JP2002031529A - Automated position measuring system and method therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To automatically measure in a short time the position of each subject set on an object (natural ground or artificial structure). SOLUTION: This system 10 has a mobile element 18 provided with a measuring portion 70 for measuring the spatial position of each subject 16 of measurement, a leveling portion 68 supporting the measuring portion in a leveled condition, and a communicating portion 98. When the system is used, the mobile element 18 is moved to near each subject 16 of measurement. Next, using the measuring portion, the position of the measuring portion is determined from a reference point 78 positioned near each subject of measurement. Next, the spatial position of each subject of measurement is determined. The spatial position of each subject is transmitted from the communicating portion to a remote management portion 100. The management portion 100 determines the displacement of each subject based on two spatial positions of each subject measured at time intervals, and display it.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a system for measuring a spatial position of an object. Specifically, the present invention relates to natural ground or artificial structures (for example, mountain slopes, road slopes,
Automatic position measurement system for measuring an accurate spatial position (coordinates) of a measurement object fixed to a tunnel inner wall / building), an automatic position measurement system for obtaining a displacement amount of the specific portion from the measured spatial position, and a method therefor About.

[0002]

BACKGROUND OF THE INVENTION In order to predict the occurrence of natural disasters and to prevent secondary disasters caused by the natural disasters, it is important to measure the displacement of the natural ground and artificial structures periodically or as necessary. It is.

[0003] For example, in the case of a highway constructed by cutting open the natural ground, not only is a slope constructed on one or both sides of the highway regularly inspected, but also in an area with a large amount of rainfall, rainfall is particularly high. It is necessary to confirm the stability of the slope afterwards. However, in the past, slope inspections have been conducted by visual inspection while people walk along the slopes, and the work of checking the safety of the slopes over a long distance requires a great deal of time. Was.

In the case of a road constructed by cutting a natural slope, the cut natural ground (slope) is usually provided with a means for preventing its collapse (for example, spraying work). However, if the slope after being cut has a steep slope, it is very dangerous to explore the slope itself,
It can cause human disaster.

Further, in the case of rock tunnel construction, since the tunnel before lining is constantly deformed due to the surrounding earth pressure, the deformation is constantly measured to predict the danger of falling rocks and the occurrence of accidents. It is necessary to take measures to prevent it.

[0006]

SUMMARY OF THE INVENTION Accordingly, the present invention automatically measures the position of an object set on an object (natural ground or artificial structure) in a short time, and obtains newly obtained measurement data and previously obtained measurement data. It is an object of the present invention to provide a system and a method that can quickly obtain a displacement of a specific part by comparing measurement data.

In order to achieve this object, an automatic position measuring system (10) of the present invention has a moving body (18) and a measuring device (20) mounted on the moving body (18). The measuring device (20) measures a spatial position of an object (16) at a location distant from the moving body (18).
And a leveling unit (68) that supports the measuring unit (70) in a state where the measuring unit (70) is leveled. The measuring device (20) includes a first state in which the measuring unit (70) and the leveling unit (68) are supported by the moving body (18), and the measuring unit (70) and the leveling unit (68). The moving unit (46) for moving the measuring unit (70) and the leveling unit (68) between the ground (60) and the second state supported by the part fixed to the ground. Have.

[0008] In another embodiment of the automatic position measuring system (10) of the present invention, the measuring device (20) includes a moving body (1).
8) a first support (22) fixed to the moving body (1);
8) A measuring unit (70) for measuring the spatial position of the object (16) at a location distant from the device, and a leveling unit for supporting the measuring unit (70) in a state where the measuring unit (70) is leveled. (68)
And the first support portion (2) while supporting the leveling portion (68).
2) a second support portion (44) that can be raised and lowered with respect to
The first state in which the support portion (44) is supported by the first support portion (22) and the second support portion (44) is in the ground (60)
Or a moving unit (4) for moving the second support unit (44) between the second state supported by the part fixed to the ground and the second state.
6).

A preferred form of this system (10) is
It has a global position grasping system (84) for grasping the position of the measuring unit (70) on the earth.

Another preferred form of the system (10) includes a gyro sensor (86) for grasping the direction of the measuring unit (70) on the earth.

Further, another preferred form of the system (10) is a central management unit (100) located at a location remote from the mobile unit (18), and mounted on the mobile unit (18), and a measuring unit (70). A storage unit (80) for storing the measured spatial position of the object (16); and a central management unit (10) provided in the moving body (18) and storing information stored in the storage unit (80).
0), and a communication unit (98) for transmitting the data.

In the system (10), the central management unit (100) uses the measurement target unit (1) based on two spatial positions of the measurement target unit (16) measured at intervals.
Find the displacement in 6).

