Measurement system and measurement method

Abstract

To provide a system and a method capable of measuring the position and attitude of a construction machine even if dust is generated during work.SOLUTION: A measurement system comprises: three or more reference spheres 20 having position coordinates measured in advance; a 3D scanner 21 which is mounted on a heavy machine 10 and three-dimensionally measures the three or more reference spheres 20 before the start of the work in which dust is generated by the heavy machine 10; a line scanner 22 which is mounted on the heavy machine 10 and two-dimensionally measures the traveling direction of the heavy machine 10 before the start of the work and during the work; and a PC 23 which calculates the current position and attitude of the heavy machine 10 during the work based on a first measurement result which is three-dimensionally measured and a plurality of second measurement results which are two-dimensionally measured before the start of the work and during the work.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a system and method for measuring the position and orientation of a construction machine. [Background technology]

[0002] In recent years, construction machinery, such as heavy machinery used to construct mountain tunnels, has come to be remotely controlled in order to ensure safe and secure work and a comfortable working environment.To improve safety and ease of construction when remotely controlling the machinery, it is necessary to measure the position and yawing of the construction machinery and constantly grasp its position and attitude.

[0003] Therefore, a system and method have been proposed in which three targets with known position coordinates installed inside the tunnel are sighted using a 3D scanner mounted on construction machinery, and the position and yawing of the construction machinery are calculated (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-158637 A Summary of the Invention [Problem to be solved by the invention]

[0005] With the conventional technology described above, measurements are possible before work begins because there is relatively little dust. However, dust is generated during work, making it impossible to aim at the target, and work must be stopped until the dust concentration drops. [Means for solving the problem]

[0006] The present invention has been made in consideration of the above problems, and is a system for measuring the position and attitude of a construction machine, comprising: Three or more spherical targets having pre-measured position coordinates; a three-dimensional measuring means that is mounted on the construction machine and that three-dimensionally measures three or more spherical targets before the start of work that generates dust by the construction machine; a two-dimensional measuring means mounted on the construction machine for two-dimensionally measuring the traveling direction of the construction machine before the start of work and during work; a calculation means for calculating a current position and attitude of the construction machine during work based on a first measurement result obtained by three-dimensional measurement using a three-dimensional measurement means and a plurality of second measurement results obtained by two-dimensional measurement using a two-dimensional measurement means before the start of work and during work; A measurement system is provided that includes: Effect of the Invention

[0007] According to the present invention, it is possible to measure the position and attitude of a construction machine even if dust is generated during work. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a measurement system. [Diagram 2] FIG. 4 is a diagram showing an example of the configuration of a reference sphere. [Diagram 3] 1A to 1C are diagrams for explaining a method of three-dimensionally measuring a reference sphere and calculating the position and attitude of a construction machine before starting work. [Figure 4] A diagram illustrating how the relative positional relationship between the tunnel wall and the face is measured before work begins. [Diagram 5] FIG. 13 is a diagram illustrating how the relative positional relationship between the tunnel wall and the face is measured during work. [Figure 6] 5A and 5B are diagrams for explaining a method of calculating the current position and attitude of a construction machine. [Figure 7] 4 is a flowchart showing an example of a process for measuring the position and attitude of a construction machine during work. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] FIG. 1 is a diagram showing an example of the configuration of a measurement system according to this embodiment. The measurement system is a system mounted on a construction machine and measures the position and attitude of the construction machine. The construction machine is a machine (heavy machine) used for civil engineering and construction work, such as a drill jumbo, a free-section excavator (road header), a concrete sprayer, a breaker, a wheel loader, a shoring construction machine, a shield machine, etc. The heavy machine exemplified here is used as a heavy machine for constructing a mountain tunnel. Note that the measurement system according to this embodiment may be mounted on a heavy machine other than a heavy machine for constructing a mountain tunnel, but hereinafter, it will be described as being mounted on a heavy machine for constructing a mountain tunnel.

