JP7171129B2 - Survey system and survey method - Google Patents

Description

The present invention relates to a surveying system and a surveying method for setting construction reference points (surveying markers).

When constructing a tunnel from a starting shaft, etc., a survey is taken before construction starts, and survey marks (temporary benchmarks, temporary benchmarks, Also called BM, KBM, etc., hereinafter referred to as construction reference point) is installed. A construction reference point is a survey post that is set as a reference for construction surveying, and has numerical position information (three-dimensional position coordinates). Surveying to determine the position and elevation of newly installed construction control points is based on control points (known points) whose position coordinates have already been given, and is carried out using global positioning satellite systems (GNSS), total stations (TS), etc. be.

Although it is not a control point survey, as an aerial photogrammetry technique, a technique is known in which a camera is installed in a small aircraft and the position coordinates of each point on the ground surface are calculated by photographing and survey calculation (for example, Patent Document 1 reference). With this technology, a retroreflector is installed on a small aircraft, and the retroreflector is tracked by a TS installed at a known point, and the position coordinates of the retroreflector are measured. It identifies the aerial photographing position with high accuracy, making it possible to improve the accuracy of aerial photogrammetry and reduce the number of ground control points.

JP 2014-167413 A

In the above conventional technology, the position coordinates of the retroreflector are measured, but since the measured position coordinates are only used for ground orientation of the aerial photograph, the position coordinates of the retroreflector are used to set the construction reference points. Didn't expect to use it at all.

When installing a construction reference point in a vertical shaft where direct collimation cannot be performed by TS, or where there is an overhang (the bedrock surface is inclined beyond the vertical), a detour should be taken. can be done. However, this has the problem of requiring a great deal of labor and time.

The present invention has been made in view of the above problems, and is a surveying system for setting a construction reference point,
a remotely controlled flying object;
a retroreflector provided on the flying object;
a first measuring means for measuring the position of the retroreflector;
a second measuring means for measuring distance and direction to a target;
The position of the retroreflector measured by the first measuring means is the position of the temporary reference point, and the position of the temporary reference point and the first measurement result of measuring the target as the retroreflector by the second measuring means. Calculate the position of the second measuring means using , and use the calculated position of the second measuring means and the second measurement result measured by the second measuring means with the target as the construction base point to determine the construction base point A surveying system is provided, comprising computing means for calculating the position of the .

According to the present invention, it is possible to efficiently set a construction reference point in a vertical shaft where direct collimation is not possible or where there is an overhanging cliff/cliff without detouring.

The figure which showed the example which installs a construction reference point by conventional TS. A diagram showing an example in which it is difficult to establish a construction reference point with a conventional TS. The figure which showed the 1st structural example of a surveying system. FIG. 2 is a diagram for explaining the arrangement of a retroreflector (prism) and a camera mounted on an aircraft; The figure which showed an example of the image imaged with the camera mounted on an aircraft. The figure explaining the method for making an aircraft stand still. The figure which showed an example of the hardware constitutions of the flying object used for a survey system. FIG. 4 is a conceptual diagram of surveying using the surveying system shown in FIG. 3; FIG. 4 is a flow chart showing the flow of construction reference point installation work using the surveying system shown in FIG. 3 ; FIG. FIG. 10 is a diagram for explaining acceptance/rejection of data based on differences in measurement end times; 4 is a flow chart showing the flow of calculation of the position coordinates of unknown points by the TS retrosection method. A conceptual diagram of a method for calculating the position coordinates of an unknown point. The figure explaining a measurement value difference level. The figure which showed the 2nd structural example of a surveying system. FIG. 12 is a conceptual diagram of surveying using the surveying system shown in FIG. 11; 12 is a flow chart showing the flow of work for setting construction reference points using the surveying system shown in FIG. 11; FIG. 4 is a conceptual diagram of a method of determining position coordinates of unknown points using a temporary benchmark;

FIG. 1 is a diagram showing an example of setting a construction reference point using a conventional TS. TS is a device for measuring range and direction to a target, with a lightwave rangefinder for measuring range and a theodolite for measuring angle as direction. The target is equipped with a retroreflector for measurement. A prism, for example, is used as the retroreflector.

A light wave rangefinder irradiates a prism with oscillating light and calculates the distance from the number of oscillations until the light reflected by the prism is detected. The theodolite includes a telescope and an encoder that measures angles, directs light toward a prism, rotates the telescope vertically and horizontally so that the light reflected by the prism is centered in the telescope, Encoders measure vertical and horizontal angles when centered.

FIG. 1(a) shows an example in which a construction reference point 12 is set at a position within a shaft 11 that can be directly collimated by a TS 10 set at a known point. Sighting refers to aligning the direction of the axis of the telescope with the target, and direct sighting means that the construction reference point 12 in the shaft 11 is at a position that can be seen directly by the telescope of the TS10. The position coordinates of a known point where the TS 10 is installed are determined by installing the TS 10 at that point and surveying reference points 1 and 2 with the TS 10 .

The position coordinates of the construction reference point 12 are determined by placing a prism at the construction reference point 12, irradiating light from the TS 10 installed at a known point, detecting the light reflected by the prism, and measuring the distance and its direction. be done.

FIG. 1(b) shows an example in which a construction reference point 12 is set at a position within a shaft 11 that cannot be directly sighted by the TS 10 set at a known point. In this example, a temporary construction reference point (temporary benchmark) 13 is set on the shaft 11 by using a crane, a temporary bridge, cantilever construction, scaffolding in the shaft, or the like.

