device and a surveying method comprising a position detecting target and a distance measuring target provided. The target for position detection consists of a screen and a force camera, receives laser light from a laser oscillator with a screen, and detects the position coordinates of the light receiving spot with a camera. The distance measurement target reflects the light from the optical distance measuring instrument back to the optical distance measuring instrument. That is, there is disclosed a surveying method in which a housing is rotated so that light of a laser oscillator is vertically irradiated on a screen. However, in this technique, there is no description of a method of directing the screen perpendicular to the laser oscillator. For this reason, automatic follow-up is difficult in the case of combined construction of a straight section and a curved section, or when the curvature changes during excavation or when the excavation results in a slight meander. Therefore, frequent manual adjustment is required, which causes a practical problem that time efficiency is reduced. Furthermore, this technology is a position detection technology, and does not describe any posture detection. That is, according to the prior art, there is a problem that a target for which it is difficult to secure a collimation space is required, and it is difficult to automatically follow a target due to a limited incident angle of light. There is a problem that it is difficult to measure the position and orientation of the tunneling machine with high accuracy in curved construction, construction in which the construction gradient greatly changes, and construction in which the height changes halfway. Disclosure of the invention

The present invention has been made in order to solve the problems of the prior art, and has been performed in recent years, such as a sharply curved construction, a construction in which a construction gradient is greatly changed, and a construction in which a height is changed on the way. However, an object of the present invention is to provide a position and orientation measurement device for a tunnel excavator that can measure the position and orientation of the tunnel excavator with high accuracy.

The position and orientation measurement method for a tunnel excavator according to the present invention is a method for measuring the position and orientation of a tunnel excavator based on traverse survey,

When collimating the third station provided on the tunnel machine from the second station provided behind the tunnel machine, collimate any point of the third station from the second station, and So that the angle from the 3 measurement points to the 2nd measurement point is a predetermined angle,

The position of the third measuring point is calculated using the angle and the distance from the second measuring point to the third measuring point and the position of the arbitrary point,

The attitude of the tunnel excavator is calculated from the angle from the third station to the second station and the horizontal level of the third station or the level of the tunnel excavator,

When desired during the measurement of the position and orientation of the tunnel excavator, the position of the second measurement point is calculated by collimating the first measurement point at a known position further behind the second measurement point,

As described above, the position of the tunnel excavator is calculated from the first measurement point.

With this configuration, for example, when collimating the third measurement point of the tunnel excavator from the second measurement point provided behind the tunnel excavator, an arbitrary point of the third measurement point is viewed from the second measurement point. In addition, the angle from the third measurement point to the second measurement point is set to a predetermined angle. Therefore, the equipment provided at the second station (ie, the surveying instrument) and the equipment provided at the third station (ie, the surveying instrument) Can be directly opposed to each other. Then, the position of the third station is calculated using the angle and the distance from the second station to the third station and the position fi of the arbitrary point, and the angle and the angle to the second station from the third station are calculated. By calculating the attitude of the tunnel excavator from the horizontal level or the horizontal level of the tunnel excavator 5, the position of the third station can be determined based on the second station, and the third station can be determined from the second station. Based on the horizontal angle facing station C, the excavation direction and horizontal level attitude of the tunnel excavator can be determined. Then, at any time during the surveying of the tunneling machine, the position of the second measuring point is calculated by collimating the first measuring point at a known position further behind the second measuring point, and the first measuring point is calculated. The location of the tunnel machine is calculated from the first station, even if the point and the third station do not have a positional relationship that allows them to see each other. This corresponds to the construction of curves and curves.

On the other hand, the position S attitude measuring device S of the tunnel excavator according to the present invention is a device for measuring the position and attitude of the tunnel excavator. A light-receiving device that receives light and detects an incident position and an incident angle, and a second reflecting prism are provided so as to be rotatable integrally in at least a horizontal direction, and detect a horizontal level of the light-receiving device or a horizontal level of a tunnel machine. A third station equipped on the tunnel tunnel with an inclinometer,

The third measuring point can be almost directly facing when looking forward, and when the first measuring point equipped with the first reflecting prism is provided behind, it can be almost facing when looking backward at the first measuring point. A laser detector and a lightwave distance meter are provided so as to be rotatable integrally in the elevation and horizontal directions, and a photodetector that receives laser light from the laser oscillator reflected by the first and second reflecting prisms is provided. A second station provided behind the tunnel tunnel with

Adjust the rotation angles of the laser oscillator and the lightwave distance meter in the elevation direction and the horizontal direction, receive the rotation angles of the laser oscillator and the lightwave distance meter in the elevation direction and the horizontal direction, and reduce the number of light receivers and the second reflecting prism. The horizontal angle of rotation, the incident position and angle of light detected by the light receiver, the respective distances to the first and second reflecting prisms detected by the lightwave distance meter, and the horizontal level or horizontal level. Receiving Tonne And a controller for calculating the position and attitude of the excavator. With this configuration, the laser oscillator and the optical distance meter are provided at the second measurement point behind the tunnel excavator so as to be rotatable in the elevation direction and the horizontal direction. At the third measuring point of the tunnel machine, a photodetector that receives the laser beam from the laser oscillator and detects its incident position and angle, and a second reflecting prism are provided so as to be rotatable at least horizontally. Provided. For this reason, the controller can freely change the incident position on the light receiver by adjusting the elevation angle and horizontal angle of the laser oscillator and the lightwave distance meter. In addition, the controller adjusts the angle of the gantry on which the receiver and the second reflecting prism are mounted at least horizontally so as to be freely rotatable, so that the angle of incidence at the receiver (in other words, from the third measurement point to the second measurement point from the third measurement point). (The angle facing the measuring point) can be set to a predetermined angle. In other words, the laser oscillator and the light receiver can be arranged almost directly while the tunnel excavator is excavating by a command from the controller. The lightwave distance meter measures the distance between the second reflecting prism and the first reflecting prism provided at the first measuring point. By taking into account the elevation angle and horizontal angle between the laser oscillator and the lightwave distance meter, the distance measured by the lightwave distance meter, and the incident position of the light detected by the light receiver, the position from the second measurement point S to the The positions of three measurement points can be calculated.

