Abstract: In the device according to the present invention, it is possible readily to distinguish between a road of travel and an obstacle in an image, simply using a distance image, even in cases where such a distinction is difficult to make, for instance, when a moving body is inclined during travel or the road forms a slope. Three-dimensional co-ordinate position data in a three-dimensional co-ordinate system is calculated for each pixel of the distance image, on the basis of two-dimensional co-ordinate position data for each pixel in the distance image and distance data from a reference position for each of the pixels, in such a manner that a three-dimensional distribution of pixels corresponding to a plane and an object to be detected is generated.

Abstract: Using a stereo viewing method, three-dimensional model data are produced that completely express an object in a three-dimensional shape, or moving images of the object as seen from any viewpoint are produced.

Abstract: A small-sized precision distance measuring apparatus. When a laser beam 1b reflected from an article is received on a photodetector array (30) through a lens array (20), the effective area of the photodetector array (30) is calculated on the basis of the output from the photodetectors, and the distance from the lens array (20) to the article 11 is calculated from the calculated area and the angle of view of the lenses constituting the lens array (20). If pixels (33a, 33b, 33c) of an image on a sensor array, corresponding to the coordinates of elements in the space (12), are determined on the basis of the positional relationship between the lenses (41a, 41b, 41c) of a lens array and photodetectors (51a, 51b, 51c) of the sensor array, the comparison of image information on the pixels (33a, 33b, 33c) can be made to determine the coordinate positions representing the profile of the article 11 from the coordinate positions of the space (12), thereby determining the distance to the article (11) and its shape.

Abstract: The present invention discloses a system and a method for transmitting data in a shield machine and for calculating the filling amount of a void by detecting the distance to the natural ground. The system and the method are capable of transmitting analogue signals or signals of relatively high frequencies with reliability, enabling an unskilled operator to accurately detect buried articles and accurately carry out the back-filling work. Therefore, an optical rotary joint (100) is disposed between a rotary cutter head (10) and a non-rotary shield body (2) to count time taken to detect the peak value of a reflected signal larger than a standard value or time taken to detect the zero cross position present prior to the peak value. In accordance with the counted time, the distance between the antenna and the natural ground is calculated and displayed. Then, the void volume is calculated in accordance with the distance so that a target value of the back-filling amount is set.

Abstract: A method and an apparatus for performing measurement by a resistivity method in order to detect the thickness of a sludge layer on the outer periphery of a shield machine. A Wenner electrode row (14) on the outer periphery of the machine is used to measure reference resistivities to thereby detect certain resistivities in the depth direction of the natural ground and the sludge layer thickness. At the same time, a dipole electrode row (16) is used to measure voltage distributions in the depth direction of the natural ground and in the direction of the arrangement of the electrodes. The ratios of the values measured by the measurement dipole electrodes to those measured by the reference Wenner electrodes are calculated, and their distribution is charted. When mutually equal values in the distribution map are connected together by continuous curves, a contour-pattern image is obtained, which enables a configuration of the collapse of natural ground to be determined.

Abstract: A blade control system for a bulldozer enables the bulldozer to effectively perform a ground leveling work or a grading work with high accuracy in a minimum amount of time. The system compensates for pitching of a tractor portion of the bulldozer, and for variations in the amount of earth to be moved by a blade of the bulldozer. The system comprises: a pair of photo receivers (2, 3) which are mounted on the tractor portion (1) along a longitudinal axis of the portion (1) while spaced apart from each other, each of which receivers (2, 3) detects an optical reference plane (6) produced by a photo projector (4) to issue a level signal; and a blade controller (13) which controls an hydraulic valve actuaor (14) for moving the blade (8) based on the level signals.