[0010] Heavy machinery 10 for constructing mountain tunnels is being remotely controlled to ensure safe and secure work and a comfortable working environment. In the example shown in Fig. 1, the heavy machinery 10 is a road header. The road header is equipped with a rotating bit 11 at the tip for excavating rocks and the like in front of it, a boom 12 that can move the bit 11 up, down, left and right, a caterpillar 13 that allows it to move on its own, and a blade 14 at the front for clearing away the excavated soil and sand.

[0011] Remote operation of the heavy equipment 10 is performed by establishing a wireless network such as Wi-Fi (registered trademark) or 5G at the work site, and having a worker in a remote location remotely operate the operating levers of the heavy equipment 10 while checking in real time images from a camera attached to the heavy equipment 10.

[0012] In order to improve safety and workability in remote operation of heavy equipment 10 that constructs mountain tunnels, it is necessary to constantly measure and grasp the position and yawing of the heavy equipment 10. Yawing refers to the rotation of the heavy equipment 10 in a horizontal plane around the axis of its up-down direction, and represents the attitude of the heavy equipment 10.

[0013] The position and attitude of the heavy machine 10 can be measured by sighting a reference sphere 20, which is three or more spherical targets having pre-measured position coordinates installed in the tunnel 100, with a 3D scanner 21, which is one of the three-dimensional measurement means mounted on the heavy machine 10. Therefore, the measurement system includes three or more spherical targets and a three-dimensional measurement means mounted on the heavy machine 10.

[0014] Fig. 2 is a diagram illustrating a reference sphere 20, with Fig. 2(a) being a diagram of the reference sphere 20 seen from one side, and Fig. 2(b) being a diagram of the reference sphere 20 seen from the back side. The reference sphere 20 is disposed on the tunnel entrance side of the position of the heavy equipment 10, and has a spherical surface 30 and a notched portion 31 having retroreflective reflecting means inside.

[0015] The spherical surface 30 is coated with a special paint containing glass powder etc. to enhance the reflecting function. The cutout portion 31 is a circular portion cut out of a part of the reference sphere 20 so that its diameter expands toward the surface, and is the center of the reference sphere 20. A prism 32 is disposed inside the cutout portion 31 as a retroreflective reflecting means. A passage 33 from the opening of the cutout portion 31 to the prism 32 is white and has a smooth surface (curved surface) to enhance the reflecting function of light.

[0016] The prism 32 in the cutout 31 of the reference sphere 20 is used only when measuring the position of the reference sphere 20 with an optical distance meter. When performing three-dimensional measurement with the 3D scanner 21, the spherical surface 30 is used, and therefore the spherical surface 30 is arranged so as to face the 3D scanner 21.

[0017] The position coordinates of the prism 32 located at the center inside the reference sphere 20 are measured in advance by an electro-optical distance measuring device, and the coordinate values ​​are given. The position coordinates are absolute coordinates, and the coordinate values ​​are, for example, values ​​consisting of latitude, longitude, and altitude.

[0018] FIG. 3 is a diagram for explaining a method of sighting the reference sphere 20 by the 3D scanner 21 and calculating the position and attitude of the heavy machinery 10. The 3D scanner 21 is, for example, a scanner of the time-of-flight (ToF) type, which irradiates a laser beam on a measurement object and acquires information on the relative distance and angle from the 3D scanner 21 to the measurement object in a non-contact manner. The angle is the angle of the irradiation direction when the laser beam is moved up, down, left, and right with respect to the initial irradiation direction of the laser beam set in advance. The 3D scanner 21 measures the distance to the measurement object by irradiating the laser beam and measuring the time until the reflected light reflected by the measurement object is received, and calculates the angle from the moving direction of the laser beam. Note that the 3D scanner 21 is not limited to a scanner of the ToF type, and may be a scanner of another type.

[0019] The 3D scanner 21 tilts due to unevenness and gradient of the roadbed inside the tunnel, which causes measurement errors, so it is installed on a horizontal holding stand that detects the tilt with a sensor and automatically keeps it horizontal with an actuator. An elastic member for vibration isolation is attached to the horizontal holding stand to reduce vibrations transmitted from the heavy equipment 10. Since the 3D scanner 21 is a precision instrument, it is surrounded by a protective box to protect it from collisions and damage caused by flying rock fragments, etc.

