Instrumentation for Detecting Translation and Rotation of Tunneling Machines during their Movements

当前位置检测是实现履带式掘进机自动定位的关键技术之一。在本研究项目中，开发了用于检测隧道掘进机平移和旋转的测量系统。设计了两个传感系统，用于使用市售传感器检测隧道掘进机的姿态变化;一个传感系统由陀螺角速度传感器和两个加速度计组成，另一个传感系统由一对倾斜计代替加速度计。本文提出了一种新的算法，由三个传感器的输出确定物体的三维转动。首先用广义旋转矩阵定义掘进机的姿态，然后用横滚、俯仰和偏航表示，利用激光测距仪测量掘进机在运动过程中的平移量。测距仪由激光发射器和视觉系统组成。发射器产生波长为650 nm的激光束，并允许光束指向任意方向。视觉系统通过CCD摄像机检测激光光斑，并对图像进行处理以定位激光光斑。在运动之前和之后测量的目标从机器的两个位置矢量之间的差提供了车辆的平移。在本研究中，进行了实验室实验，以确认两个传感系统检测旋转和测距系统的功能。实验结果不仅揭示了用于检测车辆平移和旋转的仪器，而且验证了用于计算三维平移和旋转的新算法。

Detection of current location is one of key technologies to realize automatic positioning of a tunneling machine which is equipped with crawler for locomotion. In this research project, measuring systems for detecting translation and rotation of a tunneling machine have been developed.Two sensory systems were devised to detect change in the attitude of a tunneling machine using commercially available sensors ; one consists of a gyroscopic angular velocity sensor and two accelerometers, and the other replaces accelerometers by a couple of clinometers. A new algorithm was developed to determain three dimensional rotation from the outputs from three sensors. The attitude of a tunneling machine is first defined by the generalized rotation matrix, then represented in terms of roll, pitch and yaw.A laser ranger was employed to measure translation of a tunneling machine during its movement. The ranger consists of a laser emitter and a vision system. The emitter generates laser beam with a 650nm wavelength, and allows for the beam to point toward an arbitrary orientation. The vision system detect the laser beam spotted on a target by a CCD camera, and processes an image to locate the laser spot. The difference between two position vectors of the target from the machine that are measured before and after locomotion provides the translation of the vehicle.In this research, laboratory experiments were carried out to confirm the function of two sensory systems for detecting rotation and a ranging system. The experiments have resulted in not only revealing the instrumentation for detecting translation and rotation of a vehicle, but validating new algorithm for calculating three dimensional translation and rotation.