JP2019219206A - Measurement system - Google Patents

Abstract

To provide a measurement system with which it is possible to measure a measurement point without installing a retroreflector at the measurement point.SOLUTION: There is provided a measurement system 1 including a flight device 2 which is remote controllable, a position measuring device 3 capable of performing distance measurement, angle measurement and tracking, a remote control device 4 for controlling the flight of a flight vehicle and capable of communicating by wireless with the flight device 2 and the position measuring device 3. The flight device 2 is provided with a shaft 5 tiltably supported in a discretionary direction, a retroreflector provided at the lower end of the shaft 5, and a flight vehicle camera 9 provided coaxially with the retroreflector. The position measuring device 3 tracks the retroreflector, and the remote control device 4 is provided with a display unit for displaying a flight vehicle camera image and the measurement result of the position measuring device 3 and a terminal arithmetic processing unit, the terminal arithmetic processing unit causing the flight vehicle to flight until a desired measurement point is detected in the flight vehicle camera image and computing the three-dimensional coordinate of the measurement point on the basis of the measurement result of the retroreflector and the positional relationship between the optical axis of flight vehicle camera in the flight vehicle camera image and the measurement point.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a measurement system capable of measuring a prism at a desired position without moving an operator.

  When surveying a desired measurement point, surveying is generally performed using a prism or the like having retroreflectivity.

  Usually, in surveying using a prism, it is necessary for an operator to directly carry a prism provided at a known position from the lower end of a tripod or a pole to a measurement point. Thereafter, an operator sets a tripod or a pole on the measurement point, adjusts the prism so as to be positioned vertically above the measurement point using a bubble tube, and then measures the prism.

  Therefore, when the measurement points to be surveyed are scattered over a wide area, the operator needs to move to the next measurement point every time the measurement points are surveyed, which takes a lot of time. Was. In addition, when the measurement point is located in a place where it is difficult for an operator to enter, such as a mountain area, it has been difficult to measure the measurement point itself.

JP 2014-167413 A

  The present invention provides a measurement system capable of measuring a measurement point without an operator placing a retroreflector at the measurement point.

  The present invention provides a remotely controllable flight device, a position measurement device capable of distance measurement, angle measurement, and tracking, and installed at a position having known three-dimensional coordinates, and controlling the flight of a flying object, A flight system and a measurement system having a remote control device capable of wireless communication with the position measurement device, wherein the flight device is supported on the flying body via a gimbal so as to be tiltable in any direction, and a shaft, A retroreflector provided at the lower end of the shaft, a flying object camera provided coaxially with the retroreflector, and a flight control device, wherein the position measurement device tracks the retroreflector and performs measurement. The remote control device is configured to perform distance measurement and angle measurement, the remote control device includes a display unit that displays a flying object camera image captured by the flying object camera and a measurement result of the position measurement device, and a control unit that controls the flying object. Operation unit, the display unit and the operation unit. A terminal operation processing unit for controlling the unit, the terminal operation processing unit flies the flying object until a desired measurement point is detected in the flying object camera image, and the measurement result of the retroreflector A measurement system configured to calculate three-dimensional coordinates of the measurement point based on a positional relationship between the optical axis of the flight camera and the measurement point in the flight camera image.

  Further, according to the present invention, the flying device further includes an XY stage provided at a lower end of the shaft, and a landing leg provided at a known position with respect to the retroreflector. The -Y stage is capable of displacing the optical axes of the retroreflector and the flying object camera in two directions orthogonal to the axis of the shaft, and the flight control device lands the flying object on the measurement point. The terminal processing unit drives the XY stage so that the optical axis of the airborne camera coincides with the measurement point, and the terminal processing unit calculates the measurement result of the position measurement device and the X The present invention relates to a measurement system configured to calculate three-dimensional coordinates of the measurement point based on a driving amount of the Y stage.

