JPS6126603B2 - - Google Patents
Info
- Publication number
- JPS6126603B2 JPS6126603B2 JP16728679A JP16728679A JPS6126603B2 JP S6126603 B2 JPS6126603 B2 JP S6126603B2 JP 16728679 A JP16728679 A JP 16728679A JP 16728679 A JP16728679 A JP 16728679A JP S6126603 B2 JPS6126603 B2 JP S6126603B2
- Authority
- JP
- Japan
- Prior art keywords
- drilling machine
- magnetism generating
- underground drilling
- main body
- generating elements
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
Landscapes
- Excavating Of Shafts Or Tunnels (AREA)
Description
【発明の詳細な説明】
本発明は地中穿孔機によるトンネル掘進におい
て、トンネルを計画線通りに穿孔すべく地中穿孔
機の位置及び姿勢角を計測する装置の改良に関す
るものである。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement in a device for measuring the position and attitude angle of an underground drilling machine in order to drill a tunnel according to a planned line when digging a tunnel using an underground drilling machine.
従来地中穿孔機特に小口径掘進機の地中穿孔機
においては、その位置および姿勢角の計測は全く
行われていないか或は測量機による光学測量が行
われていたにすぎない。 In conventional underground drilling machines, especially small-diameter underground drilling machines, their positions and attitude angles have not been measured at all, or only optical measurements have been carried out using surveying instruments.
而して上記の位置及び姿勢角を計測する装置と
しては、前記地中穿孔機後部に設けた目標板と該
目標板を計測するために前記地中穿孔機後方の後
進口に設置した測量機とで構成されており、前記
測量機の基準点を掘進計画線方向に合せて固定し
前記目標板に刻まれた座標点を観測することによ
り前記地中穿孔機の位置及び姿勢角を計測してい
たものである。この方法によれば前記地中穿孔機
が円周方向に回転しない場合には、方位角と仰角
は観測点の初期位置からの移動量と掘進距離によ
り算定しうるが、円周方向の回転を伴う場合に
は、方位角と仰角および回転角の分離は困難であ
るので計測は不可能であつた。従つて回転角につ
いては別の手段で計測する必要があり、その計測
値をもとに残る方位角、仰角を補正して算定する
という複雑な工程を必要とし且つ前記地中穿孔機
の位置は別の手段で測定しなければならなかつ
た。又曲線部分からなるトンネル施工において
は、前記目標板が該測量機から見通すことが出来
ず使用不可能であつた。更に前記測量機は発進立
坑内の掘進計画線方向に設置しなければならず立
坑の大型化はまぬがれず、掘進と同時にトンネル
内に管を布設するときには押管装置のスペースが
前記測量機に阻害され円滑に行うことが出来ない
等の欠点があつた。 The devices for measuring the above-mentioned position and attitude angle include a target plate installed at the rear of the underground drilling machine, and a surveying instrument installed at the backward exit at the rear of the underground drilling machine to measure the target plate. The position and attitude angle of the underground drilling machine are measured by fixing the reference point of the surveying machine in the direction of the excavation plan line and observing the coordinate points carved on the target plate. This is what I was looking for. According to this method, if the underground drilling machine does not rotate in the circumferential direction, the azimuth and elevation angles can be calculated by the amount of movement from the initial position of the observation point and the digging distance. In such cases, it was difficult to separate the azimuth, elevation, and rotation angles, so measurement was impossible. Therefore, it is necessary to measure the rotation angle by another means, which requires a complicated process of correcting and calculating the remaining azimuth and elevation angles based on the measured values. It had to be measured by other means. In addition, when constructing a tunnel consisting of a curved section, the target plate could not be seen from the surveying instrument, making it impossible to use it. Furthermore, the surveying machine must be installed in the direction of the excavation plan line within the starting shaft, which inevitably leads to an increase in the size of the shaft, and when a pipe is to be laid in the tunnel at the same time as excavation, the space for the push pipe device becomes an obstacle to the surveying machine. There were drawbacks such as the inability to do so smoothly.