[0020] At least three reference spheres 20 are arranged. In the example shown in FIG. 3, three reference spheres 20 are arranged on the left and right tunnel wall surfaces 40 on the tunnel entrance side opposite to the traveling direction of the heavy equipment 10. The 3D scanner 21 is installed so as to be able to irradiate laser light toward the tunnel entrance side, and acquires information on the distance and angle from the 3D scanner 21 to the spherical surface 30 of the reference sphere 20. The position coordinates of the center of the reference sphere 20 are measured as absolute coordinates by an optical range finder, but since the radius of the reference sphere 20 is known, the distance to the center of the reference sphere 20 can be calculated by adding the radius of the reference sphere 20 to the distance to the spherical surface 30 measured by the 3D scanner 21.

[0021] Since the position coordinates of the center of the reference sphere 20 are measured in advance as absolute coordinates, the position coordinates of the 3D scanner 21 can be calculated as absolute coordinates from the distance and angle information acquired by the 3D scanner 21. If the position coordinates of the 3D scanner 21 are known, the distance and direction from the position coordinates of the 3D scanner 21 to an arbitrary position serving as a reference for, for example, the heavy machine 10, are known, so that the arbitrary position can be calculated as the position of the heavy machine 10 from the calculated position coordinates of the 3D scanner 21.

[0022] In addition, since the position coordinates of the center of the reference sphere 20 are measured in advance as absolute coordinates, the yawing of the heavy machine 10 can be calculated from the angle information acquired by the 3D scanner 21. In the example shown in Fig. 3, the direction in which the mechanical axis of the axle or the like of the heavy machine 10 extends (the direction in which the tunnel wall surface 40 on the side of the heavy machine 10 is located) is the X direction, the direction perpendicular to the X direction (the direction in which the face 41 in front of the heavy machine 10 is located) is the Y direction, the angle between the tunnel wall surface 40 and the mechanical axis is the angle θ, and the position and yawing information of the heavy machine 10 is calculated as (X, Y, θ).

[0023] The measurement system can include a calculation means for calculating the position and yawing of the heavy equipment 10. The calculation means can be any means capable of calculating the position and yawing of the heavy equipment 10 from the information acquired by the 3D scanner 21, and as shown in Fig. 1, for example, a PC (Personal Computer) 23 can be used. The calculation means can also be a smartphone, a tablet terminal, or the like.

[0024] Any number of reference spheres 20 may be arranged so long as they are three or greater, and a larger number is preferable since this allows the position and yawing of the heavy equipment 10 to be calculated with higher accuracy.

[0025] During the construction of mountain tunnels, a lot of dust is generated when the tunnel is excavated. This is not limited to mountain tunnels, but also applies to underground tunnels, undersea tunnels, etc. The concentration of dust generated at the tunnel face can be reduced by using a fan to send air from outside the tunnel. The concentration of dust at the tunnel face side is instantly reduced by the air continuously sent in by the fan.

[0026] The dust moves instantly from the narrow space on the face side of the heavy machine 10 to the wide space on the tunnel entrance side, but because the space on the tunnel entrance side is wide, it moves slowly and is discharged from the tunnel entrance to the outside of the tunnel. Therefore, even if a laser beam is irradiated from the 3D scanner 21 on the heavy machine 10 to the tunnel entrance side, the laser beam is scattered by the large amount of dust floating in the space, and it is not possible to collimate the reference sphere 20 placed on the tunnel entrance side of the heavy machine 10. Therefore, in order to detect the position and yawing of the heavy machine 10, work must be stopped until the dust concentration has dropped sufficiently.

[0027] This means that the position and yawing of the heavy equipment 10 cannot be constantly grasped, and the safety and workability of remote operation are reduced. In addition, when the 3D scanner 21 is used, measurements cannot be performed instantaneously, so the heavy equipment 10 must be stopped every time a measurement is performed.

[0028] Therefore, the measurement system includes a two-dimensional measurement means that can constantly grasp the relative positional relationship with the tunnel sidewalls and the tunnel face using a laser light that can measure over a wide range, at a narrow pitch, and at high speed even when dust is generated. The two-dimensional measurement means is, for example, a line scanner 22 that captures images in a line shape and creates a single image. The line scanner 22 is equipped with a line sensor, and forms an image of the light that enters the lens on an imaging element such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor), converts it into an electrical signal, and outputs it as an image.