By the way, the light receiver and the tunnel machine can be related to each other by conversion by rotation. Therefore, the attitude of the light receiver can be calculated by providing an inclinometer at the position where the horizontal level of the tunnel machine is detected. Therefore, an inclinometer 33 was installed to detect the horizontal level of the light receiver or the horizontal level of the tunnel machine. Then, the controller records the incident angle of the light detected by the light receiver 31 and the signal of the inclinometer, corrects the error caused by the rolling of the light receiver 31, and sets the incident angle of the light detected by the light receiver to absolute horizontal. Calculate the pitching component and pitching component based on the level. In addition, the controller reads at least the angle at which the receiver is rotatable in the horizontal direction, and calculates the attitude of the tunnel excavator by performing rotation conversion. This attitude includes the directional angle of the tunneling machine with respect to the horizontal component of the angle of incidence of light.

In addition, the first reflecting prism is installed at the first measuring point after the second measuring point, whose position is determined by another means (normal surveying), and the laser oscillator collimates the first reflecting prism. By doing so, the position S of the second measurement point can be obtained from the first measurement point at a known position based on the collimated elevation angle, horizontal angle, and distance measured by the lightwave distance meter. At this time, whether or not the laser oscillator collimates the reflecting prism is configured such that a photodetector for receiving light returning from the reflecting prism is provided together with the laser oscillator. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is an element layout diagram of a first embodiment of the present invention,

FIG. 2 is a perspective view of the gantry in the first embodiment,

FIG. 3 is an arrangement diagram of elements of the laser oscillation unit in the first embodiment,

FIG. 4 is an element arrangement diagram of the light receiving unit in the first embodiment,

FIG.5A is a side view of the element arrangement of the first example of the receiver in the first embodiment,

FIG.5B is a perspective view of the element arrangement S of the first example of the optical receiver in the first embodiment,

FIG. 6A is a side view of a second example of another element arrangement g of the light receiver in the first embodiment, FIG. 6B is a side view of a third example of the other elements of the light receiver in the first embodiment, FIG.7A is a sectional view of the reflecting prism in the first embodiment,

FIG. 7B is a perspective view of the reflection prism in the first embodiment,

FIG. 8 is a flowchart showing the procedure of installation and position and orientation measurement of the first embodiment, FIG. 9 is a view showing the relative rotation between the laser oscillator and the photodetector,

FIG. 10 is an element arrangement S diagram of the second embodiment of the present invention,

Fig. 11 is a flow chart with a part of Fig. 8 modified. BEST MODE FOR CARRYING OUT THE INVENTION

Preferred embodiments of the method and apparatus for measuring the position and orientation of a tunnel machine according to the present invention will be described in detail below with reference to the accompanying drawings.

In the first embodiment, as shown in FIG. 1, the first reflecting prism 1 is placed at a known position behind the tunnel machine 5 (that is, the first measuring point A), and the laser oscillation unit base 2 is placed in the first reflecting prism. Between the tunnel 1 and the tunnel excavator 5 (that is, the second measurement point B), the light receiving unit base 3 is placed at a known position of the tunnel excavator 5 (that is, the third measurement point C), and the controller 4 is moved to the position. It is arranged at an arbitrary position such as inside the shaft of channel 6. The details are as follows.

Each of the laser oscillating unit mount 2 and the light receiving unit mount 3 is configured by providing various devices, which will be described in detail later, on the device mount 7. First, the equipment mounting base 7 will be described with reference to FIG. The device mounting base 7 has two axes that are orthogonal to each other, and the device mounting surface 73 can be freely rotated in the elevation direction and the horizontal direction around each axis by, for example, step motors 71 and 72. On the equipment mounting surface 73, if the laser oscillator base 2 is used, as shown in FIG. 3, a laser oscillator 21, a beam splitter 22, a photodetector 23, an optical distance meter 4, etc. Various devices are arranged. Here, the laser oscillator 21 and the lightwave distance meter 24 are arranged such that their optical axes are collimated in substantially the same direction. On the other hand, in the case of the light receiving unit base 3, as shown in FIG. 4, various devices such as a light receiver 31 and a second reflection prism 32 are arranged. Here, the light receiver 31 and the second reflection prism 32 are arranged so that their light receiving surfaces face the same direction. Therefore, by rotating the light receiver 31 and the second reflection prism 32 in the elevation direction and the horizontal direction, the laser oscillator 21 and the lightwave distance meter 24 can be almost directly opposed. In addition, as shown in Fig. 1, an inclinometer 33 for detecting the horizontal level S (that is, the pitching angle 0 f2 and the rolling angle 0 s2) of the receiver 31 is also arranged on the receiver base 3 as shown in Fig. 1. I have. Hereinafter, details of each device will be described in order.

The laser oscillator 21 is a light source for projecting a laser beam to the light receiver 31 to obtain a light receiving position and an incident angle from the light receiver 31, and also a light source when the first reflection prism 1 is viewed backward. is there. Since the beam diameter of the laser beam is difficult to spread even over a long distance, the light receiving position at the light receiver 31 and the collimation to the first and second reflecting prisms 1 and 23 can be performed with a small spot diameter. Therefore, as will be described in detail later, more accurate position measurement, horizontal angle measurement, and attitude angle measurement can be performed.

Although the number of laser oscillators 21 is one in this example, they are individually determined in view of the characteristics of the light receiver 31 and the first and second reflecting prisms 1 and 32 (for example, in relation to the wavelength used, etc.). When it is better to provide, a plurality may be arranged. The light source built into the optical distance meter 24 is a laser oscillator in this example, but even if it is an LED or the like, an LED or the like may be replaced with a laser oscillator when the beam diameter of light emission is difficult to spread due to an optical system. . The electro-optical distance meter 24 needs to have a center detection function for the first and second reflecting prisms 1 and 32 in order to prevent collimation errors.