A plumb bob is used as a device for checking verticality, and a temporary benchmark 13 is installed at a position directly above the construction reference point 12 and directly collimated by the TS 10 . Then, the TS 10 measures the position coordinates of the temporary benchmark 13 in the same manner as described above. The horizontal coordinates of the construction base point 12 are the same as the horizontal coordinates of the temporary benchmark 13 .

A scale is used to calculate the vertical coordinates of the construction reference point 12, ie, the altitude coordinates. The length from the temporary benchmark 13 to the construction reference point 12 is measured by a scale, an optical rangefinder, etc., and the altitude coordinates of the construction reference point 12 are obtained by subtracting the measured length from the altitude coordinates of the temporary benchmark 13. can ask.

As described above, the construction reference point 12 can be set in the vertical shaft 11. However, if the vertical shaft 11 has a large diameter and a large depth, or there is an overhanging cliff or cliff 14 as shown in FIG. If the construction reference point 12 cannot be directly sighted from the TS 10 installed at a known point, it is difficult to set up the construction reference point 12 because it is difficult to set up the temporary benchmark 13 .

If the pit 11 has a large diameter and a large depth, it may require a great deal of labor and burden to construct a temporary bridge, cantilever erection, scaffolding in the pit, etc. for setting the construction reference point. If it is difficult to install a cantilever erection in a place where there is an overhanging cliff, cliff, etc. 14, a temporary bridge or cantilever for setting a construction reference point, as in the case where the vertical shaft 11 has a large diameter hole. Construction and use of scaffolding in shafts may require a great deal of labor and burden.

Therefore, in the present invention, a retroreflector that can be controlled remotely is attached to a small flying object, the flying object is kept in a stationary state by levitation, and the position coordinates of the retroreflecting object are obtained from a TS installed at a known point on the ground. A temporary benchmark 13 is obtained. In addition, another TS is installed at an unknown point such as in the shaft 11 where the construction reference point 12 is installed, and the position coordinates of the temporary benchmark 13 are used to determine the self-position of the other TS. Assume that the distance and direction to the reference point 12 are measured, and the position coordinates of the construction reference point 12 are calculated.

FIG. 3 is a diagram showing a first configuration example of the survey system. The surveying system consists of a remotely operable flying object 20, a prism 21 as a retroreflector provided on the flying object 20, and a TS22 as measuring means for measuring the position of the prism 21 (TS22 is installed at a known point). The same shall apply hereinafter). In addition, the surveying system is installed at an unknown point such as in the vertical shaft 11, and by measuring the distance and direction to the prism 21, calculates its own position in the Japanese plane rectangular coordinate system (hereinafter referred to as the plane rectangular coordinate system). TS23 is provided as a known point. Furthermore, the surveying system comprises computing means for calculating the position coordinates of the construction reference point 12 .

The computing means can be distributed and mounted in the aircraft 20 and the TSs 22 and 23, but may be mounted in one piece of equipment. Alternatively, another device capable of wireless communication and calculation, such as a PC, a tablet terminal, or a smartphone, may be used, and part or all of the calculation may be performed by the other device.

The flying object 20 is an unmanned aerial vehicle (UAV) and has three or more rotor blades. etc. can be employed. Note that this is an example, and the aircraft 20 is not limited to a rotorcraft.

Air vehicle 20 is remotely operated by an operator using transmitter 24 as a radio control device. The transmitter 24 receives an operator's operation, generates a control signal, and wirelessly transmits the control signal to the aircraft 20 . The flying object 20 receives the control signal and controls the number of rotations of the rotor blades. The transmitter 24 includes a monitor as display means or a connector to which a terminal device having a monitor can be connected, an antenna for wirelessly transmitting a control signal, a stick for receiving operations by a worker, and a power button.

The prism 21 reflects light in the same direction as the incident direction of the light. It is desirable that the prism 21 has a wide range of incident angles so that light can be incident and reflected from the two TSs 22 and 23 at the same time. As the prism 21, a prism with a wide angle of, for example, 180.degree.

The prism 21 is attached to the underside of the aircraft 20 via a turntable (gimbal) 25 having a rotation function. The gimbal 25 corrects the swing, tilt, etc. of the prism 21 accompanying the flight of the aircraft 20 by rotating itself. The gimbal 25 is equipped with a motor to rotate itself. The gimbal 25 receives an instruction from an operator, drives a motor, and rotates back and forth and left and right. The forward/backward and left/right rotations are rotations about the two horizontal axes in three-dimensional space, namely the X-axis and the Y-axis, and are called roll and pitch. By the way, rotation about the vertical Z-axis is called yaw.

TS22 measures the distance and direction to at least two reference points 1,2. The TS 22 is equipped with arithmetic means and calculates the position coordinates of the TS 22 from the measurement results. The position coordinates of TS 22 can be calculated using, for example, the backward public meeting method.

The TS 22 also measures the distance and direction to the prism 21 mounted on the aircraft 20 . The TS 22 has a function of automatically following the prism 21, and surveys continuously by this automatic following. Thereby, the prism 21 can be surveyed when the flying object 20 moves to various positions.

The TS23 also has a function of automatically following the prism 21, and surveys the same prism 21 while the prism 21 is continuously surveyed by the TS22.

The measurement results of TS22 and 23 are associated with the measurement time in each of TS22 and 23. The calculation means confirms the synchronization of the measurement times, calculates the position coordinates of at least three points of the prism 21 based on the measurement results of the TS 22 which can be time-synchronized, and uses these points as temporary benchmarks. Since the position coordinates of TS22 have already been calculated and are known, the position coordinates of the temporary benchmark can be calculated from the position coordinates of TS22 and the measured distance and direction. Since it is rare for the measurement times to completely match, an allowable range is provided, and if it is within the allowable range, it is assumed that the time can be synchronized.