Another embodiment of the automatic position measuring system (10) of the present invention is a vehicle (18), a fixed frame (22) fixed to the vehicle (18), and a vertically movable unit with respect to the fixed frame (22). , A total station (70) supported by the movable frame (44), and the total station (70) with respect to the movable frame (44) with the total station (70) leveled. An automatic leveling device (68) for supporting the movable frame (44), the movable frame (44) is supported on a fixed frame (22) in a first state, and the movable frame (44) is mounted on the ground. (60) Or an elevating part (46) for moving between the second state supported by the part fixed to the ground.

In this system (10), the elevating section (46) has three legs (50) arranged at equal intervals on a horizontal plane, and each of the legs (50) has the above movable end at the upper end thereof. An upper leg portion (52) rotatably connected to the frame (44); and an upper leg portion (5) extending from the upper leg portion (52).
2) a lower leg portion (54) that moves forward and backward, wherein the lower leg portion (54) is separated from the ground (60) in the first state, and the lower leg portion (54) in the second state. Is the ground (60)
Is in contact with

In the system (10), a buffer (2) is provided between the fixed frame (22) and the movable frame (44).
4) is arranged, and the movable frame (4) is arranged in the first state.
4) is supported by a fixed frame (22) via a buffer (24).

According to the automatic position measuring method of the present invention, a measuring section (70) for measuring a spatial position of a measuring object (16) and a measuring section (70) are arranged in a state where the measuring section (70) is leveled. A step of preparing a moving body (18) including a supporting leveling unit (68) and a communication unit (98); a step of moving the moving body (18) near the measurement target (16); Measuring unit (70)
Calculating the position of the measurement unit (70) from the reference point (78) arranged near the measurement object (16) using the method, and the spatial position of the measurement object (16) from the position of the measurement unit (70) And transmitting the spatial position of the measurement object (16) to the remote management unit (100) via the communication unit (98).

In this automatic position measuring method, the displacement of the measurement target section (16) is obtained from two spatial positions of the measurement target section (16) measured at intervals.

[0018]

According to the automatic position measuring system and method configured as described above, the accurate positions (coordinates) of a plurality of measurement objects installed at distant places in space and the amount of displacement thereof can be reduced. Time can be safely measured. Further, the displacement state of the measurement object can be visually confirmed using the measured value.

[0019]

Embodiments of the present invention will be described below with reference to the accompanying drawings. In addition, the same code | symbol is attached | subjected to the same part or the same member displayed on several accompanying drawings. In addition, in order to facilitate understanding of the invention, terms indicating various directions (eg,
"Up,""down,""right,""left,""front,""back," and other terms that include these terms.) Instead, they should be construed on the basis of the claims.

I. Overview of Automatic Position Measurement System FIG.
1 shows a situation in which the spatial position of one or a plurality of objects 16 fixed to a slope 14 (FIG. 1 shows only one slope) constructed on both sides of the object 16 is measured. The system 10 shown in FIG. 1 generally includes a moving body 18 and a measuring device 20 mounted on the moving body 18. The moving body 18 is preferably a self-propelled vehicle (for example, an automobile) as shown in the figure, but is limited to the self-propelled vehicle as long as it can move on a predetermined route with the measuring device 20 mounted. Instead, a towed moving body may be used. Further, as will be described in detail later, the measuring device 20 holds the moving object 18 in a stopped state and the spatial position (own position) of the measuring device 20 and the space of the measurement target set on the slope 14. This is a device that measures the position (target position).

II. Mechanical Configuration of Measuring Apparatus The mechanical configuration of the measuring apparatus 20 is shown in FIGS. As shown in these drawings, the measurement device 20 has a first support portion (hereinafter, referred to as a “fixed frame 22”) fixed to a moving body 18 (hereinafter, referred to as a “vehicle 18”). In the present embodiment, the fixed frame 22 is formed of a plate-shaped member, and both ends are fixed to the left and right sides of the vehicle 18, respectively. The fixed frame 22 includes one central buffer 24 arranged on the center line in the front-rear direction of the vehicle 18 and a plurality (four in the present embodiment) of peripheral buffers arranged symmetrically about the central buffer 24. The part 26 is supported. In the present embodiment, the central buffer portion 24 includes a lower support portion 28 fixed to the fixed frame 22 and an upper support portion having a predetermined shape (in this embodiment, a truncated cone) disposed above the lower support portion 28. 30 and an elastic member 32 (for example, a helical spring, a rubber member) that supports the lower support 28 and the upper support 30 so that the upper support 30 can move in the vertical direction with respect to the lower support 28. It is configured. Similarly, the peripheral buffer section 26 is also constituted by a lower support table 34, an upper support table 36, and an elastic section 38 (for example, a helical spring or a rubber member) connecting these.