本発明はかかる欠点を改善せんとして鋭意研究
を行つた結果、複数の磁気発生素子と傾斜角検出
素子とを地中穿孔機本体の内部に設け、地上にお
いて複数個の磁気発生素子にて前記地中穿孔機の
水平位置、深さ及び姿勢角を計測したようにした
ものである。 As a result of intensive research aimed at improving these drawbacks, the present invention provides a plurality of magnetic generation elements and an inclination angle detection element inside the main body of an underground drilling machine, and uses a plurality of magnetic generation elements on the ground to The horizontal position, depth, and attitude angle of the medium drilling machine were measured.
即ち、本発明は、略円筒形状をなす地中穿孔機
本体の内部にとりつけたその長手方向に沿つて互
いに離間して発生磁界中心軸が常に重心方向を向
くように、水平面上で互いに直交する二軸を介し
て回動自在に支持された一対の第１磁気発生素子
と、該地中穿孔機本体の内周壁部に上記第１磁気
発生素子の両側の等距離位置にて上記長手方向と
直交する円周方向に固定された一対の第２磁気発
生素子と、該地中穿孔機本体の内部に固定された
該地中穿孔機の掘進方向の傾斜角並に円周方向の
回転角とを検知する傾斜角検知素子と、上記地中
穿孔機本体と離隔した位置に配置され、上記第１
磁気発生素子及び第２磁気発生素子にケーブルを
介して信号を供給する供給装置と、上記傾斜角検
知素子にケーブルを介して信号を供給する電源装
置と、上記第１磁気発生素子及び第２磁気発生素
子の所在ケ所を検出する正方形の各頂点に配置し
た対角線上の一対を組とする２組の磁気発生素子
とを具備したことを特徴とするものである。 That is, the present invention provides magnetic fields that are installed inside a substantially cylindrical underground drilling machine main body and are spaced apart from each other along the longitudinal direction so that the central axes of the generated magnetic fields always point in the direction of the center of gravity and are orthogonal to each other on a horizontal plane. A pair of first magnetism generating elements rotatably supported via two axes, and a pair of first magnetism generating elements rotatably supported on the inner circumferential wall of the underground drilling machine body at equal distance positions on both sides of the first magnetism generating elements in the longitudinal direction. a pair of second magnetism generating elements fixed in orthogonal circumferential directions; an inclination angle in the excavation direction of the underground drilling machine fixed inside the underground drilling machine body; and a rotation angle in the circumferential direction. an inclination angle detection element for detecting the angle of inclination;
a supply device that supplies signals to the magnetic generation element and the second magnetic generation element via a cable; a power supply device that supplies signals to the tilt angle detection element via the cable; It is characterized by comprising two sets of magnetism generating elements, each pair being a pair on a diagonal line, arranged at each vertex of a square for detecting the location of the generating element.