The calculation means calculates the position coordinates of the TS 23 installed at the unknown point using the position coordinates of the temporary benchmarks of at least three points. The position coordinates of TS23 can be calculated by the above backward public meeting method using the measurement result of TS23 that has been time-synchronized.

After calculating the position coordinates of the TS23, the construction reference point 12 is surveyed by the TS23, and the position coordinates of the construction reference point 12 are calculated from the measurement results.

A prism 21 can be attached to the flying object 20 via a gimbal 25, and a camera 26 as imaging means can be attached. The camera 26 includes an imaging element such as a lens and a CCD (Charge Coupled Device) image sensor. The imaging element is not limited to a CCD image sensor, and a CMOS (Complementary Metal Oxide Semiconductor) image sensor or the like may be used. The camera 26 has a zoom function, and can be provided with three cameras, for example, to capture images in a total of three directions, ie, the vertical direction and two lateral directions. Since this is an example, the number is not limited to three.

The camera 26 is installed so that the center of the prism 21 is positioned on the optical axis passing through the lens and the focal point. Specifically, as shown in FIG. 4, arbitrary points A and B are set, and point C is set at an arbitrary position on a straight line connecting the points A and B. As shown in FIG. Using the point B and the set point C, the optical axis of the camera 26 and the center of the prism 21 are arranged in a straight line.

The camera 26 captures an image in the direction in which the lens faces and outputs it as image data. Each time the image data is output, it is sent to a transmitter 24 owned by an operator who operates the flying object 20 and to a transmitter 27 as a radio control device owned by an operator who operates the gimbal 25 and camera 26 .

The image data transmitted to the transmitter 24 is displayed on the monitor of the transmitter 24 in real time. The operator operates the transmitter 24 so as to minimize the movement of the center of the image while viewing the monitor. This minimizes movement of the vehicle 20 and allows the vehicle 20 to remain stationary in levitation, even without GNSS.

The image data transmitted to the transmitter 27 is also displayed on the monitor of the transmitter 27 in real time. In order to keep the flying object 20 in a stationary state in levitation, a landmark is required to confirm whether the flying object 20 is moving. In order to display the target as a mark on the monitor, the operator drives the gimbal 25 while looking at the monitor to focus each camera 26 on each target.

An image of the camera image at this time is as shown in FIG. An image including each object 28 such as a tree in focus of each camera 26 is displayed, and when an air pressure sensor is mounted, the air pressure detected by the air pressure sensor is displayed numerically. Barometric pressure is used to calculate altitude. By using this barometric pressure sensor with the camera 26, vertical movement of the aircraft 20 can also be minimized. The object 28 may be any object as long as it is fixed at that position and serves as a landmark.

The transmitter 27 includes a connection portion to which a monitor or a terminal device having a monitor can be connected, an antenna for wirelessly transmitting control signals for controlling the gimbal 25 and the camera 26, a stick for receiving operations by a worker, and a power button. The transmitter 27 receives the image data acquired by the camera 26 and displays it on the monitor or the monitor of the terminal device. The worker can rotate the gimbal 25 and perform operations such as switching the zoom of the camera 26 while watching the monitor.

The flying object 20 can be equipped with GNSS, an atmospheric pressure sensor, and an ultrasonic sensor as required. A GPS (Global Positioning System) receiver can be used as GNSS. A GPS receiver is a well-known device for measuring position coordinates and will not be described in detail here. A barometric sensor can measure altitude and speed. An ultrasonic sensor emits ultrasonic waves toward an object and receives reflected waves to detect the presence of the object. This enables advanced control and obstacle detection.

The flying object 20 can be separately equipped with an optical sensor such as an obstacle detection sensor for detecting obstacles, a magnetic sensor, a gyro sensor, an acceleration sensor, and the like. A magnetic sensor can measure the orientation of a magnetic field and sense orientation. Gyro sensors can be used to measure rotational speed and control roll, pitch and yaw. The acceleration sensor detects the inclination of the flying object 20 and can be used for attitude control.

The flying vehicle 20 may be fitted with a silica airgel target 30 that transmits laser light, as shown in FIG. 6, or a transparent box containing smoke or a dilute colloidal solution. The target 30 can be irradiated with light from an optical fiber to display three-dimensional directions (X-axis, Y-axis, Z-axis) 31a, 31b, 31c. In the case of a transparent box in which smoke or a dilute colloid solution is enclosed, a stirring means such as a stirring blade can be provided in the box so that the smoke and colloid are uniformly diffused.

In the configuration shown in FIG. 6, a laser beam irradiation means such as a laser pointer 32 is irradiated from the ground toward the center of the target 30 (the point where three axes intersect), and the target irradiated with the laser beam is irradiated with the laser beam. Using the center of 30 as a reference for the position in the air of the flying object 20, the flying object 20 can be manually operated to levitate at a predetermined position in the air and remain stationary.

In order to perform automatic control instead of manual operation, photo-resistors (photodetectors) 33 are provided on the X, Y and Z axes of the optical fiber to react with the laser light so that the laser light comes to the center. You may control the flight controller mentioned later so that.

The hardware configuration of the flying object 20 will be described with reference to FIG. The flying object 20 has a receiver 40 that receives radio signals from the transmitter 24 to instruct ascending, descending, advancing, retreating, etc., and a receiver 40 that receives the instructions and performs arithmetic processing to determine how to rotate the motors. It has a flight controller 41 that outputs commands, and a battery 42 that supplies power to the flight controller 41 and the like.