  Also, in the present invention, the terminal arithmetic processing unit displays a frame indicating a drive range of the XY stage in the flying object camera image, and when the measurement point does not exist in the frame, the measurement point Is a measurement system configured to fly the flying object again so as to be positioned within the frame.

  Further, according to the present invention, the flying device further includes an inclination sensor for detecting an inclination of the shaft in two directions with respect to a vertical direction, wherein the terminal arithmetic processing unit includes a measurement result of the position measurement device and the XY stage. The present invention relates to a measurement system configured to calculate three-dimensional coordinates of the measurement point based on the drive amount of the above and the detection result of the tilt sensor.

  Also, in the present invention, the terminal arithmetic processing unit may be configured to perform, based on a detection result of the tilt sensor, a target indicating an optical axis position of the flying camera, and a position of the target when the shaft is vertical. A vertical visual target indicating the flying object camera image, and the measurement system configured to cause the position measuring device to perform measurement only when the visual target matches the vertical visual target. .

  Further, according to the present invention, the flying device further includes a lightwave distance meter having an optical axis parallel to an optical axis of the flying object camera, and the terminal arithmetic processing unit measures a measurement result of the retroreflector, A measurement system configured to calculate a three-dimensional coordinate of the measurement point based on a positional relationship between the optical axis of the flying camera and the measurement point in the body camera image and a measurement result of the lightwave distance meter. It is related.

  Further, in the present invention, the position measuring device further includes a telephoto camera for collimating the flying object, and a wide-angle camera having a wider angle of view than the telephoto camera, and the terminal arithmetic processing unit includes the telephoto camera. The present invention relates to a measurement system configured to simultaneously display a telephoto camera image acquired by a camera, a wide-angle camera image acquired by the wide-angle camera, and the flying object camera image on the display unit.

  Furthermore, the present invention relates to a measurement system wherein the terminal arithmetic processing unit is configured to be able to change the size and display position of the flying object camera image, the telephoto camera image, and the wide-angle camera image. .

  According to the present invention, a remotely controllable flying device, a position measuring device capable of distance measurement, angle measurement, and tracking, and installed at a position having known three-dimensional coordinates, and controlling the flight of a flying object A measuring system comprising a remote control device capable of wirelessly communicating with the flying device and the position measuring device, wherein the flying device is supported on the flying object via a gimbal so as to be tiltable in any direction. A retroreflector provided at a lower end of the shaft, a flying object camera provided coaxially with the retroreflector, and a flight control device, wherein the position measurement device tracks the retroreflector. The remote control device is configured to perform distance measurement, angle measurement, the remote control device displays a flying object camera image taken by the flying object camera and a measurement result of the position measurement device, and controls the flying object. An operation unit for performing A terminal operation processing unit for controlling the operation unit, the terminal operation processing unit flying the flying object until a desired measurement point is detected in the image of the flying object camera, and measuring the retroreflector. Since the result and the three-dimensional coordinates of the measurement point are calculated based on the positional relationship between the optical axis of the flight camera and the measurement point in the flight camera image, the operator can reach the measurement point. There is no need to carry the retroreflector, so that the retroreflector can be easily moved to the measurement point and the three-dimensional coordinates of the measurement point can be obtained.

FIG. 1 is a configuration diagram of a measurement system according to a first example of the present invention. 1 is a cross-sectional view illustrating a flying device according to a first embodiment of the present invention. It is a perspective view showing the flying device. FIG. 2 is a configuration diagram illustrating a control system of the flying device. FIG. 2 is a configuration diagram illustrating a control system of the position measuring device according to the first embodiment of the present invention. FIG. 1 is a configuration diagram illustrating a schematic configuration of a remote control device according to a first embodiment of the present invention and a relationship among a flight device, a position measurement device, and a remote control device. 5 is a flowchart illustrating measurement of a measurement point according to the first example of the present invention. (A) (B) is an explanatory view showing an example of a display screen of the display unit according to the first embodiment of the present invention. (A) is an explanatory view showing an airborne camera image in which a measurement point is located within a frame; (B) is an explanatory view showing an airborne camera image in which a measurement point is not located within the frame; It is explanatory drawing which shows the flying object camera image in the state which matched the target and the measurement point. FIG. 5 is a schematic diagram illustrating a schematic configuration of a remote control device according to a second embodiment of the present invention and a relationship among a flight device, a position measuring device, and a remote control device. (A) (B) is an explanatory view showing an example of a flying object camera image according to the second embodiment of the present invention. FIG. 9 is a cross-sectional view illustrating a flying device according to a third embodiment of the present invention. FIG. 2 is a schematic configuration diagram illustrating a camera box of the flying device.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  First, a measurement system 1 according to a first embodiment of the present invention will be described with reference to FIG.