The beam splitter 22 transmits the laser beam from the laser oscillator 21 when the first reflecting prism 1 is viewed backward from the second measuring point B and when the second reflecting prism 32 is viewed forward, After that, the first reflection prism 1 and the second reflection prism 32 receive the laser light recursively reflected and change the optical path to the photodetector 23.

The photodetector 23 receives the reflected laser light from the first and second reflecting prisms 1 and 32. In general, a reflective prism returns reflected light in parallel to incident light, as shown in Fig. 7A, and has a smaller diameter than the diameter of the prism, which is shifted from the center of the prism, as shown in Fig. 7B. It has the property of returning light from a target position to the center of the prism for incident light with a small diameter. Therefore, the photodetector 23 can detect the center of the prism, and can eliminate a collimation error. The photodetectors 23 are arranged in a large number in a plane so that a deviation between the irradiation laser light and the reflected laser light can be detected. In this case, a device that can detect the incident position of light, such as a light receiver 31 described later, may be used. Further, the center of the first and second reflecting prisms 1 and 32 may be detected by controlling the elevation angle and the horizontal angle of the laser oscillator 21 so that the above-mentioned displacement is made zero in the first place. Needless to say, another effective optical system may be interposed between the photodetector 23 and the laser oscillator 21 so as to make the above-mentioned misalignment in the first place.

The lightwave distance meter 24 measures the rear viewing distance L 1 from the laser oscillation unit base 2 to the first reflecting prism 1 and the front viewing distance L 2 from the second reflecting prism 32 respectively.

The light receiver 31 receives a thin light beam (in this case, the laser light from the laser oscillator 21), which causes a deviation between the center position of the light receiving surface and the light receiving position of the laser light and a normal direction of the light receiving surface. That can simultaneously measure the incident angle of the laser beam with respect to. As a result, when measuring the position and attitude of the tunnel machine 5 using light, Road space is secured. As the light receiver 31, for example, as shown in FIG. 5A and FIG. 5B which is a perspective view thereof, a first light receiving surface 31 a having translucency and the rear of the first light receiving surface 31 a And a second light receiving surface 32b for receiving the transmitted light from the first light receiving surface 31a. As shown in FIG. 6A, the light receiver 31 has a condensing lens 3 1 having the center 0 2 of the second light receiving surface 31 b between the light receiving surfaces 31 a and 31 b. Some with c are also good. Alternatively, as shown in FIG.6B, the light receiver 31 has a condenser lens 31c in front of the first light receiving surface 31a and having a focus on the center 02 of the second light receiving surface 31b. It may be a thing, and various other preparations are possible. 5A and 5B, the illustrated coordinates (yl, z1) are the positional deviation of the receiver 31, and the illustrated coordinates (yl, zl) and (y From the incident angle obtained from (2, z 2), the bowing angle and the pitching angle of the light receiver 31 are obtained. Here, the bowing angle is "tan- ¹ ((y2-yD / L)"), while the pitching angle is "ta {(z2-1zl) ZL} J. If the light receiving device 31 is not rolling, the amount of displacement, the pitching angle and the joing angle can be determined by the light receiving device 31.

The second reflecting prism 32 reflects the laser light from the lightwave distance meter 24 and can reflect the laser light from the laser oscillator 21.

The inclinometer 33 comprises two inclinometers orthogonal to each other in the horizontal plane on the receiver 31 and detects the horizontal level S (ie, pitching angle and rolling angle) of the receiver 31. Here, the horizontal level S of the receiver 31 and the horizontal level S 'of the tunnel machine 5 can be related by the angle of the rotation axis of the light receiving unit base 3, so that the inclinometer 33 is It may be attached to the tunnel excavator 5 itself instead of 31. As described above, since the pitching angle can be detected by the light receiver 31 as well, the better one of the pitching angles by the light receiver 31 or the inclinometer 33 may be adopted. Alternatively, the inclinometer 33 may be a single inclinometer in the horizontal direction in the horizontal plane on the light receiver 31 and may measure only the rolling angle of the light receiver 31. The rolling angle of the tunnel excavator 5 depends on the mounting position of the receiver 31 in the tunnel excavator 5 and the rolling angle of the receiver 31. Can be converted from the relationship with the swing angle.

The first reflecting prism 1 serves as a reference point in a traverse survey, which will be described later. As described above, the first reflecting prism 1 reflects the laser light from the laser oscillator 21 and uses the reflected laser light as a light detector 23. Is to be detected.

Prior to the description of the controller 4, the interrelationship between the above-described devices will be described below to help the understanding.

The laser oscillation base 2 is rotatable in the horizontal direction to collimate the front light receiver 31 and the rear first reflection prism 1, and may be installed at different heights or during excavation. It can be rotated in the elevating direction so that it can be collimated even if it changes. The standards for the upward rotation and the horizontal rotation are as follows.

The reference of the horizontal angle 0 s i does not need to be set dare to measure only the included angle from the first reflecting prism 1 (backsight) to the light receiver 31 (forward vision). However, when calculating the jogging angle of the tunnel excavator 5 as the excavation azimuth, taking into account that the azimuth from the first reflecting prism 1 to the laser oscillator 21 is used as a reference, the laser oscillator 21 generates the first reflection. The collimation of the prism 1 when looking back may be used as a reference. If the horizontal rotation axis of the laser oscillation unit base 2 is tilted, an error will occur in the detection angle, so in this case, the verticality of the horizontal rotation axis is corrected by a separately prepared level to eliminate the error. I do. The reference of the elevation angle may be based on, for example, when the laser oscillator 21 can emit laser in a horizontal plane.