The fixed frame 22 is also a fixed frame 2
2, a front long hole 40 extending along the center line of the vehicle 18 in the front-rear direction, and a rear portion formed at the rear of the fixed frame 22 so as to be bilaterally symmetrical about the center line and the central buffer 24.
And two rear slots 42 extending obliquely rearward or in other directions from the center of the rear end. In addition, these three long holes 40,
42 are preferably arranged at equal intervals around the center buffer 24.

Above the fixed frame 22, a second support portion (hereinafter, referred to as a "movable frame 44") is arranged. As shown in FIG. 2, the movable frame 44 is supported by the fixed frame 22 via the central buffer 24 and the peripheral buffer 26 by a moving unit (hereinafter, referred to as an “elevating unit 46”). As shown in FIG. 3, it is supported so as to be able to move between a state (first state) and a state (second state) apart from the central buffer 24 and the peripheral buffer 26 and moved above them. I have.

In this embodiment, the elevating unit 46 is constituted by a tripod device 48 having a structure similar to a tripod used for installing surveying equipment. This tripod device 48
It consists of two legs 50. Each leg 50 includes an upper leg portion 52 and a lower leg portion 54, as best shown in FIG. 2, and the lower leg portion 54 is connected to the upper leg portion 52 so as to be able to advance and retreat. The upper leg portion 52 is provided with a pneumatic cylinder, a hydraulic cylinder, or another telescopic mechanism. With this telescopic mechanism, the lower leg portion 54 extends from the upper leg portion 52 (second state: FIG. 3). See) and upper leg 52
(A first state: see FIG. 2). The three leg portions 50 thus configured are respectively inserted into the front and rear long holes 40 and 42 formed in the fixed frame 22, and the upper end of the leg upper portion 52 is connected to the movable frame 44 by the rotating shaft 56. (See FIG. 2). Also, each leg 50 has a leg upper part 52 always located in the elongated holes 40 and 42 between the first and second states, and a leg upper part 52.
Has an outer diameter substantially equal to the width of the elongated holes 40 and 42,
Along the long holes 40, 42, the upper leg portion 52 is
2 can be moved in the long axis direction. On the other hand, in the second state, the floor 58 of the vehicle 18
4 so that the lower end of the leg 4 can contact the ground 60.
A plurality of small floor openings 62 or three legs 5 corresponding to
One large floor opening (not shown) for 0 is formed. As shown in FIG. 2, the floor opening 62 can be closed if necessary, as shown in FIG. 2, and a drive mechanism (for example, a pneumatic or hydraulic cylinder or motor) that moves the open / close cover. It is preferable to be able to open and close by an automatic opening / closing floor opening / closing device 64 including the following.

As shown in FIGS. 2 and 3, the movable frame 4
Reference numeral 4 denotes a fixed support for a support shaft 66 extending upward along a vertical axis passing through the central buffer portion 24 of the fixed frame 22. The upper end of the support shaft 66 has a leveling section 68 and the leveling section 6.
8 and a measuring unit 70 connected thereto.

The measuring section 70 comprises a total station or other surveying device. As the total station, for example, various total stations available on the market such as TPS1100 Professional Series TCRA type (1101, 1103, 1105 models) of Leica Geosystems Co., Ltd. can be used. The leveling unit 68 is a device that automatically levels the total station, that is, a device that sets the horizontal axis and the vertical axis of the total station horizontally and vertically with respect to the location on the earth where the total station is located. . The detailed configurations of the measuring unit 70 and the leveling unit 68 will be described later.

As shown in FIG. 2, the measuring section 70 is located inside the vehicle 18 in the first state (ie, below the ceiling 72 of the vehicle 18), and outside the vehicle 18 in the second state. (Above the ceiling 72). For this purpose, the measuring unit 70 is provided on the ceiling 72 of the vehicle 18.
Alternatively, a ceiling opening 74 large enough to allow the measurement unit 70 and the leveling unit 68 to pass through is formed. This ceiling opening 74 is
It is preferable that the door can be opened and closed appropriately by an automatic opening and closing ceiling opening and closing device 76 including an opening and closing cover and a driving mechanism (for example, a pneumatic or hydraulic cylinder or motor) for moving the opening and closing cover.