  The measurement system 1 mainly includes a flight device 2, a position measurement device 3 such as a total station (TS), and a remote controller 4.

  The flight device 2 mainly includes a shaft 5 as a support member vertically supported on a flying object (described later) via a gimbal mechanism, a GNSS device 6 provided at an upper end of the shaft 5, An XY stage 7 as a positioning mechanism provided at the lower end, an all-round prism 8 as a retroreflector provided on the lower surface of the XY stage 7, and a lower surface of the all-round prism 8 An aircraft sensor 9 (described later) provided in a known relationship with the optical axis of the aircraft camera 9, and an aircraft communication unit 11 that communicates with the remote control 4. And a leg 12 for landing the flying device 2. The leg 12 is formed of, for example, four rod-shaped members, and may be an elastic body that absorbs an impact. When the landing surface is horizontal, the all-round prism 8 is located at the center of the leg 12. Further, the positional relationship between the lower end of the leg 12 and the center of swing of the shaft 5 is known, and the distance between the center of swing of the shaft 5 and the prism 8 is also known.

  Note that the shaft 5, the XY stage 7, the omnidirectional prism 8, and the flying camera 9 are integrated with each other. With the XY stage 7 as a reference position, the optical axis of the full-circle prism 8 coincides with the axis of the shaft 5. Alternatively, the optical axis of the entire circumference prism 8 is parallel to the axis of the shaft 5 and has a known positional relationship. Similarly, when the XY stage 7 is used as a reference position, the optical axis of the flying object camera 9 matches the axis of the shaft 5. Alternatively, the optical axis of the flight camera 9 is parallel to the axis of the shaft 5 and has a known positional relationship.

  Further, a reference position is set in the flying device 2, and the relationship between the reference position and the GNSS device 6, the omnidirectional prism 8, and the flying camera 9 is known. The reference position of the flying device 2 is, for example, the center position of an image element (not shown) of the flying camera 9 or the like.

  Accordingly, the center of the XY stage 7 is located on the axis of the shaft 5, and the optical axis of the full-circle prism 8 and the optical axis of the flying object camera 9 are always vertical via the gimbal mechanism. It is set as follows. During the flight of the flight device 2, the XY stage 7 is set at the reference position.

  The position measured by the GNSS device 6 exists on the axis of the shaft 5. Furthermore, the position measured by the GNSS device 6 is a known position with respect to the flying camera 9.

  The XY stage 7 has an X stage (X-axis motor) and a Y stage (Y-axis motor) (described later), and is independently movable in the X and Y directions. Therefore, the XY stage 7 is movable in two directions (horizontal two-axis directions) orthogonal to the axis of the shaft 5. By displacing the XY stage 7 from a reference position, the optical axis of the flying object camera 9 is displaced in two directions with respect to the axis of the shaft 5. The X stage and the Y stage are each capable of detecting a displacement amount.

  The full-circle prism 8 has an optical characteristic of retroreflecting light incident from the entire range below the full-circle prism 8. In place of the full-circle prism 8, a member having a reflective seal attached to the entire circumference may be provided below the XY stage 7.

