JP2003148956A - Self-traveling machine for survey, and automatic survey system using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-travelling machine for survey that can measure the present position to conduct surveying work while self-traveling and to provide an automatic survey system that can automatic survey by using the self-travelling machine for survey. SOLUTION: This surveying self-traveling equipment 10 of the present invention has an external communication device 14 for conducting communication with an external operation device for instructing a start and stop of travel, a GPS device 11 for measuring the present position as horizontal coordinate position information, a memory part 15 for storing a measuring set point predetermined as the horizontal coordinate position information, a stamping device 13 for imparting a mark in the set point, a control part 12 for comparing the present position provided by the measurement by the GPS device 11 with the set point stored in the memory part 15 to drive the stamping device 13 when the present position is consistent with the set point, a travel device 18 for supporting them to travel, and a driving part 19 for driving the travel device 18. The control part 12 compares the present position with the set point, and drive-controls the driving part 19 automatically to conform the present position with the set point.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surveying self-propelled machine and an automatic surveying system using the same.

[0002]

2. Description of the Related Art Surveying work includes a surveying work in which a predetermined position is searched for and a pile is struck, and a work-in-place surveying work in which a position is appropriately measured within a predetermined range.

The surveying work is performed widely from surveying to the field of civil engineering, and is the work of driving a pile on site. The surveying work involves moving to a target point (measurement point),
It consists of two operations: the actual driving of the pile on the target point (measurement point). First, the guidance to the target point (measurement point) is performed, and then the point at which the pile is to be struck (measurement point) is determined. At present, a total station or GPS is used as a device for performing this guidance. Furthermore, it has become possible to determine a target point (measurement point) more quickly and easily by using a system linked with a computer.

FIG. 1 shows an example of the survey system, and FIG. 2 shows the procedure of this survey work. In FIG. 1, 1 is a total station, 2 is a pole, and 3 is a prism. The pole 2 and the prism 3 constitute a surveying target.

The total station 1 is installed at a given point (known point) O. The surveying target is set at the survey setting point (finding point) O '. There is a normal worker on the side of the total station 1 and the side of the pole 2, and the worker on the side of the pole 2 follows the instruction from the worker on the side of the total station 1 to find the point of the pole 2 (target point (measurement point )) Move to O '. For the surveying work, the total station 1 is used to collimate the prism 3 of the pole 2 placed at the measuring point (finding point) O ′, and the horizontal coordinates of the measuring point (finding point) O ′ are measured by distance measurement and angle measurement. Find the position.

The point O'is stored in the total station 1, the target side operator is instructed of the next destination, and the total station 1 side operator sequentially determines the distance and direction angle from the destination pole 2. It is what you want. Then, as shown in FIG. 2, a work of driving a stake at the desired point O ′ is performed, and this is repeated (S.1 to S.3).

[0007] This surveying work is mentally and physically very labor intensive, and if a skilled worker completes the surveying in about 1 to 3 minutes, his position and the target point ( Although it is a simple repetitive work, it is a time-consuming work among the surveying work, because it is necessary to be aware of the point (measurement point).

On the other hand, the finished work is a survey work in which a predetermined portion of the ground is measured and a difference from the design surface is obtained. Two measurement patterns, a random measurement and a spot measurement, are known as the performance measurement.

Random measurement: For example, a pattern for measuring soil volume and measuring in a controlled area at predetermined intervals.

Spot measurement: A pattern in which the measurement points (x, y) of the center stakes of the route, the shoulders, the buttocks, etc. are determined.

The work procedure is the same in both cases, and the step S. 1-S. As shown in FIG. 4, the operator on the side of the pole 2 from the side of the total station 1 is guided to a point (scheduled measurement point). The operator on the side of pole 2 follows the instructions from total station 1
Move to the measurement point and total station 1
The worker on the side of calculates the distance and the direction angle of the destination pole 2, and compares the measured value with the stored (recorded) construction value. Recently, instead of Total Station 1,
GPS devices are also being used. Due to repeated movements and recordings in both survey and construction work, an operator who does not know the purpose of the survey may not be able to obtain the expected points (measurement points, planned measurement points). A surveying engineer is doing survey work.

