HORIZONTAL POSITION ESTIMATING METHOD FOR TUNNEL ROBOT

摘要

PURPOSE: To enable the horizontal position information of a tunnel robot to be grapsed at every propulsion, and improve construction accuracy and operation efficiency in the horizontal direction. ;CONSTITUTION: This tunnel robot is provided with a first propulsion cylinder 1b connected to the rear part of the head 1a on the extreme end of a tunnel robot, a second propulsion cylinder 1c connected to the roar part of the first propulsion cylinder 1b, a knuckle sensor 1e detecting the intersection angle (knuckle) of the tubular axis of the first propulsion cylinder 1b with the tubular axis of the second propulsion cylinder 1c, and a computer. The computer roads and accumulates the output data of the knuckle sensor 1e at every propulsion, so as to compute the estimated value of the horizontal position of a tunnel robot main body 1 against the propulsion distance.;COPYRIGHT: (C)1996,JPO