  The position measuring device 3 is provided at a point having known three-dimensional coordinates. The position measuring device 3 has a tracking function, and measures three-dimensional coordinates of the full-circle prism 8 while tracking the full-circle prism 8. The position measurement device 3 is capable of wireless communication with the remote control 4, and the three-dimensional coordinates measured by the position control device 3 are input to the remote control 4 as coordinate data.

  The remote controller 4 is a mobile terminal such as a smartphone or a tablet, or a device in which an input device is connected to or integrated with the mobile terminal. The remote control 4 has an arithmetic unit having an arithmetic function, a storage unit for storing data and programs, and a terminal communication unit 13 (see FIG. 6). The remote control 4 is capable of wireless communication with the flying device 2 between the terminal communication unit 13 and the flying object communication unit 11, and is capable of communicating with the terminal communication unit 13 and the position measurement device 3. Wireless communication with the position measuring device 3 is possible between the unit and the unit. Further, the remote control 4 can remotely control the flight of the flying device 2 and remotely control the shutter of the flying camera 9.

  Next, the flying device 2 will be described with reference to FIGS.

  The flying object 14 has a plurality of and even-numbered propeller frames 15 extending radially, and a propeller unit is provided at the tip of the propeller frame 15. The propeller unit includes a propeller motor 16 attached to the tip of the propeller frame 15 and a propeller 17 (17a to 17h in the drawing) attached to an output shaft of the propeller motor 16. The propeller 17 is rotated by the propeller motor 16 so that the flying object 14 flies.

  The flying body 14 has a hollow cylindrical main frame 18 at the center. An outer flange 19 extending outward is provided at the upper end of the main frame 18, and an inner flange 21 extending toward the center is formed at the lower end of the main frame 18. A circular hole 22 is formed in the center of the inner flange 21. Also, from the main frame 18, for example, the four legs 12 extend horizontally and further extend diagonally downward.

  The propeller frame 15 has a rod shape and is disposed in a plane orthogonal to the axis of the main frame 18. The propeller frames 15 are provided in a predetermined number (at least four, preferably eight, eight (15a to 15h) shown in the figure) at a predetermined angle in the horizontal direction. The inner end of the propeller frame 15 penetrates the main frame 18 and is fixed to the outer flange 19.

  The shaft 5 is provided so as to penetrate the main frame 18 vertically, and the shaft 5 is vertically supported by a gimbal 23. The gimbal 23 is provided on the inner flange 21 via a vibration isolating member 24.

  The gimbal 23 has swing axes 25a and 25b in two orthogonal directions. The swing shafts 25a and 25b support the shaft 5 so as to be swingable in two orthogonal directions about an orthogonal point, that is, a swing center. The anti-vibration member 24 absorbs vibration when the propeller motor 16 and the propeller 17 rotate, so that the vibration is not transmitted to the shaft 5.

  An inclination sensor 26 is provided at a lower end of the shaft 5 and detects a steep inclination of the gimbal 23 caused by a change in acceleration of the flying object 14. When the shaft 5 is inclined with respect to the vertical, the inclination sensor 26 detects an angle of two axes between a vertical line and the axis of the shaft 5. The detection result of the tilt sensor 26 is sent to a flight control device 27 (see FIG. 4) described later.

  The direction sensor 10 is provided at a required position on the main frame 18. The direction sensor 10 detects the direction of the flying object 14. As the direction of the flying object 14, for example, the X-axis direction of the XY stage 7 is the front-back direction, and the Y-axis direction of the XY stage 7 is the left-right direction.

  At the lower end of the shaft 5, a control box 28 is provided. Inside the control box 28, the flight control device 27 and an IMU (Inertial Measurement Unit): inertial measurement device (see FIG. 4) are housed. The XY stage 7 is provided on the lower surface of the control box 28, the omnidirectional prism 8 is provided on the lower surface of the XY stage 7, and the flying object camera is provided on the lower surface of the omnidirectional prism 8. 9 are provided.

