| 摘要 |
PROBLEM TO BE SOLVED: To provide an underground position detection system that detects a position of a tip of piping exactly, irrespective of rotation of piping. SOLUTION: In the underground position detection system using for a level boring method, two links L<SB>1</SB>, L<SB>2</SB>of the same length which are connected with restraining a rotation in a longitudinal direction are mounted in a rotating and advancing piping with an excavation. A posture of the first link and a position of connection point of the first link and second link are obtained from the direction of the gravitational vector which is obtained from three acceleration sensors 3 mounted at the first link L<SB>1</SB>of the excavation origin side among the two links. Further, by measuring the angle between the first link and the second link of opposite side of the excavation origin connected to the first link, then the posture of the second link is obtained from those observed quantities. When it is excavated one length of the link, and if two links are passed the same field path, the coordinate of the tip of the link in the piping can be serially calculated by using that the posture and position of the second link at the previous step becomes equal to the posture and position of the first link. COPYRIGHT: (C)2009,JPO&INPIT |