本発明の一実施例を第１図乃至第５図の図面に
より詳細に説明する。第１図において１，１′は
第１磁気発生素子であり、第４図に示す如くその
下端に重錘２がとりつけられると共に第１回転枠
３に固定支持されている。第１回転枠３は第２回
転枠４に一方の回転が自在なる状態に支持され、
該第２回転枠４は回転枠５に第１回転枠３の回転
軸と90゜離れた垂直軸のまわりに回転自在に支持
されている。前記固定枠５は第１図乃至第３図に
示す如く地中穿孔機本体６内に掘進方向に対して
前方上部とこれと一定距離隔つた後方上部に取付
けられている。このように地中穿孔機本体６の円
周方向の回転および縦断方向の傾斜に対して回転
自在とし且つ重錘２を下部に取付けしたため前記
地中穿孔機本体６の姿勢にかかわらず第１磁気発
生素子１は常に重力方向に向くようになる。又第
２図及び第３図に示す如く地中穿孔機本体６の前
方上部に設置された該第１磁気発生素子と同一円
周上で円中心から夫々一定の異る角度で離れた位
置に複数個（ここでは２個）の第２磁気発生素子
７，７′が第１固定板８を介して地中穿孔機本体
６の円周面に固定されると共に地中穿孔機本体６
内の後方上部に設置された前記第１磁気発生素子
１′と同一断面内下部に傾斜角検出素子９が第２
固定板１０を介して該地中穿孔機本体６の内周面
に固定されている。又前記の磁気発生素子１，
１′及び７，７′からの磁界の強さの信号を検知す
る磁界受信部は、磁気検出素子１１，１１′，１
１″，１１と測定架台１２及び受信装置１３と
から構成されている。この、磁気検出素子１１，
１１′，１１″，１１は４個以上の偶数個を必要
とするものであり、ここでは４個配置されてい
る。又測定架台１２の構造は第５図に示す如く台
座１４の下部に該台座１４の水平をとるための複
数本（ここでは３本）の高さ調整ねじ１５を有
し、該台座１４の上部には水平を確認するための
第１水準器１６、第２水準器１７が設置され且つ
複数本（ここでは４本）の第１傾斜ジヤツキ１８
を介して第１傾斜板１９と連結されており、前記
第１傾斜板１９は複数本（ここでは４本）の第２
傾斜ジヤツキ２０を介して第２傾斜板２１と連結
されている。なお前記第１傾斜板１９の回転軸は
前記第２傾斜板２１の回転軸と90度離れて垂直に
交つており、夫々の傾斜方向は架台１２の中心軸
２２が地中穿孔機本体６の掘進方向と合致したと
き前記地中穿孔機本体６の円周方向の回転、縦断
方向の傾斜にそれぞれ合致しているものである。 An embodiment of the present invention will be explained in detail with reference to the drawings of FIGS. 1 to 5. FIG. In FIG. 1, reference numerals 1 and 1' denote first magnetism generating elements, and as shown in FIG. 4, a weight 2 is attached to the lower end of the element, and the element is fixedly supported by a first rotating frame 3. The first rotating frame 3 is supported by the second rotating frame 4 in a state where it can rotate freely in one direction,
The second rotary frame 4 is rotatably supported by the rotary frame 5 around a vertical axis spaced 90 degrees from the rotation axis of the first rotary frame 3. As shown in FIGS. 1 to 3, the fixing frame 5 is mounted inside the main body 6 of the underground drilling machine at the front upper part and the rear upper part separated by a certain distance from this in the excavation direction. In this way, since it is rotatable with respect to the rotation in the circumferential direction and the inclination in the longitudinal direction of the underground drilling machine main body 6, and the weight 2 is attached to the lower part, the first magnetic The generating element 1 always faces in the direction of gravity. Further, as shown in FIGS. 2 and 3, on the same circumference as the first magnetism generating element installed at the front upper part of the underground drilling machine main body 6, the magnets are located at different angles from the center of the circle. A plurality of (two in this case) second magnetism generating elements 7, 7' are fixed to the circumferential surface of the underground drilling machine main body 6 via the first fixing plate 8, and
A second inclination angle detection element 9 is located at the lower part of the same cross section as the first magnetism generating element 1' installed at the rear upper part of the inner part.
It is fixed to the inner circumferential surface of the underground drilling machine main body 6 via a fixing plate 10. Moreover, the above-mentioned magnetism generating element 1,
The magnetic field receiving section that detects the magnetic field strength signals from 1' and 7, 7' includes magnetic detection elements 11, 11', 1
1'', 11, a measurement stand 12, and a receiving device 13.
11', 11'', and 11 require an even number of four or more, and four are arranged here.The structure of the measurement stand 12 is as shown in FIG. It has a plurality of height adjustment screws 15 (three in this case) for leveling the pedestal 14, and a first level 16 and a second level 17 are provided at the top of the pedestal 14 for checking the level. is installed and a plurality of (four in this case) first inclined jacks 18 are installed.