  The GNSS device 6 is provided at an upper end of the shaft 5. The center of the GNSS device 6 (the reference position of the GNSS device 6) coincides with the axis of the shaft 5. In the state where the center of the XY stage 7 is at the reference position, the center of the GNSS device 6 and the optical axis of the full-circle prism 8 are both located on the axis of the shaft 5.

  The control box 28, the XY stage 7, the omnidirectional prism 8, the flying object camera 9 and the like function as balance weights. In a state where no external force acts on the shaft 5, that is, in a free state, the control box 28, the XY stage 7, the full-circle prism 8, the flying object, and the like are arranged such that the shaft 5 is in a vertical state. The weight balance of the camera 9 is set.

  When the shaft 5 can be sufficiently held vertically, only the balance weight mechanism including the control box 28, the XY stage 7, the all-round prism 8, the flying camera 9, and the like is sufficient. On the other hand, in order to stably hold the shaft 5 in the vertical position, a balance assisting member may be provided. By providing the balance assisting member, even when the shaft 5 is steeply inclined (when the attitude of the flying object 14 is suddenly changed), the shaft can be quickly returned to the vertical state. .

  In the following example, a case where a damper spring 29 is provided as a balance assisting member will be described.

  The damper spring 29 is suspended between the propeller frame 15 and the shaft 5. At least three, preferably four, damper springs 29 are provided. The damper spring 29 is preferably provided between the propeller frame 15 and the shaft 5 extending in parallel with the swing shafts 25a and 25b.

  Further, the four damper springs 29 apply tension between the shaft 5 and the propeller frame 15, respectively. When the flying object 14 is in a horizontal posture (the propeller frame 15 is in a horizontal state), the tension balance is maintained. Thus, the shaft 5 is set to maintain the vertical state. Further, the tension and the spring constant of the damper spring 29 are set to be small, so that when the flying object 14 is inclined, the shaft 5 is oriented vertically by the action of gravity.

  The damper spring 29 is a biasing unit that biases the shaft 5 to a vertical state. When the shaft 5 swings and vibrates, the damper spring 29 quickly returns to the vertical state, and attenuates the swing. Things. In addition to the above-described damper spring 29, a torsion coil spring that rotates in the return direction when the swing shafts 25a and 25b of the gimbal 23 rotates may be used as the urging means.

  Next, a control system of the flying device 2 will be described with reference to FIG.

  The flight control device 27, the IMU 41, and the like are housed inside the control box 28. The flight control device 27 mainly includes an arithmetic control unit 31, a clock signal generation unit 32, a storage unit 33, an imaging control unit 34, the azimuth sensor 10, a flight control unit 35, a gyro unit 36, a propeller motor driver unit 37, X A Y-drive control unit 38, a stage motor driver unit 39, and the flying object communication unit 11;

  The shooting of the flying object camera 9 is controlled by the imaging control unit 34. The image taken by the flying camera 9 is input to the imaging control unit 34 as image data.

  A digital camera is provided as the flying body camera 9 so that a still image can be taken and a moving image can be taken. In addition, a CCD, a CMOS sensor, or the like, which is a group of pixels, is provided as an image sensor, and each pixel can be specified in a position in the image sensor. For example, the position of each pixel is specified by orthogonal coordinates with the origin at the point where the optical axis of the flying camera 9 passes through the image sensor.

  The storage unit 33 includes a program storage unit and a data storage unit. The program storage unit stores a photographing program for controlling photographing of the flying object camera 9, a flight control program for driving and controlling the propeller motor 16, and a position of the flying device 2 based on a detection result of the IMU 41. Is calculated in real time, a determination program for determining whether or not the optical axis of the aircraft camera 9 coincides with the measurement point, and the acquired data is transmitted to the remote control device 4. A communication program for receiving a flight command or an imaging command from the aircraft 4; an XY control program for driving and controlling a motor (not shown) for driving the XY stage 7; And a program such as a data processing program for processing and storing the data acquired in the step (a).