[0012]

Therefore, each company devises a surveying system that guides an operator to a pinpoint, which is a pile driving point, by various methods and commercializes it. Even a skilled worker needs 1 to several minutes for each pile driving point,
During this time, it is necessary to always check the guidance data on the screen of the monitor, and when using the total station 1, visual guidance and instructions using the transceiver are required, and the worker must maintain mental tension. I won't.
In the case of surveying work, the one-man system does not penetrate
This is because one person has physical and mental limitations.

The present invention has been made in view of the above circumstances. An object of the present invention is to provide a surveying self-propelled machine capable of measuring a current position and performing surveying work while automatically traveling, and a surveying self-propelled machine. It is to provide an automatic surveying system that performs automatic surveying using a running machine.

[0014]

According to a first aspect of the present invention, there is provided a surveying self-propelled aircraft, a communication device for communicating with an external operating device for instructing start / stop of traveling, and horizontal coordinate position information. A GPS device for measuring the present position, a storage unit for storing a predetermined measuring point as horizontal coordinate position information, and a stamping device for marking the measuring point.
A control unit that compares the current position obtained by the measurement of the GPS device with a measurement setting point stored in the storage unit, and drives the stamp device when the current position and the measurement setting point match. A traveling unit that supports the traveling unit and a driving unit that drives the traveling unit, and the control unit compares the current position with the survey setting point to determine that the current position is the survey setting point. The drive unit is automatically controlled so as to coincide with

According to another aspect of the present invention, there is provided a self-propelled surveying vehicle, a communication device for communicating with an external operating device for instructing start / stop of traveling, and current position information as coordinate position information including height information. A GPS device that measures a position, a storage unit that stores a predetermined measurement range and a traveling route within the measurement range, a traveling device that supports these components, and a drive unit that drives the traveling device. And a control unit that controls the drive unit based on the traveling route, and the control unit uses the GPS device to acquire coordinate position information at the current position for each predetermined traveling distance. .

According to another aspect of the present invention, there is provided a self-propelled surveying vehicle, which is a communication device for communicating with an external operating device for instructing start / stop of traveling, and current coordinate position information including height information. A GPS device that measures a position, a storage unit that stores a predetermined measurement range, a traveling route within the measurement range, and a designated measurement scheduled point, a traveling device that supports and travels these, A drive unit for driving the traveling device and a control unit for controlling the drive unit based on the traveling route are provided, and the control unit compares the current position obtained by the measurement of the GPS device with the planned measurement point. Then, when the current position coincides with the planned measurement point, the GPS device is used to acquire height information at the planned measurement point.

In the surveying self-propelled machine according to a fourth aspect of the present invention, the detection output of the tilt sensor is input to the control unit, and the control unit has the tilt at the current position within the measurement range exceeding a predetermined value. At this time, coordinate position information including height information between the current position and the next measurement scheduled point along the traveling route is acquired at predetermined intervals using the GPS.

An automatic surveying system according to a fifth aspect of the present invention is a self-propelled surveying instrument having a GPS device for measuring a current position as horizontal coordinate position information and a stamp device for marking a predetermined measuring point. The machine automatically runs and the GP
The present invention is characterized in that when the current position measured by the S device and the survey setting point match, the stamp device is driven to mark the survey setting point.

According to another aspect of the present invention, in an automatic surveying system, a surveying self-propelled machine having a GPS device for measuring a current position as coordinate position information including height information and a storage unit for storing the current position is provided in advance. It is characterized in that the vehicle automatically travels along a predetermined traveling route, and the coordinate position information including height information is stored in the storage unit using the GPS for each predetermined traveling distance.