[0029] The line scanner 22 is mounted on the heavy equipment 10, like the 3D scanner 21, but unlike the 3D scanner 21, it performs two-dimensional measurements of the traveling direction of the heavy equipment 10 before and during work that generates dust. In other words, the line scanner 22 performs two-dimensional measurements of the tunnel wall surface 40 and the tunnel face 41 in the traveling direction of the heavy equipment 10.

[0030] The line scanner 22 can instantly capture a line-shaped image, and since the dust concentration of the tunnel wall surface 40 and the tunnel face 41 in the traveling direction of the heavy machine 10 instantaneously drops due to the blowing of air, the line scanner 22 can constantly measure the relative positional relationship with the tunnel wall surface 40 and the tunnel face 41. The line scanner 22 is not limited to this, but for example, one with a detection angle of 190° and capable of capturing images at intervals of 0.2° can be used.

[0031] Fig. 4 is a diagram showing how the relative positional relationship is measured by the line scanner 22 before work begins. The line scanner 22 is installed on a horizontal holding stand, similar to the 3D scanner 21. The line scanner 22 is installed on the face side of the 3D scanner 21. In the example shown in Fig. 4, the 3D scanner 21 is on the tunnel entrance side, and the line scanner 22 is on the face side, and they are installed a certain distance apart.

[0032] The line scanner 22 is installed on a horizontal holding stand, and the line sensor is rotated around an axis to capture images in the horizontal direction, so that images are captured in a line at a certain height position. In the example shown in Fig. 4, images are captured in a line at a certain height position from one tunnel wall surface 40 on the tunnel entrance side of the line scanner 22 through the tunnel face 41 to the other tunnel wall surface 40. The line scanner 22 only captures images at a certain height position, and does not capture images at different height positions by angling it in the vertical direction.

[0033] Before starting work by the heavy equipment 10 (including before resuming work after interrupting work for a certain period of time), the 3D scanner 21 measures the position and yawing of the heavy equipment 10, and the line scanner 22 measures the relative positional relationship between the tunnel wall surface 40 and the face 41. The line scanner 22 captures images in a line shape and obtains point cloud data in which coordinates of points in space are collected. The position of the heavy equipment 10 is defined by the distance to the face 41 and the distance to the tunnel wall surface 40 extracted from the point cloud data obtained by the line scanner 22. The yawing of the heavy equipment 10 is defined by the angle between the tunnel wall surface 40 and the machine axis obtained from the point cloud data obtained by the line scanner 22. In the example shown in FIG. 4, the distance to the tunnel wall surface 40 on the left side with respect to the traveling direction of the heavy equipment 10 is X0, the distance to the face 41 is Y0, and the angle between the tunnel wall surface 40 on the left side and the machine axis is θ0.

[0034] After starting work such as tunnel excavation work, the line scanner 22 is used to measure the relative positional relationship between the tunnel wall surface 40 and the face 41 during work. The measurement of the relative positional relationship between the tunnel wall surface 40 and the face 41 during work can be performed at any time. Therefore, the above-mentioned relative positional relationship is measured not only when the heavy equipment 10 is stopped, but also when it is in operation.

[0035] 5 is a diagram showing how the line scanner 22 is measuring the relative positional relationship at the current time during work. The heavy equipment 10 moves to a position suitable for excavation, moves the boom 12, and performs excavation work with the rotating bit 11. While the heavy equipment 10 moves to a position suitable for excavation, the absolute position of the heavy equipment 10 changes, but the absolute positions of the tunnel wall surface 40 and the tunnel face 41 do not change. On the other hand, while the heavy equipment 10 is excavating, the absolute position of the heavy equipment 10 does not change, but the absolute positions of the tunnel wall surface 40 and the tunnel face 41 do change.