  The data storage unit stores still image data and moving image data obtained by the flying object camera 9, position data of the flying device 2 measured during flight, and the position measurement device transmitted from the remote control 4. The position data of the flying device 2 measured in 3, the moving distance data measured by the IMU 41, the still image data, the time when the moving image data was obtained, the position data, and the like are stored.

  The imaging control unit 34 controls the imaging of the flying camera 9 based on a control signal issued from the arithmetic control unit 31. As a mode of the control, there is a control of acquiring a still image at a predetermined time interval while capturing a moving image. Further, the shooting timing of the flying camera 9 is controlled by the imaging control unit 34 based on a clock signal generated from the clock signal generation unit 32, or synchronous control is performed.

  The direction sensor 10 detects the direction of the flying object 14 and inputs a detection result to the arithmetic and control unit 31. The gyro unit 36 detects the attitude of the flying object 14 with respect to the horizontal in the flight state, and inputs the detection result to the arithmetic and control unit 31.

  When the flight of the flying object 14 is remotely controlled by the remote control device 4, the flying object communication unit 11 receives a control signal from the remote control device 4 and converts the control signal into the arithmetic control unit 31. To enter. Alternatively, the remote controller 4 has a function of transmitting image data captured by the flying camera 9 to the remote controller 4 along with the capturing time and position.

  The arithmetic control unit 31 executes various controls for performing prism measurement of the measurement point based on various programs stored in the storage unit 33. Further, the arithmetic control unit 31 calculates a control signal related to flight based on the control signal and the detection result of the gyro unit 36 and outputs the control signal to the flight control unit 35. Further, the arithmetic control unit 31 calculates an adjustment signal for the XY stage 7 based on the steering signal and outputs the adjustment signal to the XY drive control unit 38.

  The flight control unit 35 drives the propeller motor 16 to a required state via the propeller motor driver unit 37 based on a control signal related to flight.

  The XY drive controller 38 controls the X-axis motor 42 that drives the XY stage 7 in the X-axis direction via the stage motor driver 39 based on a control signal related to the XY stage 7. Then, the Y-axis motor 43 for driving the XY stage 7 in the Y-axis direction is driven to a required state. The driving amounts of the X-axis motor 42 and the Y-axis motor 43, that is, the moving amount in the X direction and the moving amount in the Y direction are detected by an encoder or the like (not shown). Feedback will be given. The arithmetic control unit 31 calculates the displacement of the optical axis of the full-circle prism 8 and the optical axis of the flying object camera 9 with respect to the axis of the shaft 5 based on the feedback drive amount.

  Next, the position measuring device 3 will be described with reference to FIG.

  The position measurement device 3 mainly includes a measurement control device 44, a telescope unit 45 (see FIG. 1), a distance measurement unit 46, a horizontal angle detector 47, a vertical angle detector 48, a horizontal rotation drive unit 49, and a vertical rotation drive unit. 51, a wide-angle camera 52, a telephoto camera 53, and the like.

  The telescope unit 45 collimates the object to be measured. The distance measuring section 46 emits distance measuring light through the telescope section 45, receives reflected light from the object to be measured through the telescope section 45, and performs distance measurement. It has a function as a distance meter. The telescope unit 45 has the wide-angle camera 52 and the telephoto camera 53 built therein. The wide-angle camera 52 has a wide angle of view, for example, 30 °, and the telephoto camera 53 has a narrower angle of view, for example, 5 °, than the wide-angle camera 52. The optical axis of the wide-angle camera 52 and the optical axis of the telephoto camera 53 are respectively parallel to the optical axis of the distance measuring light, and the distance between the optical axes is known. Alternatively, the optical axis of the wide-angle camera 52, the optical axis of the telephoto camera 53, and the optical axis of the distance measurement light respectively match.