An automatic surveying system according to a seventh aspect of the present invention is a storage unit that stores a GPS device that measures a current position as coordinate position information including height information and a scheduled measurement point designated within a predetermined measurement range. A surveying self-propelled machine having and is automatically driven along a predetermined traveling route,
When the current position coincides with the planned measurement point, the height information at the current position is stored in the storage unit using the GPS device.

[0021]

DETAILED DESCRIPTION OF THE INVENTION

[0022]

Embodiment 1 of the Invention In FIG. 4, reference numeral 10 denotes a surveying self-propelled machine according to Embodiment 1 of the invention. The surveying self-propelled machine 10 includes a GPS device 11, a control unit 12, a stamp device 13, an external communication device 14, and a storage unit 15. These GPS device 11 and control unit 1
2, stamp device 13, external communication device 14, storage unit 15
Is provided in the main body portion 17. The main body 17 is supported by the traveling device 18. The traveling device 18 is driven by the drive unit 19. The drive unit 19 is a main body unit 18.
It is provided in.

The GPS device 11 measures the current position as horizontal position information based on the signals from the artificial satellite 20 and the base GPS device 21. Here, the surveying self-propelled machine 1
It is assumed that the RTK-GPS suitable for detecting the altitude position of 0 is used to measure the current position as horizontal position information.

The stamping device 13 is used to mark a measuring point, and is of a type in which a nail is driven into the measuring point (point of origin or point), a type in which a small flag is set at the measuring point, and a spray. Type of spraying a marker on the measuring point by spraying a type of marker on the measuring point, type of forming dot markers on the measuring point, marking with a laser, asphalt or structure It is possible to use a type in which a stamp is stamped on and a mark is attached. In the case of the spray type, numbers and alphabets may be formed at the measuring points.

The external communication device 14 plays a role of communicating with the external operation device 14 'on the host side which gives instructions to start / stop traveling. As the external communication device 14, a radio wave communication device or an optical remote control device may be used.

The traveling speed of the surveying self-propelled machine 10 is 2
It is desirable that the speed is about m / sec from the working speed of human beings, and the traveling device 16 may be a tire type or a crawler. The storage section 15 stores a predetermined measurement setting point as horizontal position information.

The control unit 12 compares the current position obtained by the measurement of the GPS device 11 with the measurement setting point stored in the storage unit 15, and when the current position and the measurement setting point coincide, the stamp unit 13 is activated. It plays a role of driving and a role of automatically driving and controlling the drive unit 19 by comparing the current position with the measurement setting point so that the current position coincides with the measurement setting point. The control unit 12 uses a PDA, a dedicated microcomputer device, or the like.

When it is desired to confirm the current position of the surveying mobile device 10 on the host side, the horizontal coordinate position information at the current position can be transmitted as data from the external communication device 14 to the external operation device 14 'on the host side. Good.

The surveying self-propelled machine 10 is provided with an automatic emergency stop device (not shown) for avoiding danger.

According to the surveying self-propelled machine 10 according to the first embodiment of the present invention, when the instruction to start traveling is given by the external operation device, the control section 12 is efficiently operated based on a predetermined measurement setting point. A proper traveling route K1 is calculated, and the surveying self-propelled machine 10 automatically starts traveling according to the traveling route K1. That is, as shown in FIG. 5, when the current position measured by the GPS device 11 and the predetermined measurement setting point X1 match, the control unit 12 drives the stamp device 13 to mark the measurement setting point X1. wear. When there are a plurality of survey setting points, the surveying self-propelled machine 10 uses the survey setting point X1.
After completing the marking to the point, the vehicle runs toward the next surveying point X2, and when the next surveying point and the current position match, again,
The stamping device 13 is driven to mark the measurement setting point X2, and the marking work to the measurement setting points X2, X3 ... Is sequentially and automatically performed. Therefore, the operator only has to perform the stakeout work on the measurement setting points X1, X2, X3, ... Marked.