The first inclined plate 19 is connected to a plurality of (here, four) second inclined plates 19 through
It is connected to a second inclined plate 21 via an inclined jack 20. The axis of rotation of the first inclined plate 19 is 90 degrees apart from the axis of rotation of the second inclined plate 21 and intersects perpendicularly, and the respective inclined directions are such that the central axis 22 of the pedestal 12 is aligned with the axis of rotation of the second inclined plate 21. When it matches the excavation direction, it matches the rotation in the circumferential direction and the inclination in the longitudinal direction of the underground drilling machine main body 6, respectively.
次に本発明の作用について説明する。まず第１
図に示す如く各磁気発生素子１，１′，７，７′に
信号伝送用ケーブル２３を介して信号供給装置２
４、又傾斜角検出素子９にケーブル２３を介して
電源装置２５から夫々信号を供給する。この状態
で前記傾斜角検出素子９（２方向の検出素子を有
している）には地中穿孔機本体６の円周方向の回
転角、縦断方向の仰角に対応した信号が発生し、
信号伝送用ケーブル２３を介して表示装置２６に
表示される。つぎに前記地中穿孔機本体６の水平
位置、深さ及び水平方向の方位角については、前
記磁気発生素子１，１′，７，７′の夫々の磁界信
号を、磁気検出素子１１，１１′，１１″，１１
で検知することにより得られる。前記、磁気発生
素子１１，１１′，１１″，１１は夫々対向する
２組（１１と１１′及び１１″と１１）を１組と
し、その出力ベクトルが逆相となるよう結線され
る。このような構成であるから外来雑音磁界に対
しては出力レベルの位相が180゜異るため出力は
生ぜず目的、信号、磁界に対しては１点を除き出
力レベルの不均衡があるため位相が180゜異つて
いても出力を生ずる。然しながら前記磁気発生素
子１，１′，７，７′が前記磁気検出素子１１，１
１′間及び１１″，１１間の中心点直下に存在す
る場合には、前記の目的信号による、磁気検知素
子１１，１１′，１１″，１１の各々の組の出力
は生じない。即ち水平位置については地中穿孔機
本体６の円周方向の回転・縦断方向の傾斜があつ
ても常に重力軸の方向に作動する第１磁気発生素
子１，１′を水平に設置した測定架台１２上で前
記方法で検知すれば地中穿孔機本体６の水平位置
を知ることができる。 Next, the operation of the present invention will be explained. First of all
As shown in the figure, a signal supply device 2 is connected to each magnetic generation element 1, 1', 7, 7' via a signal transmission cable 23.
4. Also, signals are supplied to the tilt angle detection element 9 from the power supply device 25 via the cable 23, respectively. In this state, the inclination angle detection element 9 (having detection elements in two directions) generates a signal corresponding to the rotation angle in the circumferential direction and the elevation angle in the longitudinal direction of the underground drilling machine main body 6,
It is displayed on the display device 26 via the signal transmission cable 23. Next, regarding the horizontal position, depth and horizontal azimuth of the underground drilling machine main body 6, the magnetic field signals of the magnetic generation elements 1, 1', 7, 7' are transmitted to the magnetic detection elements 11, 11. ',11'',11
It can be obtained by detecting with . The magnetism generating elements 11, 11', 11'', and 11 are connected to each other so that two sets (11 and 11' and 11'' and 11) facing each other form one set, and their output vectors have opposite phases. With this configuration, the phase of the output level differs by 180 degrees in response to an external noise magnetic field, so no output is generated, but the output level is unbalanced except for one point with respect to the purpose, signal, and magnetic field, so the phase changes. Output is produced even if the angles differ by 180°. However, the magnetism generating elements 1, 1', 7, 7' are different from the magnetism detecting elements 11, 1.
1' and directly below the center point between 11'' and 11, no output is generated from each set of magnetic sensing elements 11, 11', 11'' and 11 due to the above-mentioned target signal. In other words, regarding the horizontal position, a measurement stand is used in which the first magnetic generation elements 1, 1', which always operate in the direction of the gravity axis, are installed horizontally even if the underground drilling machine body 6 rotates in the circumferential direction or tilts in the longitudinal direction. 12 using the method described above, the horizontal position of the underground drilling machine main body 6 can be known.