III. Electrical Configuration of Measuring Device FIG. 4 shows the electrical configuration of the measuring device 20. As shown in this figure, the measuring device 20 has a central processing unit 80 provided with an arithmetic unit and a storage unit (not shown), and the following devices are electrically connected to the central processing unit 80. Operation unit 82: The operation unit 82 includes the measurement unit 70 and the leveling unit 6.
8, various switches for starting up / down unit 46, floor opening / closing device 64, and ceiling opening / closing device 76 are included. The operation unit 82
Does not need to have a plurality of switches corresponding to each part (for example, a measurement unit or the like). For example, when a start switch (not shown) is turned on, the above-described operation is performed based on a program stored in the central processing unit 80 The measuring device 20 may be designed so that the measured units and the like operate in a certain order. -GPS (Global Positioning System) 84: GPS84
Is a device for grasping the position of the vehicle 18. Gyro sensor 86: The gyro sensor 86 is for obtaining a fixed azimuth (North-South direction), and its output is used for obtaining the azimuth to which the collimation line of the total station is directed. Temperature sensor 88: The temperature sensor 88 detects the temperature of the surrounding environment of the measuring device 20. -Atmospheric pressure sensor 90: The atmospheric pressure sensor 90 detects the temperature of the surrounding environment of the measuring device 20. A tilt sensor 92 (see FIG. 3): the tilt sensor 92 is fixed to the movable frame 44,
4 is obtained in the horizontal two-axis directions (the front-rear direction and the width direction of the vehicle 18). -Vehicle state detection sensor 94: Vehicle state detection sensor 94
Detects whether the clutch of the vehicle 18 is set to "parking" or "side brake" is set to the on state. Display unit 96: The display unit 96 is a liquid crystal display device and displays necessary information such as measurement data. Communication unit 98: The communication unit 98 is a device for communicating data measured by the measuring device 20 with a central management center (central management unit) 100 provided in a remote place. Communication between the communication unit 98 and the central management center 100 may use either the satellite communication system 102 or a mobile phone line.

IV. Measurement The operation of measuring the displacement of the slope 14 constructed on both sides of the road 12 using the above-described system 10 will be described with reference to the flowcharts of FIGS.

(1) Preparation (Installation of Measurement Object) Prior to measurement, a measurement object (for example,
A reflecting prism, reflecting mirror) is installed.

(2) Movement of Vehicle The vehicle 18 on which the measuring device 20 is mounted is moved to the object to be measured (1).
6) (normally, a place about 20 to 150 m away from the measurement target) (# 1). At this time, GPS84
Is used to reliably guide the user to the measurement target location (# 2). In addition, a landscape photograph image of the measurement target place seen from the driver's seat of the vehicle 18 is stored in a database of the central management center 100 in advance, and this image is stored in the central management center 10.
If the data is received from 0 through the communication unit 98 and displayed on the display unit 96, the operator does not mistake the measurement target place.

(3) Measurement The vehicle 18 is stopped at the measurement target place (# 3), and the measurement device 20
Is turned on (# 4). Thus, the central processing unit 80 communicates with the central management center 100 via the communication unit 98.
And send and receive necessary information. Specifically, the central processing unit 80
Transmits a signal to start the measurement to the central management center 100, and in response to this signal, the central management center 100
The measurement data is transmitted to (# 5). Central Management Center 10
The measurement data transmitted from 0 to the central processing unit 80 is stored in a storage unit (not shown) of the central processing unit 80, and data necessary for the display unit 96 (for example, the measurement data obtained in the previous measurement). Value) is displayed. The central processing unit 80
May receive necessary measurement data from the central management center 100 while the vehicle 18 is moving toward the measurement target location. Further, the measurement data necessary for the central processing unit 80 can be stored in advance.

The vehicle state detection sensor 94 checks whether the clutch of the vehicle 18 is set to "parking" or "side brake" is set to the operating state (# 6). When the clutch is not set to “parking” or when the “side brake” is not operating, a warning may be issued as necessary.

The floor opening / closing device 64 and the ceiling opening / closing device 76 are activated, and the floor opening 62 and the ceiling opening 74 are opened (#).
7). Next, the extension mechanism of the elevating unit 46 is activated (# 8),
Extend the lower leg portion 54 of each leg 50, and
The abutting end (lower end) is brought into contact with the ground, and the measuring unit 70 is projected from the ceiling opening 74 as shown in FIG. When the tip of the lower leg portion 54 comes into contact with the ground, the load on the corresponding expansion / contraction mechanism rapidly increases. Therefore, by providing a device for detecting the load of the telescopic mechanism in the telescopic mechanism, by detecting a sudden increase in the load in the telescopic mechanism by this device,
It can be confirmed that the lower leg portion 54 has contacted the ground 60 (# 9). When it is confirmed that all three legs 50 are supported by the ground 60, the central processing unit 80 sends the tilt sensor 9
2 is fetched and the inclination of the movable frame 44 is detected (# 10). When the movable frame 44 is inclined,
The central processing unit 80 activates the necessary leg unit 50 again, and adjusts the movable frame 44 completely or almost horizontally (# 1).
1). Then, the leveling unit 68 is activated to level the measuring unit 70 (# 12).