[0031]

Embodiment 2 of the Invention In FIG. 6, reference numeral 30 denotes a surveying self-propelled machine according to Embodiment 2 of the invention. The surveying mobile device 30 includes a GPS device 31, a control unit 32, an external communication device 33, a storage unit 34, and an inclination sensor 35. These GPS device 31, control unit 32,
The external communication device 33, the storage unit 34, and the inclination sensor 35 are provided in the main body unit 36. The main body 36 is the traveling device 3
It is supported by 7. The traveling device 37 is driven by the drive unit 38. The drive section 38 is provided on the main body section 36.

The GPS device 31 measures the current position as position information including height position information based on the signals from the artificial satellite 20 and the base GPS device 21. here,
RTK-GP suitable for altitude position detection of surveying mobile 30
It is assumed that S is used to measure the current position as position information including height position information.

The function of the external communication device 33 is the external communication device 1
Since it has the same function as that of No. 4, its description is omitted. Here, the traveling speed of the surveying mobile unit 30 is not limited to about 2 m / sec.

The storage unit 34 has a function of storing a predetermined measurement range, a traveling route within the measurement range, and a designated planned measurement point.

The control unit 32 plays a role of controlling the drive unit 38 based on a predetermined traveling route, and compares the current position obtained by the measurement of the GPS device 31 with the planned measurement point to measure the current position. When it coincides with the scheduled point, the GPS device 31 is used to store the height information at the current position in the storage unit 34 in association with the current position.

According to the second embodiment of the present invention, when the external operating device (not shown) is operated to drive the surveying self-propelled machine 30, as shown in FIG. 7, the surveying self-propelled machine is carried out. Thirty
Within the measurement range Z, the vehicle automatically travels along a predetermined travel route K2, and the planned measurement points Y1, Y2, ...
The height information is acquired for each i, ..., Yn. The height information for each measurement scheduled point is stored in the storage unit 34.

Therefore, the surveying operator does not need to perform the volume measurement at each planned surveying point, and as a result, the surveying can be carried out unmanned and the labor is greatly reduced.

[0038]

[First Modification] In the second embodiment of the present invention, the storage unit 34 is used.
It was decided that the measurement planned point should be stored in advance in order to perform the measurement. However, the storage unit 34 stores the predetermined measurement range Z and the traveling route K2 in the measurement range Z, and the control unit 32 issues an instruction. Accordingly, the horizontal coordinate position information and the elevation position information at the current position may be stored in the storage unit 34 by using the GPS device 31 for each predetermined traveling distance V.

According to the first modification, the surveying self-propelled machine 30
Assuming that the traveling speed of the vehicle is constant, as shown in FIG. 8, points Y1 ′, Y2 ′, ..., Yi ′ ,.
The horizontal coordinate position information and the height position information at n ′ can be automatically stored in the storage unit 34.

[0040]

[Modification 2] Further, the inclination sensor 35 provided in the main body 36 is used, and when the inclination at the current position within the measurement range Z exceeds a predetermined value, it follows the traveling route K1 shown in FIG. The coordinate position information including the height information from the planned measurement point (for example, Y4) to the next planned measurement point (Y5) is used at a predetermined interval position (Y41, Y42, Y4) using GPS.
It may be configured such that it is acquired every 3) and stored in the storage unit 34.

With this structure, it is possible to obtain the measurement data precisely even in a place where the slope is tight, and the difference between the ground shape obtained by the actual construction work and the ground shape on the construction drawing is more precise. You can get it.

[0042]

According to the first and fifth aspects of the present invention, it is possible to reduce heavy labor, that is, since the setting points to be piled out are automatically marked in advance, so that it is possible to concentrate on pile driving. . In addition, the time required for the operator to guide can be shortened. Moreover, no expert knowledge of surveying is required. Even if the existing pile is lost, it can be easily restored and the reproducibility can be easily secured.

According to the inventions of claims 2 to 4 and claims 6 and 7, it is possible to reduce the labor of the work-finding.

[Brief description of drawings]

FIG. 1 is an explanatory diagram for explaining an example of a conventional surveying operation.

FIG. 2 is a work flow diagram for explaining a procedure of a measurement work.