  Further, the distance measuring section 46 can track the object to be measured (the entire-circumference prism 8) while performing prism measurement. When tracking the measurement object, tracking light is emitted coaxially with the distance measuring light via the telescope unit 45. Alternatively, one of the wide-angle camera 52 and the telephoto camera 53 captures the measurement target, and the horizontal rotation drive unit 49 and the vertical drive unit 49 are positioned so that the measurement target is always positioned at the center of the camera image. The rotation drive unit 51 may be controlled.

  The horizontal angle detector 47 detects a horizontal angle in the collimating direction of the telescope unit 45. The vertical angle detector 48 detects a vertical angle in the collimating direction of the telescope unit 45. The detection results of the horizontal angle detector 47 and the vertical angle detector 48 are input to the measurement controller 44.

  The measurement control device 44 mainly includes a distance measurement control unit 54, a measurement calculation processing unit 55, a measurement device storage unit 56, a measurement device communication unit 57, a motor drive control unit 58, an imaging control unit 59, and the like.

  The distance measurement control section 54 controls the distance measurement operation of the full-circle prism 8 by the distance measurement section 46 based on a control signal from the measurement calculation processing section 55. The measuring device storage unit 56 includes a measurement program for measuring the distance of the full-circle prism 8, a tracking program for tracking the full-circle prism 8, and a program for storing the wide-angle camera 52 and the telephoto camera 53. A program such as an imaging program for imaging and a communication program for communicating with the flying device 2 and the remote control 4 are stored. The measurement device storage unit 56 stores the measurement results (distance measurement results, angle measurement results) of the all-round prism 8.

  The measurement device communication unit 57 transmits the result of measuring the full-circle prism 8 (the oblique distance, the horizontal angle, and the vertical angle of the full-circle prism 8) to the remote control device 4 in real time.

  The motor drive control unit 58 controls the horizontal rotation drive unit 49 and the vertical rotation drive unit to collimate the full-circle prism 8 with the telescope unit 45 or to track the full-circle prism 8. By controlling 51, the telescope unit 45 is rotated in a horizontal direction or a vertical direction.

  The imaging control section 59 controls imaging by the wide-angle camera 52 and the telephoto camera 53. In the state where the position measuring device 3 is tracking the full-circle prism 8, the flying object 14 is always positioned in an image acquired by the wide-angle camera 52 and the telephoto camera 53. .

  The position measuring device 3 measures the distance while tracking the full-circle prism 8, and based on the distance measurement result and the detection results of the horizontal angle detector 47 and the vertical angle detector 48, the position of the full-circle prism 8 is measured. Measure dimensional coordinates in real time.

  FIG. 6 is a diagram showing a schematic configuration of the remote control device 4 and a relationship between the flying device 2, the position measuring device 3, and the remote control device 4.

  The remote controller 4 includes a terminal processing unit 61 having a calculation function, a terminal storage unit 62, the terminal communication unit 13, an operation unit 63, and a display unit 64.

  The terminal operation processing unit 61 has a clock signal generation unit, and associates image data, shutter time data, coordinate data, and the like received from the flying device 2 with a clock signal. Further, the terminal arithmetic processing unit 61 processes the received various data as time-series data based on the clock signal, and stores the processed data in the terminal storage unit 62.

  The terminal storage unit 62 has a communication program for communicating with the flying device 2 and the position measurement device 3, and a three-dimensional coordinate of the full-circle prism 8 based on three-dimensional coordinates of an installation position of the position measurement device 3. A program for calculating the coordinates, a program for calculating the three-dimensional coordinates of the measuring point based on the three-dimensional coordinates of the all-round prism 8, data received from the flying device 2, and the like, and the measurement results of the position measuring device 3 To convert GNSS coordinates into GNSS coordinates, operation screens, measurement results, display programs for displaying images acquired by each camera, and operation programs for inputting instructions via a touch panel etc. Is done.

  The terminal communication unit 13 communicates with the flight device 2 and with the position measurement device 3. The operation unit 63 inputs various instructions via buttons of a controller provided integrally with the display unit 64.