As described above, it is apparent that the rolling angle of the tunnel excavator 5 can be calculated from the horizontal angle 0 s2 of the light receiving unit base 3 detected by the inclinometer 33. Also, if the radiation direction of the laser beam (for example, that it is radiated horizontally and to the north) is known in advance, the incident angle of the laser beam detected by the photodetector 31 and the elevation angle of the photodetector base 3 As described above, it is apparent that the jogging angle and the pitching angle of the tunnel excavator 1 can be calculated from the f2 and the horizontal angle 0 s2. That is, the attitude (rolling angle, jowing angle, pitching angle) of the tunnel machine 5 can be measured.

The light receiving position on the first light receiving surface 31a of the light receiver 31 (that is, the positional deviation amount (y1, z 1)) is transformed from an arbitrary position of the tunnel excavator 5 to obtain a tunnel excavator.

It is also clear that the light receiving position of the light receiver 31 with respect to 5 can be calculated. Therefore, the position of the tunnel excavator 5 can be measured by taking into account the distance data L 1 and L 2 by the lightwave distance meter 24 and the traverse survey by the included angle.

The points to be considered in the above calculation are as follows. The irradiation direction of the laser beam from the laser oscillator 21 is known in advance by the elevation angle θ fl and the horizontal angle Θ s i of the laser oscillation unit base 2. Therefore, the laser beam does not need to be received perpendicular to the first light receiving surface 31a of the light receiver 31. In other words, since the light receiver 31 can detect the incident angle, the laser beam may be received perpendicular to the first light receiving surface 31a of the light receiver 31. In such a manner, the elevation angle 0 f 2 and the horizontal angle 0 s2 of the light receiving unit gantry 3 may be automatically controlled by the controller 4 described in detail later. When such a follow-up operation is automated by the controller 4, the controller 4 is provided with a light receiver 3 for the tunnel machine 5.

1 The mounting position, the difference between the rotation reference when the receiver base 3 rotates horizontally and the excavation direction (jowing angle), and the pitching angle of the tunnel excavator 5 with respect to the rotation reference when the receiver base 3 descends Differences, etc., are input and stored in advance as information that can be known at the time of manufacturing, so that they can be used as appropriate.

As is clear from the above description, the controller 4 in the first embodiment performs the following control.

The elevation angle QΠ and the horizontal angle 0 s i of the laser oscillation unit base 2 and the elevation angle Θ f 2 and the horizontal angle Θ s2 of the light receiving unit base 3 are controlled, respectively. At the same time, each of these controlled horizontal elevation angles Θ fl, Θ s Θ f 2,0 s2, the displacement amount and incident angle of the received laser light from the light receiver 31, and the light receiver 3 1 from the inclinometer 33 The position and attitude of the tunnel excavator 5 are calculated from the inclination of the tunnel excavator 5 and the distance data L 1 and L 2 from the lightwave distance meter 24 to the first and second reflecting prisms 1 and 32 and the included angle. calculate.

It is necessary to look back at the first reflecting prism 1 at an appropriate time during installation of the laser oscillator 21 or during excavation of the tunnel excavator 5. For this reason, at the time of this backsight, the elevation angle Θfl and the horizontal angle Θsi of the laser oscillation unit base 2 are set to angles for the backsight. At the same time The self-position of the laser oscillator 21 viewed from the first reflecting prism 1 is detected based on the horizontal swing angle and the distance data L 1 at the time of, and the calculated values of the position and orientation of the tunnel excavator 5 are corrected. Verify presence and correct any corrections.

The elevation angle θ の and the horizontal angle 0 s i of the laser oscillation unit gantry 2 and the elevation angle Θ f2 and the horizontal angle 0 s2 of the light receiving unit gantry 3 are set to certain angles. Thereafter, when the incident position and the incident angle of the laser beam, which should be the detection data of the light receiver 31, cannot be obtained, the setting of the elevation angle 0 ° and the horizontal angle 0 si of the laser oscillation unit base 2 is adjusted. At the same time, readjustment of the elevation angle Θf2 and the horizontal angle 0 s2 of the light receiving unit gantry 3 is readjusted so that the light receiving unit 31 can obtain the data of the human projection position and the incident angle. Similarly, the elevation angle θ fl and the horizontal angle s s i of the laser oscillation unit gantry 2 and the elevation angle 2 f 2 and the horizontal angle Θ s2 of the light receiving unit gantry 3 are set to certain angles. Thereafter, when the first reflecting prism 1 cannot be viewed backward, the settings of the elevation angle 0 il and the horizontal angle 0 s i of the laser oscillation unit base 2 are readjusted. On the other hand, even if the laser beam from the laser oscillator 21 is appropriately projected on the first light receiving surface 31 a of the receiver 31 and the first reflection prism 1, the laser beam from the lightwave When the light is not projected on the first and second reflection prisms 1 and 32, the setting of the elevation angle 0 fl and the horizontal angle 0 si of the laser oscillation unit base 2 is also adjusted at this time.

As described above, the automation of the following operation by the controller 4 includes the mounting position of the light receiver 31 on the tunnel excavator 5, the rotation reference when the light receiver base 3 is horizontally rotated, and the drilling direction. Angle) and the pitching angle of the tunnel excavator 5 with respect to the rotation reference when the light receiving unit base 3 is raised. It is also necessary to preliminarily input and accumulate various kinds of data known at the time of manufacturing, and to use the data appropriately in calculations.

Hereinafter, an example of an installation procedure in the device S of the first embodiment and a method of measuring the position and orientation of the tunnel excavator 5 in the present invention will be described with reference to FIG. First, an example of a procedure for setting up the first reflecting prism 1 (i.e., the first measurement point A) and the laser oscillation unit gantry 2 (i.e., the second measurement point B), and the laser oscillation unit gantry 2 (i.e., the controller 4) , The second measuring point B) and the attitude adjustment procedure of the light receiving unit base 3 (that is, the third measuring point C) will be described. (Step 100) The first reflecting prism 1 is installed behind the tunnel machine 5 so as to face the laser oscillating unit base 2 S, and the laser is located at the intermediate position S between the tunnel machine 5 and the first reflecting prism 1. Oscillator base 2 is installed. Both installation positions shall be positions that have been known by precision surveying or surveying during construction.