FIG. 3 is a work flow diagram for explaining a procedure of a work-finding survey work.

FIG. 4 is a schematic diagram of a surveying self-propelled machine according to the first embodiment of the present invention.

5 is an explanatory diagram showing an example of a surveying work using the surveying self-propelled machine shown in FIG. 4. FIG.

FIG. 6 is a schematic diagram of a surveying self-propelled aircraft according to a second embodiment of the present invention.

FIG. 7 is an explanatory diagram showing an example of a surveying operation using the surveying self-propelled machine shown in FIG. 6.

FIG. 8 is an explanatory view showing another example of the surveying work using the surveying self-propelled machine shown in FIG. 6.

[Explanation of symbols]

10 ... Surveyor for surveying 11 ... GPS device 12 ... Control section 13 ... Stamping device 14 ... External communication device 15 ... Storage unit 18 ... Traveling device 19 ... Drive unit

Claims (7)

[Claims] 1. A communication device for communicating with an external operation device for instructing start / stop of travel, a GPS device for measuring a current position as horizontal coordinate position information, and a GPS device for measuring horizontal coordinate position information. A storage unit that stores a predetermined measurement setting point, a stamp device for marking the measurement setting point, a current position obtained by the measurement of the GPS device, and the measurement setting point stored in the storage unit. And a control unit that drives the stamp device when the current position and the measurement setting point match, a traveling device that supports and travels these, and a drive unit that drives the traveling device. For surveying, the control unit compares the current position with the surveying point and automatically controls the drive of the driving unit so that the current position coincides with the surveying point. Self-propelled machine. 2. A communication device for communicating with an external operation device for instructing start / stop of traveling, a GPS device for measuring a current position as coordinate position information including height information, and a predetermined device. A storage unit that stores the measured range and a travel route within the measurement range, a traveling device that supports and travels these, a drive unit that drives the traveling device, and a drive unit that is based on the traveling route. A control unit for controlling the GP, and the control unit controls the GP for each predetermined traveling distance.
A surveying self-propelled machine, characterized in that coordinate position information at the current position is acquired by using an S device. 3. A communication device that communicates with an external operation device that gives instructions to start and stop traveling, and a GPS device that measures a current position as coordinate position information including height information, and a predetermined device. A storage unit that stores the measurement range, the travel route within the measurement range, and the designated planned measurement point;
It has a traveling device that supports and travels these, a drive unit that drives the traveling device, and a control unit that controls the drive unit based on the traveling route, and the control unit is obtained by measurement of the GPS device. For surveying, the current position is compared with the planned measurement point, and when the current position matches the planned measurement point, the GPS device is used to acquire height information at the planned measurement point. Self-propelled machine. 4. The detection output of a tilt sensor is input to the control unit, and the control unit is configured to control the current position along the travel route when the tilt at a current position within the measurement range exceeds a predetermined value. The coordinate position information including height information from the position to the next measurement point is stored in the GPS.
The self-propelled surveying vehicle according to claim 3, wherein the self-propelled vehicle for surveying is acquired at predetermined intervals. 5. A surveying self-propelled machine having a GPS device for measuring a current position as horizontal coordinate position information and a stamp device for marking a predetermined surveying point is automatically run, and the GPS device is provided. An automatic surveying system, characterized in that, when the current position measured by 1. and the survey setting point match, the stamp device is driven to mark the survey setting point. 6. A surveying self-propelled machine having a GPS device for measuring a current position as coordinate position information including height information and a storage section for storing the current position is automatically operated along a predetermined traveling route. G
An automatic surveying system characterized in that coordinate position information including height information is stored in the storage unit using PS. 7. A surveying self-propelled machine having a GPS device for measuring a current position as coordinate position information including height information and a storage unit for storing a designated measurement point within a predetermined measurement range. Characterized in that the vehicle automatically travels along a predetermined traveling route, and when the current position coincides with the planned measurement point, the height information at the current position is stored in the storage unit using the GPS device. Automatic surveying system.