The central processing unit 80 also includes the gyro sensor 8
6 is turned on (# 13), and the collimation lines of the measuring unit 70 and its total station (TS) are directed in the initial direction (for example, the north-south direction detected by the gyro sensor 86) (# 1).
4). Further, the temperature sensor 88 and the pressure sensor 90 are activated (# 15).

Next, the central processing unit 80 determines a measurement reference point 78 (see FIG. 1, for example, an existing standard point or a standard level set based on the standard) located near the stop position of the vehicle 18. Then, a spatial position where the measuring unit 70 is installed, that is, three-dimensional coordinates (coordinates of the intersection of the vertical axis and the horizontal axis in the measuring unit 70) is obtained (# 16). Subsequently, the central processing unit 80 obtains three-dimensional coordinates of the measurement target 16 (# 17 to # 21). Specifically, the measuring unit 70 is turned so that the collimation line is directed to the coordinates of the first measurement object 16 obtained by the previous measurement (# 17). However, when the slope 14 is displaced between the previous measurement and the current measurement, the first measurement target 16 is not on the collimation line of the measurement unit 70. Therefore, the measurement unit 70 obtains the center (light amount center) of the light reflected from the first measurement target 16, and moves and fixes the collimation line to the light amount center (# 18). next,
In this state, angle data of the first measurement object 16 (the rotation angle from the measurement reference point 78 to the first measurement object 16 and the elevation angle of the first measurement object 16) are obtained (# 19).
Further, distance data from the measurement unit 70 to the first measurement target 16 is obtained (# 20). Thereafter, similarly, angle data and distance data are obtained for the second to fourth measurement objects 16 (# 21).

When the angle data and the distance data have been obtained for all the measurement objects 16 on the same measurement line as described above, the central processing unit 80 acquires the outputs of the temperature sensor 88 and the pressure sensor 90 (# 22). ), The distance data or the distance data and the angle data are corrected as necessary by using the output (# 23). The obtained angle data and distance data or the corrected angle data and distance data are transmitted to the central management center 100 via the communication unit 98 (# 24). Central management center 100 that received the data
Calculates the displacement of each measurement object 16 using the newly acquired data and the latest data acquired before this data, and if necessary, the displacement amount of each measurement object 16 [north-south direction, East-west, vertical, and three-dimensional displacements:
_{δ X, δ Y, δ Z} , δ ] is displayed on the display (Fig. 7
reference). The central processing unit 80 also calculates the spatial position of the measurement target 16 using the angle data and the distance data, and displays the displacement of the measurement target 16 on the display unit 96 as shown in FIG. Is also good.

(4) Movement When the measurement for one measurement line is completed as described above, the elevating unit 46 is started, and the elevating unit 46 and the movable frame 44 are returned from the second state to the first state ( # 2
5) The vehicle 18 is moved to the vicinity of the next survey line (# 2)
6). At this time, since the movable frame 44 and the measuring unit 70 of the precision equipment supported by the movable frame 44 are fixed to the fixed frame 22 via the plurality of buffers 24 and 26, the vibration caused by the movement of the vehicle 18 Is the direct measurement unit 7
Not transmitted to 0 mag. When the vehicle 18 moves to the vicinity of the next survey line, the spatial positions of the plurality of measurement objects 16 arranged on the survey line are obtained as described above.

V. Other Embodiments In the above embodiment, the measuring unit 7 is provided on the movable frame 44.
Although only one 0 is provided, a plurality of measurement units may be provided. In this mode, when there are many measurement objects on one survey line, measurement on one survey line can be performed in a short time.

Further, in order to prevent the temperature distortion of the total station itself constituting the measuring section 70, the measuring section 70 and the structural portion including the fixed frame 22 and the movable frame 44 are surrounded by a heat insulating material. It is preferable to keep the enclosed space at a constant temperature environment.

In the above description, an example in which the system 10 of the present invention is applied to slope displacement measurement has been described.
The system 10 can also be applied to measurement of deformation of cliffs, deformation of tunnel cross sections during excavation, and deformation of buildings and civil engineering structures.

Further, in the above embodiment, the movable frame 44 is placed on the fixed frame 22 via the buffer 24 or the like.
However, the movable frame 44 may be suspended and supported by an elastic member such as a spring hanging down from the fixed frame 22 or a portion fixed to the vehicle 18.

In the above-described embodiment, the measuring unit 70 is moved by the tripod device 48 to the ground 60 in the second state.
However, for example, in a case where the vehicle does not vibrate against the ground when the vehicle is stopped, the measurement unit may be supported on the vehicle itself by a tripod device or the like in the second state.