(Step 200) Next, the elevation horizontal angles 0 fl and 0 sl of the laser oscillation unit base 2 are set. The details are as follows. The positions of the first reflection prism 1 and the laser oscillation unit base 2 are known as described above. Therefore, the reference rotation angle in the horizontal direction can be predetermined in the direction of the tunnel excavator 5, for example. Based on this reference angle, the controller 4 rotates the laser oscillation unit base 2 in the horizontal direction in which the laser oscillation unit is raised, and causes the laser oscillator 21 to face the first reflection prism 1. Next, the laser oscillator 21 is oscillated, and the reflected laser light from the first reflecting prism 1 is detected by the photodetector 23. As described earlier with reference to FIGS. 7 (a) and 7 (b), when the laser oscillation unit base 2 is slightly swung upward and downward from the reflection characteristic of the reflection prism, the center of the first reflection prism 1 Can be detected. For this reason, it is possible to accurately measure the elevation horizontal angle of the laser oscillation base 2 facing the first reflection prism 1. When the photodetector 23 cannot detect the reflected laser light, the controller 4 causes the laser oscillation unit base 2 to slightly turn in the horizontal direction of elevation and causes the first reflection prism 1 to be searched.

As described above, when the photodetector 23 receives the reflected laser beam and the received light signal is input to the controller 4, collimation (backsight) of the first reflecting prism 1 is achieved. If the collimation of the first reflecting prism 1 is achieved, the control unit 4 admires the horizontal elevation angles 0 fl and 0 sl of the laser oscillation unit base 2. When the elevation horizontal angles 0 fl and 0 sl are measured by a mouth encoder (not shown) or the like, the control unit 4 may read the measured values. Note that, as described above, the elevation horizontal movement and collimation up to the collimation are not automatically performed by the controller 4, but are provided on the laser oscillation unit base 2 or in the vicinity thereof and connected to the controller 4. The controller may automatically operate based on a command from the controller 4. Needless to say, the operation up to the collimation and the collimation may be manually performed, and the horizontal elevation angles 0 ° and 0 si obtained as the operation results may be separately input to the controller 4.

(Step 300) Next, the lightwave distance meter 24 is used to move the laser 1 Measure the distance L1 to the reflecting prism 1. The controller 4 inputs and stores the distance L1. When the first reflecting prism 1 does not fall within the collimation of the lightwave distance meter 24 due to a positional shift in mounting the laser oscillator 21 and the lightwave distance meter 24, the output from the lightwave distance meter 24 is output ( That is, the distance L 1) cannot be obtained. In such a case, in order to detect a positional shift in the mounting, the elevation horizontal angles 0 fl and 0 si are readjusted so that the output can be obtained from the lightwave distance meter 24. Note that the elevation horizontal angles 0 fl and 0 sl required for this correction differ depending on the positional relationship between the measurement points.

As 0, it is executed between step 2000 and step 300.

The setting in steps 100 to 300 is based on the premise that the respective positions of the first reflecting prism 1 and the laser oscillating unit base 2 are known in advance. However, if the reference of the horizontal angle of the laser oscillator base 2 is clear in advance, it is not necessary to know the position of the laser oscillator base 2 in advance. Also, behind the tunnel excavator 5, there are no attached machines, etc., and the space available for surveying is wide. Therefore, a plurality of first reflecting prisms 1 may be arranged. At this time, the position of the laser oscillation unit gantry 2 can be obtained by a surveying means such as the rear resection method, and at the same time, the reference of the horizontal angle can be obtained. Therefore, it is not necessary to know the position of the laser oscillation unit base 2 and the reference of the horizontal angle in advance. In this case, steps 100 to 300 may be repeated by the number of the first reflecting prisms 1 arranged by a loop (not shown).

(Step 400) Next, the reference of the position and the horizontal angle of the laser oscillation unit base 2 is reviewed. The controller 4 calculates the position SI of the laser oscillation unit base 2 from the above described elevation horizontal angles 0 fl and 0 sl and the distance L 1, and resets the reference of the horizontal angle. Then, if there is a difference between the position of the laser oscillation unit base 2 and the reference of the horizontal angle which the controller 4 has accumulated, it is corrected. Usually, in the installation procedure of the apparatus, the positions of the first reflecting prism 1 and the laser oscillating unit base 2 are known in advance by another means. Therefore, this step 400 is omitted or simply redefined with reference to the horizontal angle 0 si of the laser oscillation unit base 2 obtained in step 200. Therefore, the function of this step 400 is to collimate the first reflecting prism 1 at an appropriate time during the excavation of the tunnel excavator 5 and It is time to verify the reference of the position and the horizontal angle of the laser oscillation unit base 2 by moving forward. If the reference of the position or the horizontal angle of the laser oscillation unit base 2 is not known in advance as described above, this step 400 is effective also in the processing in the installation procedure of the apparatus. Also, there is no problem even if a process such as a back intersection method is performed in this step 400 to calculate the position of the laser oscillation unit base 2. The controller 4 stores the data used in the present step 400, and can be executed in a step 600 of calculating the position of the tunnel excavator 5 described later.

(Step 500) Next, the shape of the laser oscillation unit base 2 and the light receiving unit base 3 is adjusted. The details are as follows.

(Step 5 10) The direction of the laser oscillator 21 with respect to the light receiver 3 1 is adjusted by the horizontal elevation angles 0 fl and 0 si of the laser oscillation unit base 2. Further, the elevation horizontal angles Θf 2 and Θs2 of the light receiving unit base 3 are adjusted so that the light receiving surface of the light receiver 31 can receive the laser beam.