[0036] In this way, since the absolute position of one of the two does not change during work, the line scanner 22 measures the relative positional relationship between the heavy equipment 10 and the tunnel wall surface 40 and the face 41, and the amount of change in the position and yawing of the heavy equipment 10 from before the start of work to the present time can be calculated. In the example shown in FIG. 5, the distance from the face 41 is Y n (n is an integer equal to or greater than 1) and set the distance from the left tunnel wall 40 to X n The angle between the left tunnel wall surface 40 and the machine axis is θ n The following is calculated.

[0037] Fig. 6 is a diagram for explaining a method for calculating the position and yawing of the heavy equipment 10 at the current time during work. The amount of change in the position and yawing of the heavy equipment 10 is calculated from the difference between the relative positional relationship during work shown in Fig. 5 and the relative positional relationship before work starts shown in Fig. 4. Then, the position and yawing of the heavy equipment 10 at the current time are calculated by adding this to the position (absolute coordinates) and yawing of the heavy equipment 10 calculated before work starts.

[0038] The position of the heavy equipment 10 calculated before the start of work is (X, Y), the yawing is θ, the distance to the left tunnel wall surface 40 is X0, the distance to the face 41 is Y0, and the yawing is θ0. And the distance to the left tunnel wall surface 40 at the current time is X n And the distance to face 41 is Y n And yaw is θ n Therefore, the current position of the heavy equipment 10 is (X + (X n -X0),Y+(Y n -Y0)) and yawing is θ + (θ n -θ0).

[0039] The PC 23 can calculate the current position and posture of the construction machine during work based on a first measurement result measured in three dimensions by the 3D scanner 21 and multiple second measurement results measured in two dimensions by the line scanner 22 before the start of work and during work.

[0040] 7 is a flowchart showing an example of a process for measuring the position and attitude of the heavy equipment 10. After placing the heavy equipment 10 and the reference sphere 20 in the tunnel and measuring the position coordinates of the reference sphere 20, the process starts from step 100. In step 101, before the start of work to construct the tunnel, the reference sphere 20 is sighted by the 3D scanner 21, and the position and yawing of the heavy equipment 10 are calculated. The position is in absolute coordinates (X, Y), and the yawing information is the angle θ.

[0041] In step 102, before work begins, the line scanner 22 captures images of the tunnel wall 40 and the tunnel face 41, and measures the relative positional relationship between the tunnel wall 40 and the tunnel face 41. This calculates the distance X0 between the line scanner 22 and the tunnel wall 40, the distance Y0 between the line scanner 22 and the tunnel face 41, and the angle θ0 between the tunnel wall 40 and the machine axis. Note that either step 101 or 102 may be performed first, or they may be performed simultaneously.

[0042] In step 103, the heavy equipment 10 starts working. The work includes the movement of the heavy equipment 10 and the excavation of the tunnel. In step 104, the line scanner 22 captures images of the tunnel wall 40 and the tunnel face 41, and measures the relative positional relationship between the tunnel wall 40 and the tunnel face 41. As a result, the distance X between the line scanner 22 and the tunnel wall 40 is calculated. n , the distance Y between the line scanner 22 and the face 41 n , the angle θ between the tunnel wall surface 40 and the machine axis n Calculate.

[0043] In step 105, the PC 23 calculates the position (X, Y) before the start of work, the distance X0 from the tunnel wall surface 40, the distance Y0 from the face 41, and the distance X from the tunnel wall surface 40 during work after the start of work. n , Distance Y from face 41 n The position of the heavy machine 10 is calculated using the above. The PC 23 also calculates the yawing information θ before the start of work, the angle θ0 between the tunnel wall surface 40 and the machine axis, and the angle θ between the tunnel wall surface 40 and the machine axis during work after the start of work. n The yawing of the heavy equipment 10 is calculated using the above formula.

[0044] In step 106, the PC 23 displays the calculation result on a display means such as a display. The calculation result displayed on the display means is, for example, as shown in FIG. 5(b), n , Y n , θ n The specific numbers are listed in.

[0045] In step 107, it is determined whether the work is to be ended, and if it is determined that the work is not to be ended, the work by the heavy equipment 10 is continued and the process returns to step 105. On the other hand, if it is determined in step 107 that the work is to be ended, the process proceeds to step 108, imaging by the line scanner 22 is stopped, the heavy equipment 10 is stopped, and the process ends.