VI. Detailed Description of Measurement Unit and Leveling Unit As shown in FIG. 8, the measurement unit 70 includes an annular or substantially donut-shaped substrate 112 fixed to the leveling unit 68 and a bottom surface (horizontal reference The main body 118 is rotatably connected to a vertical reference axis 116 extending vertically from the surface 114). The main body 118 includes a base frame 120 connected to the main body 118, two side frames 122 extending vertically from the base frame 120, and an upper frame 124 integrally connecting the upper ends of the side frames 122. Have. Between the two side frames 122, a telescope unit 128 that rotates about a horizontal reference axis 126 orthogonal to the vertical reference axis 116 is provided. Further, the base frame 120 supports the operation panel 130.

As shown in FIG. 9B, a first level 132 is attached to an appropriate portion of the substrate 112 of the measuring section 70. As the first level 132, a well-known circular level in which a liquid and an air bubble are stored in a liquid storage portion having a circular cross-section and whose upper end is closed by transparent glass is used. Returning to FIG. 8, at an appropriate position on the base frame 120, a direction parallel to the horizontal reference axis 126 (first direction) and another direction perpendicular to the first direction (second direction), the base frame 1
The second level 134, 136 indicating the inclination of 20 is attached. Usually, as the second level 134, 136, a tubular level made of a transparent material (for example, glass) and filled with liquid and air bubbles in a tube bent with a large radius of curvature is used.

Various structures provided on the substrate 112 and the main body 118 are the same as the structures provided on the conventional total station. However, unlike the conventional surveying device, the measurement unit 70 does not include a configuration corresponding to another substrate disposed below the substrate 112 and three leveling screws connecting these two substrates. Different.

The leveling unit 68 is an improvement of the auto stage AS-21 manufactured by Nissho Kiki Co., Ltd. As shown in FIGS. 10 and 11, the leveling unit 68
6 and an upper frame 142 fixed to the measuring unit 70.

The lower frame 140 includes a lower support plate 144, and a screw hole 146 is formed at the center of the lower support plate 144.

The upper frame 142 is a donut-shaped upper cover (upper support plate) 14 having substantially the same inner and outer diameters.
8 and a lower cover 150 arranged at a predetermined distance from the upper cover 148. These upper covers 1
48 and the lower cover 150 are connected by an outer tube 152 and an inner tube 154 that connect the outer peripheral end and the inner peripheral end, respectively.

The lower frame 140 and the upper frame 142 are
The upper frame 142 is connected via an adjusting unit 156 for adjusting the inclination of the upper frame 142 with respect to 40 (the inclination in the horizontal X direction shown in FIGS. 12 and 14 and the horizontal Y direction orthogonal thereto). As shown in FIGS. 11 and 12, the adjustment unit 156 includes first to third support units 158 that are arranged at equal intervals at 120 ° intervals on a circumference centered on the vertical reference axis 116. , 1
60 and 162 are provided.

The first support portion 158 is connected to the first pivot shaft 16.
4 The first pivot shaft 164 has an upper end fixed to the lower cover 150 and a lower end connected to the lower frame 140 so as to be pivotable. Further, the second and third support portions 160 and 162 are respectively provided with the second pivot shaft 166.
And a third pivot shaft 168. The lower ends of the second pivot shaft 166 and the third pivot shaft 168 are rotatably connected to the lower frame 140. The upper portions of the second pivot shaft 166 and the third pivot shaft 168 are connected to the cylinders 170, 17 fixed to the upper frame 142.
2 is held so as to be able to advance and retreat. Further, the second pivot shaft 166 and the third pivot shaft 168 are connected to motors 174 and 176 fixed to the upper frame 142 via a reduction gear (not shown).
, The second pivot shaft 166 and the third pivot shaft 168 advance and retreat from the corresponding cylinders 170 and 172, and the inclination of the upper frame 142 with respect to the lower frame 140 can be adjusted. I have to do it.

As shown in FIG. 11, the upper cover 148,
A level gauge 182 fixed to the upper cover 148 is accommodated in a cylindrical space 178 surrounded by the lower cover 150, the outer cylinder 152, and the inner cylinder 154. The level gauge 182 is
As shown in FIGS. 13 and 14, the housing 186 includes a housing 186 having a cylindrical liquid container 184 having an open top, and a circular lid 188 for closing the opening of the liquid container 184. Cylindrical liquid container 1 closed by circular lid 188
84, an electrolyte 190 and a bubble 19 of a predetermined size are provided.
2 are accommodated. In the present embodiment, the lid 1
The lower surface of 88 is a concave surface that is concave upward.

