| 摘要 |
PROBLEM TO BE SOLVED: To surely detect a cutting edge position in long distance and dissolve the possibility of work interruption caused by a device failure in a cutting edge position detecting device equipped at a propulsion excavator propelling a lead pipe provided with a drilling head (cutting edge) at the front end, from a start pit toward an arrival pit and collimating a target disposed at the drilling head, by a telescope of a theodolite on the start pit side to detect the position. SOLUTION: A reflection target 4 formed of a prism sheet is disposed at the base end of a drilling head 3. A laser projection system 10 is provided to project light into lead pipes 2, 2,... along the optical axis of a telescope 6 and to irradiate the reflection target 4. An image of the telescope 6 is taken into a CCD camera and transferred to a personal computer 12 to detect the center position and cutting edge position of the drilling head 3 by image processing. On the basis of the detected positions of the drilling head 3, a control device 31 controls the operation of a propulsion excavator to automatically correct the excavating direction. |