[0046] During work, measurements are constantly taken by the line scanner 22, and the amount of change in position and yawing is calculated and added up, thereby correcting the position and yawing of the heavy equipment 10 during work and easily measuring the current position and yawing of the heavy equipment 10. By constantly knowing the position and yawing of the heavy equipment 10 in this way, it is possible to improve safety and ease of work during remote operation.

[0047] The measurement system and measurement method of the present invention have been described in detail above with reference to the embodiments shown in the drawings. However, the present invention is not limited to the above-described embodiments, and can be modified within the scope of what a person skilled in the art can conceive, including other embodiments, additions, modifications, deletions, etc., and any aspect is within the scope of the present invention as long as it achieves the functions and effects of the present invention.

[0048] Therefore, according to the present invention, it is possible to provide (1) a system for measuring the position and attitude of a construction machine, comprising: three or more spherical targets having position coordinates measured in advance; a three-dimensional measurement means mounted on the construction machine and performing three-dimensional measurement of the three or more spherical targets before the construction machine starts work that generates dust; a two-dimensional measurement means mounted on the construction machine and performing two-dimensional measurement of the direction of travel of the construction machine before the start of the work and during the work; and a calculation means for calculating the current position and attitude of the construction machine during the work based on a first measurement result measured in three dimensions by the three-dimensional measurement means and a plurality of second measurement results measured in two dimensions by the two-dimensional measurement means before the start of the work and during the work.

[0049] Furthermore, according to the present invention, it is possible to provide the measurement system described in (1) above (2), in which the two-dimensional measuring means performs two-dimensional measurements of the tunnel wall to the side of the construction machine and the face in front of it, and the calculation means calculates the position and yaw of the construction machine before the start of the work from the first measurement results, calculates the distance between the tunnel wall and the face from before the start of the work to the present time during the work and the amount of change in the angle between the tunnel wall and the axis of the construction machine from the multiple second measurement results, and calculates the current position and attitude of the construction machine based on the position and yaw of the construction machine before the start of the work and the amount of change in the distance and the angle.

[0050] According to the present invention, it is possible to provide a measurement system as described in (1) or (2) above, (3) in which air is supplied in the traveling direction of the construction machine during the work, and the two-dimensional measurement means performs two-dimensional measurement of the traveling direction of the construction machine after the concentration of the dust has been reduced by the air.

[0051] According to the present invention, (4) it is possible to provide the measurement system according to any one of (1) to (3) above, in which the three or more spherical targets are placed closer to the tunnel entrance than the construction machine.

[0052] Furthermore, according to the present invention, it is possible to provide (5) a method for measuring a position and attitude of a construction machine, comprising the steps of: three-dimensionally measuring, by a three-dimensional measuring means mounted on the construction machine, three or more spherical targets having position coordinates measured in advance before the start of work in which dust is generated by the construction machine; two-dimensionally measuring, by a two-dimensional measuring means mounted on the construction machine, the traveling direction of the construction machine before the start of the work; two-dimensionally measuring, by the two-dimensional measuring means, the traveling direction of the construction machine during the work; and calculating the current position and attitude of the construction machine during the work based on a first measurement result measured in three dimensions by the three-dimensional measuring means and a plurality of second measurement results measured in two dimensions by the two-dimensional measuring means before the start of the work and during the work.

[0053] According to the present invention, it is possible to provide the measurement method described in (5) above, (6) in which, in the step of two-dimensionally measuring the traveling direction of the construction machine before the start of the work and during the work, the tunnel wall to the side of the construction machine and the face in front of it are measured two-dimensionally, and in the calculating step, the position and yaw of the construction machine before the start of the work are calculated from the first measurement results, the distance between the tunnel wall and the face from before the start of the work to the present time during the work, and the change in angle between the tunnel wall and the axis of the construction machine are calculated from the multiple second measurement results, and the current position and attitude of the construction machine are calculated based on the position and yaw of the construction machine before the start of the work and the change in distance and angle.