The bottom portion 194 of the housing 186 has five rod-shaped electrodes 196, 198 _{1 to} 19, one end of which is located in the liquid container 184 and the other is located outside the housing 186.
It holds the 8 _4. These five rod-shaped electrodes 196, 1
98 _{1 to} 198 ₄ are arranged at the center of the liquid storage portion 184 and at a position equidistantly spaced at 90 ° on a circle having a predetermined radius from the center. Five rod-shaped electrode also includes a central electrode 196 and the surrounding electrode 198 ₁ to 1
98 ₄ (eg, from the central electrode 196 via the electrolyte 190 to the surrounding electrodes 198).
_1-198 current flowing to ₄ Al to A4) for detecting, as shown in FIG. 15, through the detector 200 the power supply 2
02. Therefore, when the bubble 192 is located at the center of the liquid container 184, the electrical characteristics between the center electrode 196 and the surrounding electrodes 198 _{1 to} 198 ₄ are equal (for example, current value A1 =... = A4). But bubbles 192
Are moved from the center of the liquid container 184, all the electrical characteristics are not equal. The power supply 202 can be provided inside the leveling unit 68, but may be a power supply built in the total station or an external power supply provided in the total station.

As shown in FIG. 15, the detector 200 is also connected to the control circuit 204. Control circuit 204
Also, a storage unit 206, motor driving units 208 and 210 for driving the motors 174 and 176, motor driving switches 212 and 214, a memory switch 216,
It is connected to a start switch 218.

For example, as shown in FIG. 8, the leveling unit 68 and the measuring unit 70 having the above-described structure are connected to each other through a plurality of holes 220 formed in the substrate 112 of the measuring unit 70.
A screw 126 is screwed into a plurality of screw holes 124 formed in the upper cover 148 of the second cover 148 to be fixedly connected.

VII. Pre-adjustment of leveling device Installation on reference stand A measuring unit 70 having a leveling unit 68 is installed on an adjustment stand (not shown) via the leveling unit 68. In this adjustment table,
The surface of the leveling section 68 that receives the lower support plate 144 is preferably a perfect horizontal plane orthogonal to the direction of gravity, but this is not necessary.

Leveling of the Surveying Apparatus The motor 1 is operated by operating the motor drive switches 208 and 210 while looking at the first and second levels 132, 134 and 136 attached to the substrate 112 and the main body 118 of the measuring section 70.
74 and 176, respectively, to drive the substrate 112 and the main body 1
Level 18 At this time, if necessary, the leveling unit 6
A spacer may be interposed between the measuring unit 70 and the measuring unit 70 as appropriate.

Next, the memory switch 216 is operated. This allows
When the power supply 202 is turned on, the electric characteristics between the center electrode 196 and the surrounding electrodes 198 _{1 to} 198 ₄ (for example, the current flowing between the center electrode 196 and each of the surrounding electrodes 198 _{1 to} 198 ₄₎ The values A1 to A4) are detected by the detector 200. In addition, the detected electrical characteristics (current values A1 to A1
4) [Reference data] is stored in the storage unit 206. These stored electrical characteristics are stored in the substrate 112 of the measurement unit 70.
This corresponds to the state where the main body 118 is set horizontally and the inclination measured by the level gauge 82 at that time. Therefore, all electrical characteristics are identical (eg, A
1 =... = A4).

VIII. Application to System Fixation As shown in FIG. 3, the support shaft 66 is screwed into a screw hole 146 formed in the lower support plate 144 of the leveling unit 68, and fixed to the movable frame 44.

When the start switch 118 of the leveling unit 68 is turned on by a command from the central processing unit 80, the electrical characteristics output from the detector 100 are stored in the storage unit 106 in the leveling unit 68. Control circuit 10 until the reference data
4 drives the motors 174, 176. As a result, the substrate 112 and the main body 118 of the measuring section 70 are correctly set in a horizontal state.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a situation in which the position of a symmetric object installed on a slope is measured using an automatic position measurement system according to the present invention.

FIG. 2 is a side view of a part of the measuring device included in the automatic position measuring system shown in FIG. 1;

FIG. 3 is a perspective view in which a part of a measuring device included in the automatic position measuring system shown in FIG. 1 is cut away.

FIG. 4 is a circuit configuration diagram of a measuring device.

FIG. 5 is a flowchart showing a measurement procedure of the automatic position measurement system.

FIG. 6 is a flowchart showing a measurement procedure of the automatic position measurement system together with FIG.

FIG. 7 is a diagram simultaneously displaying a slope surface shape (object position) measured this time and a slope surface shape (object position) measured last time.

FIG. 8 is a perspective view of an automatic leveling type surveying system according to the present invention.

FIG. 9 is a view for explaining leveling work of the automatic leveling type surveying system of FIG. 8;

FIG. 10 is a plan view of a leveling device.

FIG. 11 is a sectional view of the leveling device taken along line XI-XI (see FIG. 10).

FIG. 12 is a plan view showing a device disposed inside the leveling device.

FIG. 13 is a plan view of a level gauge built in the leveling device.

FIG. 14 is a cross-sectional view of a level gauge built in the leveling device.

FIG. 15 is a circuit diagram of a leveling device.