又深さの計測については、前記２個の磁気発生
素子１，１′の位置と結ぶ直線に前記架台１２の
中心線２２を合致せしめ、この状態において複数
本の第１傾斜ジヤツキ１８を伸縮させ、第１傾斜
板１９の傾きを２個の第２磁気発生素子７，７′
のうちどちらかの地中穿孔機本体６の鉛直軸から
の傾き、即ち傾斜角検出素子９により得られた地
中穿孔機本体６の円周方向の回転角と最初に設置
した地中穿孔機本体６の鉛直軸から第２磁気発生
素子７，７′の取り付け角＋αとの和に一致させ
且つ複数本の第２傾斜ジヤツキ２０を伸縮せし
め、第２傾斜板２１の傾きを傾斜角検出素子９に
より得られた地中穿孔機本体６の縦断方向の仰角
に一致させ、更に、磁気検出素子１１を第５図の
ようにｂ−ｂ線と水平面内で垂直をなすように設
置し、該磁気検出素子１１をｂ−ｂ方向に移動し
て第２磁気発生素子７，７′を検知することによ
り求める位置と前記第２磁気発生素子７，７′の
どちらの地中穿孔機本体６の鉛直軸からの傾きと
で深さを計測することができる。 To measure the depth, the center line 22 of the pedestal 12 is aligned with the straight line connecting the positions of the two magnetism generating elements 1 and 1', and in this state, the plurality of first inclined jacks 18 are expanded and contracted. , the inclination of the first inclined plate 19 is adjusted by the two second magnetic generation elements 7, 7'.
The inclination of either of the underground drilling machine bodies 6 from the vertical axis, that is, the rotation angle in the circumferential direction of the underground drilling machine body 6 obtained by the inclination angle detection element 9 and the initially installed underground drilling machine The inclination of the second inclination plate 21 is adjusted to match the sum of the mounting angle +α of the second magnetic generation elements 7 and 7' from the vertical axis of the main body 6, and the plurality of second inclination jacks 20 are expanded and contracted to detect the inclination of the second inclination plate 21. The elevation angle in the longitudinal direction of the underground drilling machine body 6 obtained in step 9 is made to match, and the magnetic detection element 11 is installed so as to be perpendicular to line b-b in the horizontal plane as shown in FIG. Which position of the underground drilling machine main body 6 is determined by moving the magnetic detection element 11 in the b-b direction and detecting the second magnetic generation elements 7, 7' and the position of the second magnetic generation elements 7, 7'? Depth can be measured based on the inclination from the vertical axis.
以上詳述した如く本発明地中穿孔機の位置およ
び姿勢角の計測装置によれば、複数個の回転枠で
回転自在に支持された一対の第１磁気発生素子と
これらの内１つの第１磁気発生素子と同一円周上
で夫々一定の異なる角度離れた位置に１対の第２
磁気発生素子を地中穿孔機本体内に取付け、これ
らの各磁気発生素子からの磁界信号を、地上に設
置した地中穿孔機本体の回転角、仰角の方向に傾
斜する測定架台上の磁気発生素子で検知するとと
もに、傾斜角、仰角については地中穿孔機本体内
の傾斜角検出素子で検知するようにしたので、地
中穿孔機本体の水平位置、深さ、各姿勢角の測定
が可能であり、更に磁気検知素子を組合せて使用
することにより地磁気や商用電源の影響ををうけ
ることなく、深い深度の測定が可能となり、信号
−雑音特性が向上し簡易な受信装置で検知が容易
に行えると共に掘進トンネル内を観測する必要が
ないので曲線部分を含むトンネル施工への適用が
可能となる。又掘進方向後部立坑内には測量機等
を設置する必要がなく立坑の小型化になしうる等
顕著な効果を有する。 As detailed above, according to the apparatus for measuring the position and attitude angle of an underground drilling machine according to the present invention, a pair of first magnetism generating elements rotatably supported by a plurality of rotating frames and one first A pair of second magnets are placed on the same circumference as the magnetism generating element and are spaced apart from each other by a certain different angle.