(Step 5 20) Perform Step 5 10 to determine whether the photodetector 31 is receiving light, or whether the laser beam hits the second reflecting prism 32 and the reflected light is detected by the photodetector 23. The controller 4 reads and judges each data.

(Step 5 21) When the light receiver 31 does not receive light at the above step 5 20 or when the laser light hits the second reflecting prism 32 and the reflected light cannot be detected by the light detector 23. Then, the light receiving unit base 3 is fixed (that is, the positions of the light receiving unit 31 and the second reflecting prism 32 are fixed), and the laser oscillation unit base 2 is turned horizontally by the controller 4 in a procedure previously stored. The light is received by the light receiver 31 or the reflected light from the second reflection prism 32 is detected by the light detector 23. If the light from the laser oscillator 21 is reflected by the second reflecting prism 32 and detected by the photodetector 23, the geometrical difference between the installation of the light receiving device 31 and the second reflecting prism 32 will be described. From the relationship, the elevation horizontal angle Θ i Θ si of the laser oscillation unit base 2 is finely adjusted again so that the light receiver 31 can receive the light of the laser oscillator 21. At this time, it is a standard that the light receiver 31 simply receives light, and the incident angle may not be in the detection range of the light receiver 31.

(Step 5 2 2) Judge that the search procedure of Step 5 2 1 has been completed normally. You. If the process does not end normally, the direction in which the light receiving surface of the light receiver 31 faces the laser oscillator 21 and is completely invisible even though the position of the light receiver base 3 has been set in this step 500. And so on.

(Step 5300) Fix the laser oscillation base 2 so that the incident angle of the laser beam falls within the detection range of the receiver 31 (that is, fix the posture of the laser oscillator 21 and the lightwave distance meter 24). The controller 4 rotates the light receiving unit base 3 in a procedure stored in advance so that the elevation horizontal angle 0 f 2 and Θ s2 are rotated within a range where light can be received, so that the incident angle of light can be detected.

(Step 540) According to the procedure previously stored in the controller 4, it is determined whether the incident angle is within the detectable range of the light receiver 31 by incorporating the data into the data.

(Step 5 4 1) If the angle of incidence does not fall within the detection range of the receiver 31 after performing Step 5 30, the attitude of the receiver base 3 needs to be changed further so that it falls within the range of detection of the angle of incidence. There is. However, if the attitude of the light receiving unit base 3 is significantly changed, the laser light may not be applied to the light receiving unit 31. For example, the following operation is performed. When searching for the detectable range of the incident angle near the position where the light receiving surface of the receiver 31 faces downward, first fine-adjust the elevation horizontal angles 0 fl and 0 sl of the laser oscillation unit base 2 so that the laser light Make sure that light is received at the lower position of the receiver 31 (the negative side of the Z axis when referring to Fig. 5). Return to 0, and search for the attitude of the receiver 31 that falls within the incident angle detection range.

(Step 542) The procedure for searching for the attitude of the light receiver 31 is also stored in the controller 4 in advance. In this procedure, a posture range to be searched is determined in advance, and it is determined whether or not an area to be searched remains.

(Step 55 0) Next, the elevation horizontal angles 0 fl and 0 sl of the laser oscillation unit base 2 are finely adjusted so that the laser beam strikes an arbitrary light receiving position determined by the light receiver 31. For example, the determined arbitrary position can be a position away from the second reflecting prism 32 by a distance S between the equipment of the laser oscillator 21 and the lightwave distance meter 24. 31 can measure the incident position S and the incident angle of light, and at the same time, can measure the distance L 2 between the lightwave distance meter 24 and the second reflecting prism 32. Also, for simultaneous measurement, The position obtained by correcting the rolling angle of the light receiver 31 measured by the inclinometer 33 may be the determined light reception position. However, when performing this processing, the incident angle of light is monitored, and when the incident angle is in a range that can be detected by the light receiver 31, the processing is stopped, and the process proceeds to the next step 560.

(Step 560) Next, the attitude of the photodetector 31 is adjusted with reference to the incident angle at that time so that the incident angle is in an arbitrarily determined range. , Θ s2 is finely adjusted. For example, the attitude is adjusted by setting the incident angle perpendicular to the light receiving surface. However, also in this step 560, the incident position is monitored, and the operation is terminated when there is a light receiving range in the light receiver 31.

(Step 570) In steps 550 and 560, it is determined whether the incident position and the incident angle of the laser light received by the light receiver 31 are the desired values. If not, the process returns to step 550 as shown in FIG. 9 and repeats to the desired value. It is to be noted that, in the determination 570, a determination is made that a range is provided for the determined incident position P and the incident angle, and that it is only necessary that the range be within the range. Through the processing related to the above step 500, the laser oscillation unit gantry 2 and the light receiving unit gantry 3 can be formed almost directly facing each other without any human intervention, so that automation is easy. Also, as a step 5 23, when the light receiver 31 cannot be searched or the angle of incidence of the light does not fall within an appropriate range, etc. at each judgment stage, the controller 4 sends an error signal to a display (not shown) or the like. Alternatively, one or both of the positions of the laser oscillation unit gantry 2 and the light-receiving unit gantry 3 may be readjusted manually, and the process may return to the next step or step 5 10 where an error has occurred. At that time, the posture data of one or both of the laser oscillation unit gantry 2 and the light receiving unit gantry 3 manually adjusted may be input to the control unit 4.

Note that the procedure of step 500 is performed when the position of the tunnel excavator 5 is approximately clear (for example, while the tunnel excavator 5 is excavating, the first reflecting prism 1 is collimated, and the tunnel excavator 5 is again 5) collimate the light receiving unit base 3 in order to measure the position and orientation, and if it is unclear (the first installation of the device or the laser oscillation unit base 2) In case of relocation (replacement, etc.), the positions of the laser oscillating unit base 2 and the light receiving unit base 3 are manually set, the installation values are input to the controller 4, and the processing of step 500 is performed. Alternatively, if the adjustment of the posture is accurate, the processing of step 500 may be skipped.