[Explanation of symbols]

 10: Automatic position measurement system 18: Moving body (vehicle) 20: Measuring device 16: Measurement object 22: Fixed frame (first support) 44: Movable frame (second support) 68: Leveling unit 70 : Measurement unit (total station)

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat ゛ (Reference)

Claims (11)

[Claims] A moving body (18) and the moving body (18)
An automatic position measurement system (10) provided with a measurement device (20) mounted on a moving object (1), wherein the measurement device (20) is located at a distance from the moving body (18).
6) a measuring unit (70) for measuring the spatial position, a leveling unit (68) supporting the measuring unit (70) in a state where the measuring unit (70) is leveled, and a measuring unit (70). ) And the leveling unit (68) are the moving body (18).
Between a first state in which the measuring unit (70) and the leveling unit (68) are supported by the ground (60) or a portion fixed to the ground, A moving unit (4) for moving the measuring unit (70) and the leveling unit (68);
(6) An automatic position measurement system (10), comprising: 2. A moving body (18) and the moving body (18)
An automatic position measurement system (10) including a measurement device (20) mounted on a moving body (18), wherein the measurement device (20) includes a first support portion (22) fixed to the moving body (18).
And an object (1) located away from the moving body (18).
6) a measuring unit (70) for measuring the spatial position, a leveling unit (68) supporting the measuring unit (70) in a state where the measuring unit (70) is leveled, and a leveling unit (68). 68), and a second support part (44) that can move up and down with respect to the first support part (22); and the second support part (44) serves as the first support part (22). The first state being supported, and the second support portion (44);
Automatic position measurement provided with a moving unit (46) for moving the second support unit (44) between the second support unit (44) and the second state supported by the ground (60) or a part fixed to the ground. system. 3. The automatic position measuring system according to claim 1, further comprising a global position grasping system (84) for grasping a position of said measuring unit (70) on the earth. 4. A gyro sensor (86) for ascertaining the direction of the measuring unit (70) on the earth.
4. The automatic position measurement system according to any one of items 1 to 3. 5. The automatic position measurement system (10) is further mounted on a central management unit (100) remote from the mobile unit (18) and the mobile unit (18), and is connected to the measurement unit (10). A storage unit (80) for storing the spatial position of the object (16) measured in 70), and information provided in the moving body (18) and stored in the storage unit (80) in the central management unit The automatic position measurement system (10) according to any one of claims 1 to 4, further comprising a communication unit (98) for transmitting the data to the unit (100). 6. The apparatus according to claim 5, wherein the central management unit determines a displacement of the measurement target unit from two spatial positions of the measurement target unit measured at a time interval. Automatic position measurement system (10). 7. A vehicle (18), a fixed frame (22) fixed to the vehicle (18), a movable frame (44) arranged to be movable up and down with respect to the fixed frame (22), and A total station (70) supported by a frame (44); and an automatic leveler (68) supporting the total station (70) with respect to the movable frame (44) with the total station (70) leveled. And the movable frame (44) and the movable frame (4).
4) is supported by the fixed frame (22) in the first state and the movable frame (44) is in the ground (6).
0) or an elevating unit (46) for moving between a second state supported by a portion fixed to the ground and an automatic position measurement system (10). 8. The lifting unit (46) has three legs (50) arranged at equal intervals on a horizontal plane, and each of the legs (50) has an upper end portion at the movable frame (44). ), The upper leg portion rotatably connected to the upper leg portion (52).
And a lower leg portion (54) that advances and retreats with respect to the upper leg portion (52). In the first state, the lower leg portion (54) is connected to the ground (60).
And in the second state, the lower leg portion (54) is
The automatic position measurement system (10) according to claim 7, characterized in that the system is in contact with. 9. A buffer (24) is arranged between the fixed frame (22) and the movable frame (44), and in the first state, the movable frame (44) is connected to the buffer (2).
The automatic position measurement system (10) according to any one of claims 6 or 7, wherein the automatic position measurement system (10) is supported on the fixed frame (22) via (4). 10. A measuring section (70) for measuring a spatial position of a measurement object (16), and a leveling section (7) for supporting the measuring section (70) in a state where the measuring section (70) is leveled. 68)
And a communication unit (98), a moving body (18) is prepared, the moving body (18) is moved near the measurement object (16), and the measurement is performed using the measurement unit (70). From the reference point (78) arranged near the object (16), the measurement unit (7)
0) is determined, and the measurement object (16) is determined from the position of the measurement section (70).
The spatial position of the object to be measured (16) is determined by the communication unit (9).
8) An automatic position measurement method for transmitting the information to the remote management unit (100) through (8). 11. The automatic position measurement according to claim 10, wherein a displacement of the measurement target section (16) is obtained from two spatial positions measured at a time interval with respect to the measurement target section (16). Method.