Magnetic generating elements are installed inside the underground drilling machine body, and the magnetic field signals from these magnetic generating elements are transmitted to the magnetic field generator on a measurement stand that is installed on the ground and tilts in the direction of the rotation angle and elevation angle of the underground drilling machine main body. In addition to detecting the inclination angle and elevation angle using the inclination angle detection element inside the underground drilling machine, it is possible to measure the horizontal position, depth, and attitude angle of the underground drilling machine. Furthermore, by using a magnetic sensing element in combination, it is possible to measure deep depths without being affected by geomagnetism or commercial power, and the signal-noise characteristics are improved, making detection easier with a simple receiving device. In addition to this, there is no need to observe the inside of the excavated tunnel, so it can be applied to tunnel construction including curved sections. In addition, there is no need to install a surveying instrument in the rear shaft in the direction of excavation, and the shaft can be made smaller, which has a remarkable effect.
第１図は本発明装置による地中穿孔機の位置お
よび姿勢角の計測原理図、第２図は第１図−
線による断面図、第３図は第１図の−線によ
る断面図、第４図は磁気発生素子の拡大図、第５
図は測定架台の拡大図である。
１，１′……第１磁気発生素子、２……重錘、
３……第１回転枠、４……第２回転枠、５……固
定枠、６……地中穿孔機本体、７，７′……第２
磁気発生素子、８……第１固定板、９……傾斜角
検出素子、１０……第２固定板、１１，１１′，
１１″，１１……磁気検出素子、１２……測定
架台、１３……受信装置、１４……台座、１５…
…高さ調整ねじ、１６……第１水準器、１７……
第２水準器、１８……第１傾斜ジヤツキ、１９…
…第１傾斜板、２０……第２傾斜ジヤツキ、２１
……第２傾斜板、２２……中心線、２３……信号
伝送用ケーブル、２４……信号供給装置、２５…
…電源装置、２６……表示装置、２７……発進立
坑。
Fig. 1 is a diagram of the principle of measuring the position and attitude angle of an underground drilling machine using the device of the present invention, and Fig.
3 is a sectional view taken along the - line in FIG. 1, FIG. 4 is an enlarged view of the magnetic generation element, and FIG.
The figure is an enlarged view of the measurement stand. 1, 1'...first magnetic generation element, 2...weight,
3...First rotating frame, 4...Second rotating frame, 5...Fixed frame, 6...Underground drilling machine body, 7, 7'...Second
Magnetism generating element, 8... first fixing plate, 9... tilt angle detection element, 10... second fixing plate, 11, 11',
11'', 11... Magnetic detection element, 12... Measurement stand, 13... Receiving device, 14... Pedestal, 15...
...Height adjustment screw, 16...First level, 17...
Second spirit level, 18...First tilting jack, 19...
...First inclined plate, 20... Second inclined jack, 21
... Second inclined plate, 22 ... Center line, 23 ... Signal transmission cable, 24 ... Signal supply device, 25 ...
...power supply device, 26...display device, 27...starting shaft.