The aircraft 20 has three or more rotor blades, and three or more motors 43 for rotating the three or more rotor blades, respectively. In the example shown in FIG. 7, four motors 43 are provided. The flight controller 41 can output commands to the motors 43 to rotate them at different rotational speeds.

The flying object 20 includes ESCs (Electronic Speed Controllers) 44 in a number corresponding to the number of motors 43 that adjust the rotation speed of each of the three or more motors 43 based on commands from the flight controller 41 . By providing ESCs 44 corresponding to the number of motors 43, it is possible to separately receive different commands from the flight controller 41 and control each motor 43 at different rotational speeds.

When the voltage of the power supply supplied by the battery 42 differs from the voltage used by the flight controller 41, etc., and the voltage of the power supply supplied by the battery 42 needs to be lowered, a UBEC (Universal Battery Elimination Circuit) 45 that lowers the voltage is provided. can be provided.

The aircraft 20 can also include a power management unit (PMU) that manages the power supply of the battery 42, an inertial measurement unit (IMU) that detects three-dimensional angular velocity and acceleration, a GNSS, and the like. Also, the flying object 20 is equipped with the gimbal 25 and the camera 26 described above.

8 and 9, the operation of installing construction reference points 12 using the surveying system shown in FIG. 3 will be described. FIG. 8 is a conceptual diagram of surveying, and FIG. 9 is a flow chart showing the flow of the installation work of the construction reference point 12. As shown in FIG. As shown in FIG. 8, the work of setting the construction reference point 12 is to survey the prism 21 by changing the position of the flying object 20 with the TSs 22 and 23 . Among the measurement results of TS22 installed at a known point and the measurement results of TS23 installed at an unknown point measured at the same time, the position of prism 21 is obtained from the measurement result of TS22, and the position of prism 21 obtained and the measurement result of TS23 to find the position of TS23. The TS 23 is first installed in the local coordinate system (0, 0, 0), and the position of the planar rectangular coordinate system is calculated by surveying the prism 21 .

Once the position of TS23 is determined, the construction reference point 12 can be surveyed by TS23, and the position of construction reference point 12 can be obtained from the position of TS23 and the measurement result of TS23. The position of the construction reference point 12 is calculated as the position of the planar rectangular coordinate system.

Although the outline is as described above, specific work will be described with reference to FIG. The work is started from step 100, and the aircraft 20 is prepared at step 101. FIG. A prism 21 and a camera 26 are attached to a flying object 20 via a gimbal 25, power is turned on to the flying object 20 and transmitters 24 and 27, and preparations for flying the flying object 20 are made.

At step 102, TSs 22 and 23 are installed respectively. The TS 22 is installed at a known point on the ground, and the TS 23 is installed at an unknown point such as the shaft where the construction reference point 12 is installed. Note that the TS 22 is not limited to a known point, and may be set at an unknown point, surveying two or more reference points, and calculating the position coordinates using the backward public survey method. Note that the operations of steps 101 and 102 may be performed in reverse order, or may be performed simultaneously.

When the preparation of the flying object 20 and the installation of the TSs 22 and 23 are completed, the process proceeds to step 103 to fly the flying object 20. In step 104, surveying is performed by automatic tracking of the prism 21 mounted on the flying object 20 from the TSs 22 and 23. I do.

The operation of the flying object 20 and the operation of the gimbal 25 mounted on the flying object 20 are each performed by one worker (two workers in total). A worker 1 who operates the aircraft 20 is in charge of moving the aircraft in the X, Y, and Z directions and yaw operation, and a worker 2 who operates the gimbal 25 zooms the three cameras 26 (focus is automatic). , gimbal 25 pitch and roll operations.

In operating the gimbal 25 , the center of rotation is aligned with the center of the prism 21 and the optical axis of the camera 26 is aligned with the center of the prism 21 .

The worker 1 moves the flying body 20 from the TSs 22 and 23 to a desired position where it is easy to collimate, and makes it stand still by levitation. The worker 2 appropriately rotates the gimbal 25 to move the gimbal 25 from the TSs 22 and 23 to a position where it is easy to collimate, and also selects and zooms in on a camera image that is easy to collimate.

When the position of the aircraft 20 is determined by the operations of workers 1 and 2, surveying is performed by TSs 22 and 23. At that time, the movement of the prism 21 is brought close to a stationary state by levitation in the air by cooperation of the workers 1 and 2.例文帳に追加Surveying is performed by measuring distance and direction at predetermined time intervals.

In step 105, position coordinates of three or more prisms 21 (provisional benchmarks) are calculated using the data for which synchronization has been confirmed among the measurement results of TS22 and 23 and the position coordinates of TS22. Then, in step 106, the position coordinates of the unknown point TS 23 are calculated using the data whose synchronization has been confirmed and the position coordinates of the calculated three or more temporary benchmarks. The position coordinates of the unknown point TS23 can be calculated using the above-described backward public meeting method.

Here, a method for confirming synchronization will be described with reference to FIG. FIG. 10 shows the time when the prism 21 was surveyed by the TS22 placed at the known point indicated by TS(U)-1 and the time when the prism 21 was surveyed by the TS23 placed at the unknown point indicated by TS(D)-1. and is a diagram showing. In FIG. 10, the data measurement times of TS22 and TS23 are used as the times, and the range from the measurement start time to the measurement end time is indicated by an ellipse.

