| 摘要 |
PROBLEM TO BE SOLVED: To provide a position and attitude calculation program of the H&V shield utilizing a limited measurement value that can be acquired during excavation and capable of accurately calculating a position and an attitude of each of four single barrels even if having a tunnel line shape including a spiral section.SOLUTION: A position and attitude calculation program of the H&V shield includes a function allowing an entire coordinate system setting processing step 10, a machine coordinate system setting processing step 20, a rear barrel coordinate system calculation processing step 30, and a front barrel coordinate system calculation processing step 40 to be executed by a computer. The rear barrel coordinate system calculation processing obtains a machine representative coordinate system with four angles selected from among a yawing angle, a pitching angle, a rolling angle, and a rocking angle of the left and right rear barrel coordinate system, and origin coordinates of the left or right rear barrel coordinate system as a giving condition.SELECTED DRAWING: Figure 6 |
