Title:
MEASURING METHOD OF POSITION AND ATTITUDE OF MOVING BODY
Document Type and Number:
Japanese Patent JP3247143
Kind Code:
B2
Abstract:
PURPOSE: To detect the position and attitude of a moving body with high precision and excellent efficiency by a method wherein the moving body provided with targets at three points serving as references of measurement is followed automatically by a distance-angle measuring apparatus and three-dimensional coordinate positions of the targets are determined, while the roll, yaw and pitch of the moving body are detected from the amounts of changes of coordinates.
CONSTITUTION: In measurement of a position, rear reference points 2 of which the coordinates are known are used and the coordinates of an automatic tracking type distance and angle measuring apparatus 4 mounted on a following truck 3 of a shield excavator 1 are determined by measuring the rear reference points 2 by the apparatus 4. Based on the coordinates of the distance and angle measuring apparatus 4, subsequently, targets (reflective prisms) at three points provided for the excavator 1 are tracked automatically and measured and positions of the coordinates before and after movement are computed by a personal computer 6. Besides, amounts of the roll, yaw and pitch showing the attitude (tilt) of the excavator 1 are calculated from the amounts of changes of the coordinates before and after the movement.
Inventors:
Yu Nozawa
Akira Nakayama
Toru Yamamoto
Akira Nakayama
Toru Yamamoto
Application Number:
JP11292192A
Publication Date:
January 15, 2002
Filing Date:
May 01, 1992
Export Citation:
Assignee:
Aoki Construction Co., Ltd.
International Classes:
E21D9/093; E21D9/06; G01C15/00; (IPC1-7): G01C15/00; E21D9/06
Domestic Patent References:
| JP62293115A | ||||
| JP258669A | ||||
| JP392712A | ||||
| JP465631A |
Attorney, Agent or Firm:
Toshio Nishizawa