Synchronization is confirmed at the measurement end time of one measurement. Whether or not synchronization has been confirmed is determined by checking the difference between the measurement end times of TS22 and TS23 (Δtn, where n is a natural number) within the allowable range (ΔtP). or not. Here, ΔtP can be set to 2 seconds for the first measurement and 1 second or less thereafter. These values are examples, and appropriate values can be set according to the situation of the measurement results.

In the example shown in FIG. 10, Δtn and Δtn+2 are equal to or less than ΔtP, so it is determined that synchronization has been achieved, and these data are used to calculate the position coordinates of the unknown point TS23. On the other hand, since Δtn+1 and Δtn+3 exceed ΔtP, it is determined that synchronization cannot be performed, and those data are discarded.

In this example, synchronization is confirmed using the measurement times of TS22 and 23, but this is not a limitation, and if a PC is used as the computing means, the clock of the PC may be used. When using GNSS50, you may utilize the time information of NMEA (National Marine Electronics Association). By the way, the survey time for one point by automatic tracking of TS22 and 23 is generally 0.4 seconds or less.

Next, with reference to FIG. 11, a method of calculating position coordinates using the posterior resection method by TS will be described. The calculation begins at step 200 and at step 201, hypothetical coordinates are determined. The hypothetical coordinates are the coordinate values (x, y, z) of the TS 23 in the planar rectangular coordinate system calculated from the measurement results obtained by measuring the distance and direction to the prism 21 with the TS 23 .

At step 202, an angle observation equation is created based on the measurement results of TS23. Also, in step 203, a distance observation equation is created based on the measurement results of TS23. The observation equation is a conditional equation that expresses the relationship between the measured distance and direction (angle) and the unknown XY coordinates of TS22.

In step 204, normal equations are created using the angular observation equation and the distance observation equation. A normal equation is a system of simultaneous equations obtained by substituting measurement data into an observation equation and finding a combination of coefficients that minimizes the residual (error). At step 205, the XY coordinates of the TS 23, that is, the XY coordinates of the instrument point, are calculated using the method of least squares. Then, in step 206, the calculated instrument point coordinates and assumed coordinates are compared to confirm whether the difference is less than 2 mm. If the difference is 2 mm or more, the process proceeds to step 207 , the calculated instrument point coordinates are assumed to be assumed coordinates, and the process returns to step 202 . This value of 2 mm is also an example, and an appropriate value can be set according to the situation of the measurement result.

On the other hand, if the difference is less than 2 mm in step 206, the process proceeds to step 208, where the calculated Z coordinate of TS23 is subtracted from the Z coordinate of prism 21 calculated by TS22, the average value is obtained, and the average value is used as the instrument point be the Z coordinate of After calculating the instrument point coordinates in this manner, the calculation ends at step 209 .

The positional coordinates of TS22 are coordinates calculated from the measurement results obtained by measuring at least two reference points having coordinates in a plane rectangular coordinate system. The positional coordinates of prism 21 measured by TS22 are the positional coordinates of TS22 (this Since the calculation is based on the known coordinates at the stage, the coordinates are calculated as the coordinates of the planar rectangular coordinate system.

On the other hand, the position coordinates of TS23 are assumed to be unknown coordinates in the local coordinate system. As shown in FIG. 12, the local coordinate system has a relationship in which the xy axes are rotated by an angle α with respect to the rectangular coordinate system, and the origin is translated from each axis by an arbitrary distance.

From this relationship, the unknown coordinates can be obtained by the following method. However, as with the above resection method, for simplicity, it is assumed that the verticality in the Z direction is maintained, and the coordinates are the average values calculated from the measured Z direction measurements. and

Referring to FIG. 12, let p ₀ (x ₀ , y ₀ , z ₀ ) be the unknown coordinates at which TS 23 is installed, let i be the number of times the prism 21 is measured by TS 23 a plurality of times, and let i Using the measurement results, that is, the distance l _1i , the horizontal angle φ _1i , and the elevation angle θ _1i , the position coordinates (x ^' _1i , y ^' _1i , z ^' _1i ) of the prism 21 in the local coordinate system are obtained. Ask for The position coordinates of the prism 21 in the planar rectangular coordinate system are measured as (X _1i , Y _1i , Z _1i ) by the TS 22 installed at the known coordinates, and (X _1i , Y _1i , Z _1i ) in the planar rectangular coordinate system. and (x ^' _1i , y ^' _1i , z ^' _1i ) in the local coordinate system, the unknown coordinate p ₀ (x ₀ , y ₀ , z ₀ ) and the plane rectangular coordinate system in the local coordinate system Obtain the rotation angle α. Specifically, it can be calculated using Equation 1 below. The subscript i in Equation 1 is the number of measurements described above.

In order to make the above equation 1 easier to understand, the notation is simplified.

In Equation 2 above, (c, d) is the amount of translation and is equal to the unknown coordinates (x ₀ , y ₀ ). The rotation angle α and the expansion/contraction rate s are represented by the following formulas 3 and 4 using a and b. The expansion/contraction rate s is the rate of change in the scale before and after the conversion, as the shape of the figure does not change before and after the conversion, but the scale may change. The expansion ratio s is originally 1.

Based on the above conditions, the calculation is repeated using the measurement results of the number of measurements, and the unknown coordinates (x ₀ , y ₀ ) and the rotation angle α are calculated by the method of least squares. By the way, when the above formula 2 is applied to the above formula 1, the following formula 5 is obtained. Then, when the determinant is calculated, it becomes as shown in Equation 6 below.

