| 摘要 |
PURPOSE:To obtain the position and the attitude of an excavator accurately and momently by measuring the times when the laser beam which a light emitter fixed in a tunnel emits while rotating is received by three photodetectors provided on the excavator after passing a reference direction line, the height of reception of the laser beam, and the rolling angle and the pitching angle of the excavator. CONSTITUTION:The time required when the laser beam is made incident on three angle detecting photodetectors A-C after passing the reference direction line is measured to obtain rotation angles of these photodetectors to the reference direction line in accordance with the time required for one rotation of the laser beam. Since positional relations among photodetectors A-C are known, plane coordinates of light reception points of angle detecting photodetectors A-C to the laser light emission point and the turning angle in the horizontal direction (yawing angle) of the excavator 1 angle and rolling angle of the excavator 1. These values and the detected distance of a height detecting photodetector F are operated to obtain three-dimensional coordinates of a reference point set at an optional point of the excavator 1. |