[0054] According to the present invention, (7) it is possible to provide the measurement method described in (5) or (6) above, in which air is supplied in the traveling direction of the construction machine during the work, and in the step of two-dimensionally measuring the traveling direction of the construction machine during the work, the traveling direction of the construction machine after the concentration of the dust has been reduced by the air is measured two-dimensionally.

[0055] According to the present invention, (8) it is possible to provide the measurement method according to any one of (5) to (7) above, in which the three or more spherical targets are placed closer to the tunnel entrance than the construction machine. [Explanation of symbols]

[0056] 10. Heavy machinery 20...Reference sphere 21…3D scanner 22…PC 23...Line scanner 30...Spherical surface 31…Notch 32...Prism 33...Aisle 100…Tunnel

Claims

1. A system for measuring the position and attitude of a construction machine, comprising: Three or more spherical targets having pre-measured position coordinates; a three-dimensional measuring means that is mounted on the construction machine and that three-dimensionally measures the three or more spherical targets before the construction machine starts work that generates dust; a two-dimensional measuring means mounted on the construction machine for two-dimensionally measuring the traveling direction of the construction machine before the start of the work and during the work; a calculation means for calculating a current position and attitude of the construction machine during the work based on a first measurement result obtained by three-dimensional measurement using the three-dimensional measurement means and a plurality of second measurement results obtained by two-dimensional measurement using the two-dimensional measurement means before the start of the work and during the work; A measurement system comprising:

2. The two-dimensional measurement means performs two-dimensional measurement of a tunnel wall surface to the side of the construction machine and a tunnel face in front of the construction machine, 2. The measurement system according to claim 1, wherein the calculation means calculates the position and yaw of the construction machine before the start of the work from the first measurement results, calculates the distance between the tunnel wall and the face from before the start of the work to the present time during the work, and the amount of change in the angle between the tunnel wall and the axis of the construction machine from the multiple second measurement results, and calculates the current position and attitude of the construction machine based on the position and yaw of the construction machine before the start of the work and the amount of change in the distance and the angle.

3. During the work, air is supplied in the direction of travel of the construction machine, 3. The measurement system according to claim 1, wherein the two-dimensional measurement means performs two-dimensional measurement of a traveling direction of the construction machine after a concentration of the dust has been reduced by the air.

4. The measurement system according to claim 1 or 2, wherein the three or more spherical targets are arranged closer to a tunnel entrance than the construction machine.

5. A method for measuring a position and attitude of a construction machine, comprising: a step of three-dimensionally measuring three or more spherical targets having position coordinates measured in advance by a three-dimensional measuring means mounted on the construction machine before the start of work that generates dust by the construction machine; a step of two-dimensionally measuring a traveling direction of the construction machine before starting the work by a two-dimensional measuring means mounted on the construction machine; a step of two-dimensionally measuring a traveling direction of the construction machine during the work by the two-dimensional measuring means; calculating a current position and attitude of the construction machine during the work based on a first measurement result obtained by three-dimensional measurement using the three-dimensional measurement means and a plurality of second measurement results obtained by two-dimensional measurement using the two-dimensional measurement means before the start of the work and during the work; Measurement methods, including

6. In the step of two-dimensionally measuring the traveling direction of the construction machine before the start of the work and during the work, a tunnel wall surface on the side of the construction machine and a tunnel face in front of the construction machine are two-dimensionally measured; 6. The measurement method according to claim 5, wherein in the calculating step, the position and yaw of the construction machine before the start of the work are calculated from the first measurement results, the distance between the tunnel wall and the face from before the start of the work to the present time during the work and the amount of change in the angle between the tunnel wall and the axis of the construction machine are calculated from the multiple second measurement results, and the current position and attitude of the construction machine are calculated based on the position and yaw of the construction machine before the start of the work and the amount of change in the distance and the angle.

7. During the work, air is supplied in the direction of travel of the construction machine, 7. The measurement method according to claim 5 or 6, wherein in the step of two-dimensionally measuring the traveling direction of the construction machine during work, the traveling direction of the construction machine after the concentration of the dust has been reduced by the air is measured two-dimensionally.

8. The measurement method according to claim 5 or 6, wherein the three or more spherical targets are arranged closer to a tunnel entrance than the construction machine.

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