The method of least squares is a method of minimizing the sum of squares of errors and obtaining the most probable relational expression when processing measured values with errors. The formula can be represented by Formula 7 below. In Equation 7, f(a,b,c,d) is the sum of errors.

Assuming that the partial differentiation of f as a function of a is 0, it is expressed as in Equation 8 below, and the right side of Equation 8 can be expressed as in Equation 9 below.

Similarly, if f is partially differentiated as a function of b and set to 0, f is partially differentiated as a function of c and set to 0, and f is partially differentiated as a function of d and set to 0, the following equation 10 ~12.

By solving the four simultaneous equations of Equations 9 to 12 derived as described above, a, b, c, and d can be calculated. The unknown coordinates (x ₀ , y ₀ ) are assumed to be equal to (c, d) as shown in Equation 2 above, and the rotation angle α is calculated by Equation 3 above using the calculated a and b. be able to.

For the unknown coordinate z ₀ , the vertical distance is calculated from the distance l _1i and the elevation angle θ _1i , subtracted from Z _1i of the prism 21 in the rectangular coordinate system, and calculated by obtaining the average value. be able to.

Next, with reference to FIG. 13, a method for confirming the validity of the planar rectangular coordinate system of TS23 will be described. In determining the position of TS23, the prism 21 mounted on the aircraft 20 was surveyed again, and the two positions of the prism 21 in the planar rectangular coordinate system (measurement from TS22) obtained from the coordinates of TS22 and TS23 in the planar rectangular coordinate system value and the calculated value from TS) is within a certain difference level. That is, the measured value TS(U)-1 (X, Y, Z coordinates) of the planar rectangular coordinate system of the prism 21 from the known point TS22 and the prism 21 relative to the coordinate of the planar rectangular coordinate system of TS23 calculated by the above equation. The distance of the calculated value TS(D)-1 (X, Y, Z coordinates) in the planar rectangular coordinate system is taken as the difference, and it is determined whether the difference is within a certain difference level.

The difference level indicates the tolerance of the difference. In FIG. 13, two differential levels are shown, differential level 1 representing a range of 0 to 3 mm differential and level 2 representing a range of 4 to 5 mm differential. These ranges are also examples, and appropriate ranges can be set according to the situation of the measurement result.

In the example shown in FIG. 13, the remeasurement yields results indicated by dark circles to light circles. The results indicated by the lightest colored circles represent examples that fell within the 1 difference level. Coordinates calculated from measured values falling within such a difference level are obtained and determined as the positional coordinates of TS23.

Referring to FIG. 9 again, in step 107, the temporary benchmark is again surveyed from the known point TS22 and the original unknown point TS23 whose position in the planar rectangular coordinate system is calculated as described above, and in step 108, the difference is fixed. is within the difference level, that is, below the set value. If it is less than the set value, go to step 109. If it exceeds the set value, go back to step 103 and survey again. In step 109, surveying is performed by the TS 23 whose position coordinates have been determined, and the position coordinates of the construction reference point 12 are calculated. When markers such as stone markers, metal markers, and rivets are installed at the calculated position coordinates, in step 110, the installation work of the construction reference point 12 ends.

In the example described so far, when using the prism 21 mounted on the flying object 20 as a temporary benchmark, the position coordinates of the prism 21 are calculated by surveying by automatic tracking of the TS 22 . If the flying object 20 is equipped with a system such as GNSS that can measure position coordinates, the position coordinates of the prism 21 can be directly measured by the system such as GNSS.

FIG. 14 is a diagram showing a second configuration example of the survey system. As in the system of the first configuration example, the surveying system includes a remotely operable flying object 20, a prism 21 provided on the flying object 20, and an unknown point such as the vertical shaft 11, which measures the distance and direction to the target. and calculation means for calculating the position coordinates of the construction reference point 12 and the like. The surveying system also includes a transmitter 24 , a gimbal 25 , a camera 26 and a transmitter 27 . In the second configuration example, instead of the TS 22, a GNSS 50 as a position detection means provided in the flying object 20 is provided.

The GNSS 50 receives information such as the position and time of the satellite transmitted from the satellite, measures the time required for the radio wave to reach its own receiver after being transmitted from the satellite, and converts it into a distance. The GNSS 50 simultaneously obtains distances from 5 or more satellites whose position coordinates are known by GNSS such as the network type RTK method and the RTK method, and calculates the position coordinates of the receiver of the GNSS 50 from the position coordinates and distances of the 5 or more satellites. .

The survey system includes a GNSS 50 as well as a laser plumb 51 as irradiation means for irradiating light in the vertical direction. The laser plumb 51 is placed on the construction reference point 12 to be installed, and emits a laser beam directly above the construction reference point 12 .

The operation of setting the construction reference point 12 in this survey system will be described in detail with reference to FIGS. 15 and 16. FIG. FIG. 15 is a conceptual diagram of surveying, and FIG. 16 is a flow chart showing the flow of the installation work of the construction reference point 12. As shown in FIG. As shown in FIG. 15, the installation work of the construction reference point 12 involves installing a laser plumb 51 on the construction reference point 12 and irradiating a laser beam directly above the construction reference point 12 . The flying body 20 is moved so as to capture the laser beam at the center of the camera 26 mounted on the flying body 20, and is kept stationary by levitation.

The position of the flying object 20 is measured by the GNSS 50 mounted on the flying object 20 in a stationary state. Also, the prism 21 is surveyed by the TS 23 installed at an unknown point.