Claims (1)
りつけたその長手方向に沿つて互いに離間して発
生磁界中心軸が常に重心方向を向くように、水平
面上で互いに直交する二軸を介して回動自在に支
持された一対の第１磁気発生素子と、該地中穿孔
機本体の内周壁部に上記第１磁気発生素子の両側
の等距離位置にて上記長手方向と直交する円周方
向に固定された一対の第２磁気発生素子と、該地
中穿孔機本体の内部に固定された該地中穿孔機の
掘進方向の傾斜角並に円周方向の回転角とを検知
する傾斜角検知素子と、上記地中穿孔機本体と離
隔した位置に配設され、上記第１磁気発生素子及
び第２磁気発生素子にケーブルを介して信号を供
給する供給装置と、上記傾斜角検知素子にケーブ
ルを介して信号を供給する電源装置と、上記第１
磁気発生素子及び第２磁気発生素子の所在ケ所を
検出する正方形の各頂点に配置した対角線上の一
対を組とする２組の磁気発生素子とを具備したこ
とを特徴とする地中穿孔機本体の位置及び姿勢角
の計測装置。1 Installed inside the approximately cylindrical underground drilling machine main body, the magnetic field is spaced apart from each other along the longitudinal direction of the machine, and the generated magnetic field is generated via two axes orthogonal to each other on a horizontal plane so that the center axis always points toward the center of gravity. A pair of first magnetism generating elements rotatably supported, and a circumferential direction perpendicular to the longitudinal direction at equidistant positions on both sides of the first magnetism generating elements on the inner circumferential wall of the underground drilling machine main body. a pair of second magnetism generating elements fixed to the main body of the underground drilling machine; and an inclination angle for detecting the inclination angle in the excavation direction and the rotation angle in the circumferential direction of the underground drilling machine fixed inside the underground drilling machine main body. a detection element; a supply device that is disposed at a location apart from the underground boring machine body and supplies signals to the first magnetism generating element and the second magnetism generating element via a cable; a power supply device that supplies a signal via a cable;
An underground drilling machine body comprising: a magnetism generating element; and two sets of magnetism generating elements each consisting of a pair on a diagonal line arranged at each vertex of a square for detecting the location of a second magnetism generating element. A device for measuring the position and attitude angle of
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16728679A JPS5690210A (en) | 1979-12-22 | 1979-12-22 | Measurement device for position and posture angle of underground boring machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16728679A JPS5690210A (en) | 1979-12-22 | 1979-12-22 | Measurement device for position and posture angle of underground boring machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5690210A JPS5690210A (en) | 1981-07-22 |
| JPS6126603B2 true JPS6126603B2 (en) | 1986-06-21 |
Family
ID=15846932
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16728679A Granted JPS5690210A (en) | 1979-12-22 | 1979-12-22 | Measurement device for position and posture angle of underground boring machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5690210A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06501764A (en) * | 1990-10-12 | 1994-02-24 | ザ クックシィ コーポレイション | plastic screw covers |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0652175B2 (en) * | 1984-11-22 | 1994-07-06 | 日本電信電話株式会社 | Excavation status monitoring device for pipe burying machine |
| JPH0735971B2 (en) * | 1985-07-01 | 1995-04-19 | 日立建機株式会社 | Position detection device for excavator |
| JPH0735972B2 (en) * | 1985-07-01 | 1995-04-19 | 日立建機株式会社 | Position detection device for excavator |
| JPS625115A (en) * | 1985-07-01 | 1987-01-12 | Hitachi Constr Mach Co Ltd | Position detector of excavating machine |
| JPH0735970B2 (en) * | 1985-07-01 | 1995-04-19 | 日立建機株式会社 | Position detection device for excavator |
| JPS625121A (en) * | 1985-07-01 | 1987-01-12 | Hitachi Constr Mach Co Ltd | Position detector of excavating machine |
| JPH0613034B2 (en) * | 1988-10-26 | 1994-02-23 | オリンパス光学工業株式会社 | Intracorporeal ultrasound diagnostic device |
| JP2002365005A (en) * | 2001-06-08 | 2002-12-18 | San Shield Kk | Position detecting method and position detecting system for shield machine |
| JP5004646B2 (en) * | 2007-04-26 | 2012-08-22 | 旭化成エレクトロニクス株式会社 | Position / orientation detection system, detection method thereof, and position / orientation detection apparatus |
| JP7732823B2 (en) | 2021-09-27 | 2025-09-02 | 富士フイルム株式会社 | Ultrasound endoscope balloon |
-
1979
- 1979-12-22 JP JP16728679A patent/JPS5690210A/en active Granted
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06501764A (en) * | 1990-10-12 | 1994-02-24 | ザ クックシィ コーポレイション | plastic screw covers |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5690210A (en) | 1981-07-22 |
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