(Step 600) Next, the controller 4 sets the elevation horizontal angles Θ fl and Θ sl of the laser oscillation unit base 2, the elevation horizontal angles Θ f 2 and Θ s2 of the light receiving unit base 3, and the optical distance meter 24. (2) The distance L2 from the reflection prism 32, the incident position and angle of incidence detected by the receiver 31 and the horizontal level S of the receiver 31 detected by the inclinometer 33 are read as data, and tunnel excavation is performed. Calculate the position and attitude of machine 5. Furthermore, the incident angle detected by the light receiver 3 1 and the horizontal level S of the light receiver 3 1 measured by the inclinometer 3 3 and the elevation horizontal angle の f 2, Θ s2 of the light receiving unit base 3 indicate that the tunnel excavator 5姿勢 Π, s s U The horizontal angle of elevation of the laser oscillation unit base 2 Θ Π, Θ s U Receives light from the distance L 2 between the lightwave distance meter 24 and the second reflecting prism 32 and the incident position detected by the receiver 31 The position of the device 31 or the second reflecting prism 32 is calculated. However, since this position is based on the laser oscillation unit base 2, the position from the first reflecting prism 1 can be calculated by using the position of the laser oscillation unit base 2 obtained in step 400. . Normally, the position of the tunnel excavator 5 is at the tip, but if the position of the light receiver 31 or the second reflecting prism 32 is obtained and the attitude of the tunnel excavator 5 is determined, the position coordinates Can be easily converted. The obtained attitude of the tunnel excavator 5 is calculated based on the pitching angle and the rolling angle based on the gravity, but the bowing angle is based on the horizontal angle of the laser beam from the laser oscillator 21. The angle is calculated. The horizontal angle reference of the laser oscillator 21 is based on the angle facing the first reflecting prism 1 installed at the rear, so when it is packed, the direction of the line connecting the laser oscillator base 2 and the first reflecting prism 1 is changed. This means that the joing angle of the tunnel machine 5 is calculated based on the standard. Therefore, if the direction of the line connecting the laser oscillation unit base 2 and the first reflection prism 1 is associated with the direction, the pointing angle of the tunnel excavator 5 can be expressed as the direction of excavation.

(Determination 700) During the excavation of tunnel excavator 5, step 5500 (i.e. Then, the process is passed to step 500), and the measurement of the position of the tunnel excavator 5 is repeated (loop 701). In addition, in order to repeat fine adjustment of the laser oscillation base 2, in order to verify that the horizontal angle reference is not deviated, for example, the tunneling machine 5 has a first reflecting prism 1 at the rear every 50 cm. When the collimating operation is performed, the control is passed to step 200 (loop 702). When the excavation of the tunnel excavator 5 proceeds and the laser oscillation unit base 2 is relocated (that is, when the laser oscillating unit base 2 is rearranged), the position of the laser oscillation unit gantry 2 after the relocation is easily set. The position and orientation of the tunnel excavator 5 are stored, and the measurement process is completed.

Of the above steps 100 to 700, the possibility of human intervention due to the installation of the equipment S or the relocation of the equipment is the routine of the installation procedure (steps 100 to 500). 0) is performed first, and the portion of the position and orientation measurement method during excavation of the tunnel excavator 5 is a routine (steps 200 to 700).

The first embodiment has the following advantages.

(1) Since the receiver 31 is mounted on a base 7 that can be turned upside down and horizontally rotated, even when making sharp turns, the receiver can be rotated horizontally to limit the incident angle of the receiver 31 to the limited range. In addition, even in the case of a slope construction or a construction in which the height changes in the middle, it is possible to suppress the angle of incidence to the limited range of the light receiver 31 as in the above by rotating the robot upward and downward. In other words, the position and attitude of the tunnel excavator can be measured with high accuracy even in the case of sharply curved construction, a construction example of which has occurred in recent years, a construction in which the construction gradient changes significantly, or a construction in which the height changes halfway.

(2) The laser oscillating unit base 2 is provided with a single first reflecting prism 1 at the rear, a second reflecting prism 32 at the front, and a light receiving surface of a light receiver 31 disposed close to the second reflecting prism 32. It can be installed freely wherever you can. That is, the degree of freedom in setting the collimation space is increased. For example, when collimation becomes impossible due to the excavation of the tunnel excavator 5, a sharp turn, or a gradient, the laser oscillator base 2 can be freely collimated. Thus, the position and orientation of the tunnel machine 5 can be measured with high accuracy. (3) In addition, the receiver 31 receives only one narrow light beam, and the amount of misalignment between the light receiving center position S of the light receiving surface and the laser light receiving position S and the angle of incidence relative to the normal direction of the light receiving surface That can be measured simultaneously. For this reason, securing the optical path, which has conventionally been a problem when measuring position and orientation using light, becomes easier. In order to facilitate the securing of the optical path, the position and attitude of the tunnel excavator 5 can be increased even in a sharply curved construction, a construction in which the construction gradient changes significantly, or a construction in which the height changes halfway. It is the cause that can be measured accurately. Since the displacement between the light receiving center position of the light receiving surface and the light receiving position and the angle of incidence of the light receiving surface with respect to the normal direction are simultaneously measured, the laser oscillator base 2 and the light receiver base 3 are almost Since it is possible to easily determine the conditions for facing each other, automation also leads to the elimination of complicated manual collimation adjustment. A second embodiment S of FIG. 10 will be described. The light receiving unit gantry 3 is an example in which the light receiving unit gantry 3 of the first embodiment can rotate only in the horizontal direction, while the light receiving unit gantry 3 can rotate in the horizontal direction. Others are the same as in the first embodiment. In addition, as shown in FIG. 10, the mount of the laser oscillation unit mount 2 of the present embodiment has a horizontal rotation stage formed into a U-shaped block, a horizontal axis provided between the U-shapes, and around this horizontal axis. A laser oscillator 21, a beam splitter 22, a photodetector 23, and a lightwave distance meter 24 are fixedly mounted so as to be able to rotate vertically.