The horizontal position coordinates (X, Y coordinates) of the construction reference point 12 can also be obtained from the time when the retroreflector is positioned on the vertical line of the laser plumb 51 and the GNSS position coordinates. The Z coordinate can be calculated from the GNSS position coordinate (Z coordinate), the distance measured by the laser plumb gauge 51 and the distance between the receiver 40 and the prism 21 .

The outline is as described above, but the details of the work will be described with reference to FIG. 16 . The work is started from step 300, and the aircraft 20 is prepared at step 301. FIG. A prism 21 and a camera 26 are attached to a flying object 20 via a gimbal 25, power is turned on to the flying object 20 and transmitters 24 and 27, and preparations for flying the flying object 20 are made.

In step 302 , the TS 23 is placed in a shaft or the like where the construction reference point 12 is installed, and the laser plumb 51 is arranged on the construction reference point 12 . Note that the operations of steps 301 and 302 may be performed in reverse order, or may be performed simultaneously.

In step 303, the flying object 20 is flown to the vicinity directly above the position where the construction reference point 12 is installed, and is kept stationary at that position by levitation.

At step 304, the laser beam is emitted from the laser plumb 51, and at step 305, the flying object 20 is moved to a position where the laser beam is captured at the center of the camera 26, and held stationary at that position.

When the camera 26 is stopped at the capturing position at the center, the position coordinates of the receiver 40 are measured by the GNSS 50 in step 306 . The distance and direction between the receiver 40 and the prism 21 are predetermined as an offset amount, and the positional coordinates of the prism 21 can be calculated from the measured positional coordinates of the receiver 40 and the offset amount.

In step 307, the TS 23 performs surveying to measure the distance and direction to the prism 21, and in step 308, the construction reference point is determined using data that has been confirmed to be synchronized with the time when the position coordinates of the receiver are measured by the GNSS 50. 12 position coordinates are calculated. When the GNSS 50 is used, the time synchronization may utilize the time when surveying by the TS 22 and 23, the clock of the PC, and the NMEA time information of the GNSS 50. NMEA is a protocol used by receivers for communication, and includes information on location coordinates such as time, latitude and longitude.

In step 309, the temporary benchmark is surveyed again from the known point TS22 and the original unknown point TS23 whose position in the plane Cartesian coordinate system is calculated. to judge. If it is equal to or less than the set value, the process proceeds to step 311, and if it exceeds the set value, the process returns to step 303 and surveying is performed again. In step 311, surveying is performed by the TS 23 whose position coordinates have been determined, and the position coordinates of the construction reference point 12 are calculated. When markers such as stone markers, metal markers, and rivets are installed at the calculated position coordinates, in step 312, the installation work of the construction reference point 12 is completed.

In the first example, the prism 21 is surveyed by the TS 23, and the position coordinates of the TS 23 installed at an unknown point are calculated by the posterior public meeting method. However, since the prism 21 is attached to the flying body 20, it may be difficult to stand still in the air due to weather conditions, etc., and it may be difficult to acquire continuous data at a stationary position. Therefore, the position coordinates of TS 23 can also be calculated by a method using measurement results at a plurality of distant positions. As an example of the other method, a method using similarity transformation (Helmert transformation) can be used.

A method of calculating the position coordinates of the TS 23 using similarity transformation will be described with reference to FIG. As the similarity transformation, Helmert transformation is used to calculate the amount of movement, rotation angle, etc., based on the coordinates of known points that have values in both coordinate systems, and transform from one coordinate system to the other coordinate system. can be done.

Here, one of the coordinate systems is the local coordinate system with the position coordinates of the TS 23 being (0, 0, 0), and the other coordinate system is the planar rectangular coordinate system. The position coordinates of TS22 are the coordinates of a plane rectangular coordinate system.

Since the TSs 22 and 23 are installed horizontally, the positional coordinates of the TS 23 are calculated by handling the similarity transformation of the plane and the movement in the vertical direction separately.

The similarity transformation is substantially similar to the backward resection method, and if the amount of rotation (a, b) and the amount of translation of the origin (c, d) are assumed, the amount of rotation α of the Z axis is given by the following equation 13 Therefore, the expansion ratio s is represented by the following formula 14. s is set to a value close to 1.

The flying object 20 is made to fly, and the position of the prism 21 is measured by the TSs 22 and 23 while the flying object 20 is kept in a state of being levitated and stationary at an arbitrary position. This is measured at a plurality of positions by moving the flying object 20 .

Let (X _Ui , Y _Ui ) be the position coordinates in the planar rectangular coordinate system obtained from the measurement results of the prism 21 measured by TS22, and the position in the local coordinate system obtained from the measurement results of the prism 21 measured by TS23. Assuming that the coordinates are (x _Di , y _Di ), the following formula 15 holds. Equation 15 below is a general equation for similarity transformation.

Representing Equation 15 above in a matrix yields Equation 16 below. In addition, n (4 or more natural numbers) coordinates (x _D1 , y _D1 ), (x _D2 , y _D2 ), ..., (x _Di , y _Di ), ..., (x _Dn , y _Dn ) before conversion and the coordinates after conversion are ( _XU1 , _YU1 ), ( _XU2 , _{YU2), ..., (XUi , YUi} ), ..., ( _XUn , _YUn ).

Based on Equation 16 above, the least squares method is used to obtain the most probable value K that minimizes the residual from the measured value by Equation 17 below.

Parameters a to d can be calculated by using Equation 17 above. Also, using these parameters a to d and Equation 15 above, the X and Y coordinates of the unknown point TS23 can be calculated.