Such a second embodiment is effective for measuring the position and orientation of the tunnel excavator 1 when the construction of the tunnel excavator 5 with a small rolling is performed or the operation of the tunnel excavator 5 is reduced. Incidentally, the latter rolling operation in which the rolling is reduced can be exemplified by an operation in which the tunnel excavator 1 is reverse-rotated in order to prevent the occurrence of the rolling where the rolling is likely to be large.

It is needless to say that the second embodiment can obtain the same effects as the first embodiment.

Of the installation procedure and position / orientation measurement method described above, the steps of Steps 53 to 570 (including 541 and 542) are as follows, as shown in FIG. It may be as follows. (Step 5 3 OA) Adjust the attitude of the laser oscillation unit base 2 so that the lightwave distance meter 24 can collimate the reflection brain 32 from the light receiving position information of the light receiver 3 1, and Measure the distance L 2 between the reflecting prisms.

(Step 54OA) The controller 4 or another computer based on the position of the laser oscillator base 2 and the distance L2 between the lightwave distance meter 24 and the reflecting prism measured in step 53a. The current position and orientation of the tunnel excavator 5 are estimated with reference to the construction plan line data of the tunnel excavator 5 above.

(Step 55OA) Determine the attitude of the light receiving unit base 3 from the estimated position and attitude, and adjust at least the horizontal angle. At this time, if the position of the incident position can be detected by the light receiver 31, the posture of the laser oscillation base 2 is left as it is, and if it is deviated, the posture is set to the horizontal angle of elevation held before entering step 5300 A. Readjust.

(Step 56OA) From this, it is determined whether the incident angle has been detected by the light receiver 31 "" "3".

(Step 57 O A) If the incident angle is not within the detectable range, fix the posture of the laser oscillation unit base and adjust the posture of the receiver 31. This procedure is stored in the controller 4 in advance.

(Step 580 A) It is determined whether or not Step 570 A has been completed normally.

(Step 5 2 3) Step 5 2 3 can be used as described above.

In this routine, when the tunnel excavator 5 is not far from the construction plan line (specifically, about half the size of the light receiving surface of the light receiver 31), the light receiver 31 is quickly moved to the incident position S. This is a very effective procedure for detecting the incident angle. If this routine is mixed with the routine shown above, and if the receiver 31 cannot detect the incident position and incident angle of the laser beam in this routine, step 53 of the routine shown in FIG. It may be set to 0. Industrial applicability

The present invention can be applied to suddenly curved construction where construction It is useful as a method and apparatus for measuring the position and orientation of a tunnel excavator that can measure the position S and attitude of the tunnel excavator with high accuracy even in construction where the height changes halfway.

Claims

The scope of the claims

1. In the method for measuring the position and orientation of a tunnel excavator based on traverse survey, a method of measuring a position of a tunnel excavator (5) from a second measurement point (B) provided behind the tunnel excavator (5) is described. When collimating the measuring point (C), the arbitrary point of the third measuring point (C) is collimated from the second measuring point (B), and the second point is collimated from the third measuring point (C). So that the angle facing the measurement point (B) is a predetermined angle,

Calculating the position of the third measurement point (C) using an angle and a distance (L2) facing the third measurement point (C) from the second measurement point (B) and the position of the arbitrary point;

The angle at which the second measuring point (B) faces from the third measuring point (C), and the horizontal level (S) of the third measuring point (C) or the horizontal level of the tunnel excavator (5) S ') and the attitude of the tunnel excavator (5) is calculated,

When desired while measuring the position and orientation of the tunnel excavator (5), the second measurement is performed by collimating the first measurement point (A) at a known position further behind the second measurement point (B). Calculate the position of point (B),

The position and orientation measurement method of the tunnel excavator, wherein the position of the tunnel excavator (5) is calculated from the first measurement point (A) as described above.

2. Measuring the position and attitude of the tunnel machine In the position and orientation measuring device of the tunnel machine,

A receiver (31) that receives the laser beam from the laser oscillator (21) to detect the incident position ((yl, zl)) and angle of incidence, and a second reflecting prism (32) are integrated at least in the horizontal direction The tunnel excavator is provided with an inclinometer (33) for detecting the horizontal level (S) of the photodetector (31) or the horizontal level (S ') of the tunnel excavator (5). The third station (C) on the aircraft (5),

The first measuring point (A) provided with the first reflection prism (1) is located at the rear of the first measuring point (A) so that the third measuring point (C) can be almost directly facing when looking forward. After station (A) The laser oscillator (21) and the electro-optical distance meter (24) are provided so as to be substantially rotatable in an elevation direction and a horizontal direction so as to be substantially opposed to each other when viewed, and the first and second reflection prisms are provided. A second measuring point (B) provided behind the tunnel excavator (5), including a photodetector (23) for receiving the laser beam from the laser oscillator (21) reflected at (1, 32). ) And the angle of rotation of the laser oscillator (21) and the lightwave distance meter (24) in the elevation direction and the horizontal direction are adjusted, and the elevation directions and the rotation angles of the laser oscillator (21) and the lightwave distance meter (24) are adjusted. Receiving a horizontal rotation angle, and at least a horizontal rotation angle of the light receiver (31) and the second reflection prism (32); and an incident position of light detected by the light receiver (31). S and the incident angle, and the first and second reflection prisms (1.32) detected by the lightwave distance meter (24) The controller (5) receives the respective distances (L1 and L2) at the horizontal position and the horizontal level (S) or the horizontal level (S ') to calculate the position S and attitude of the tunnel excavator (5). 4) A position and orientation measurement device for a tunnel machine.