Regarding the Z coordinate in the vertical direction, Z _Ui is the Z coordinate obtained from the measurement result of the prism 21 measured by the known point TS22, and the Z coordinate is obtained from the measurement result of the prism 21 measured by the unknown point TS23. Let z _Di be the Z coordinate obtained, and use Z _Ui and z _Di to find the difference in the Z direction. The difference is the value of Z _Ui -z _Di.

The Z coordinate of TS23 of the unknown point can be obtained by moving from Z _Ui by z _Di , for example, as the average value of Z _Ui -z _Di.

Three-dimensional coordinates (X, Y, Z) in a planar rectangular coordinate system can be obtained by performing similarity transformation and moving in the vertical direction using Equations 13 to 17 above. In a planar Cartesian coordinate system, latitude and longitude are used to represent the X and Y coordinates, so it is possible to determine which direction is north.

Here, the validity of the plane Cartesian coordinate system calculated for the unknown point TS23 is confirmed. The confirmation method is the same as the above method, and when determining the position of TS23, the prism 21 mounted on the aircraft 20 is surveyed again, and the plane of the prism 21 obtained from the coordinates of TS22 and TS23 in the plane rectangular coordinate system. Determine if the distance between two Cartesian positions (measured from TS22 and calculated from TS23) is within a certain difference level.

Check the values with large deviations and re-measure if necessary. Even if the difference is a large value, if it is within the difference level 1 or 2 shown in Fig. 11, the station coordinates and north direction of TS23 can be set to the determined coordinates and north direction without re-measurement. .

If the above difference level 1 or 2 is exceeded, the measurement is performed again, the difference is checked again, and whether it is within the difference level 1 or 2 is confirmed. In the remeasurement, the prism 21 is arranged to expand the direction in which the difference is large, and the difference is corrected.

Although the surveying system and surveying method of the present invention have been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the above-described embodiments, and other embodiments, Additions, changes, deletions, etc., can be made within the range that a person skilled in the art can conceive, and as long as the action and effect of the present invention are exhibited in any aspect, it is included in the scope of the present invention.

10...TS
11... Shaft 12... Construction reference point 13... Temporary benchmark 14... Cliff, precipice, etc. 20... Airplane 21... Prism 22... TS
23 TS
24 Transmitter 25 Gimbal 26 Camera 27 Transmitter 28 Object 30 Targets 31a, 31b, 31c Three-dimensional direction 32 Laser pointer 33 Photoresistor 40 Receiver 41 Flight controller 42 Battery 43 … Motor 44 … ESC
45 UBEC
50 GNSS
51... Laser plumb

Claims (7)

A surveying system for setting a construction reference point,
a remotely controlled flying object;
a retroreflector provided on the flying object;
a first measuring means for measuring the position of the retroreflector;
a second measuring means for measuring distance and direction to a target;
The position of the retroreflector measured by the first measuring means is set as the position of the temporary reference point, and the position of the temporary reference point and the target measured by the second measuring means as the retroreflector are measured. The position of the second measuring means is calculated using the measurement results of , and the calculated position of the second measuring means and the second measurement result measured by the second measuring means with the target as the construction reference point and calculating means for calculating the position of the construction reference point using
The first measuring means is
Means positioned at a known point for measuring distance and direction to said retroreflector, or
Means for irradiating light in the vertical direction from the construction reference point in order to position the flying object directly above the construction reference point; means for receiving the position information and the time information from the transmitting system; Three means of calculating the position of the body
surveying system , including 2. The surveying system according to claim 1 , comprising imaging means provided on said flying object, and display means for displaying an image taken by said imaging means. The calculating means determines whether the difference between the time when the retroreflector is measured by the first measuring means and the time when the retroreflector is measured by the second measuring means is within a predetermined time. 3. The surveying system according to claim 1, wherein the position of said second measuring means is calculated using only the position of said temporary reference point and said first measurement result. The surveying system according to any one of claims 1 to 3 , wherein said computing means calculates the position of said second measuring means using a backward-conference method or similarity transformation. The calculation means calculates the position of the retroreflector using the calculated position of the second measurement means and a third measurement result obtained by measuring the target as the retroreflector by the second measurement means. the distance between the position of the retroreflector measured by the first measuring means and the calculated position of the retroreflector is calculated as a difference, and the second measurement is performed according to the calculated difference The surveying system according to any one of claims 1 to 4 , which judges whether or not to adopt it as the position of the means. 6. The surveying system according to claim 5 , wherein, when said computing means determines not to adopt, said first measuring means and said second measuring means perform re-measurement. A method for setting a construction reference point, comprising:
a step of measuring the position of a retroreflector provided on a remotely operable flying object by a first measuring means;
measuring the distance and direction to the retroreflector by a second measuring means;
The position of the retroreflector measured by the first measuring means is set as the position of the temporary reference point, and the position of the temporary reference point and the target measured by the second measuring means as the retroreflector are measured. A step of calculating the position of the second measuring means by a computing means using the measurement results of
measuring the distance and direction to the construction reference point by the second measuring means;
Using the calculated position of the second measuring means and a second measurement result of measuring the construction reference point by the second measuring means, the calculating means calculates the position of the construction reference point. and
The step of measuring by the first measuring means includes:
positioned at a known point and measuring the distance and direction to said retroreflector; or
a step of irradiating light in a vertical direction from the construction reference point in order to place the flying object directly above the construction reference point; a step of receiving the position information and time information from a transmitting system; and based on the position information and the time information received when the aircraft is placed directly above the construction reference point, the retroreflection is performed. Three steps in the process of calculating body position
methods of surveying , including

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