  The display unit 64 obtains the flying object camera image 65 (see FIG. 8) acquired by the flying object camera 9, the wide-angle camera image 66 (see FIG. 8) acquired by the wide-angle camera 52, and the telephoto camera 53. A displayed telephoto camera image 67 (see FIG. 8), a measurement result screen 71 (see FIG. 8) showing the measurement results obtained by the position measuring device 3, and the like are displayed.

  Note that the entire display unit 64 may be a touch panel. When all the display units 64 are touch panels, the operation unit 63 may be omitted. In this case, the display unit 64 is provided with an operation panel 69 for operating the flying object 14. The operation panel 69 includes an advancing / retreating operation unit 69a (see FIG. 8) for moving the flying object 14 forward and backward, a turning operation unit 69b (see FIG. 8) for turning the flying object 14, and the XY. A stage operating section 69c (see FIG. 8) for driving the stage 7 is provided.

  Next, the measurement of the measurement points using the measurement system 1 will be described with reference to the flowchart of FIG.

  STEP: 01 First, the position measuring device 3 is set at a point having known three-dimensional coordinates, and an instruction to start tracking of the flying device 2 is input from the operation unit 63. The measurement calculation processing section 55 starts tracking of the all-round prism 8 based on a tracking start instruction. The position of the position measuring device 3 can be determined by temporarily installing the position measuring device 3 at an unknown point and measuring at least two known points.

  When the position measuring device 3 is installed, a horizontal leveling of the position measuring device 3 is performed by a leveling unit (not shown).

  (Step 02) After the start of tracking, an instruction to take off is input from the operation unit 63. The arithmetic and control unit 31 drives the propeller motors 16a to 16h to take off the flying object 14.

  At this time, the center of the XY stage 7 is at the reference position, and the axis of the shaft 5, the center of the XY stage 7, the optical axis of the full-circle prism 8, and the flying object The optical axis of the camera 9 matches each other.

  Further, the flying object camera 9, the wide-angle camera 52, and the telephoto camera 53 are respectively driven, and the flying object camera image 65, the wide-angle camera image 66, and the telephoto camera image 67 are displayed on the display unit 64, respectively. . The flying object camera image 65, the wide-angle camera image 66, and the telephoto camera image 67 may be displayed by dividing the display unit 64, or may be selectively displayed by the operation unit 63.

  FIGS. 8A and 8B show a display screen shown on the display unit 64. The display unit 64 displays the flying object camera image 65, the wide-angle camera image 66, and the telephoto camera image 67, and is used for controlling the flying object 14 and operating the XY stage 7. The operation panel 69 and the measurement result screen 71 are displayed.

  In the present embodiment, the operator touches each image displayed on the display unit 64 with a finger, and the terminal operation processing unit 61 enlarges and reduces each image. When the operator slides the finger while touching each image in the display unit 64 with the finger, the terminal operation processing unit 61 changes the position of each image based on the sliding direction. I have. When the images are displayed on the display unit 64 in an overlapping manner, the display order of the images may be changed by a required operation.

  (Step 03) The operator operates, for example, the forward / backward operation section 69a and the turning operation section 69b. When an operation instruction from the remote control 4 is transmitted to the flying device 2, the arithmetic and control unit 31 determines that a predetermined measurement point 72 is detected in the flying object camera image 65 based on the instruction. The flying object 14 is moved above the measurement point 72. At this time, the approximate guidance of the flying object 14 is executed by visual observation with the wide-angle camera image 66. The determination as to whether the flying object 14 has been guided to above the measurement point 72 is made based on whether the measurement point 72 is located in the flying object camera image 65.

  During the guidance of the flying object 14, communication between the flying device 2 and the remote control 4 may be interrupted by an obstacle or the like, or tracking of the position measurement device 3 may be interrupted by an obstacle. . In this case, the arithmetic control unit 31 controls the flying object 14 so that the flying object 14 automatically returns to a position where the flying object 14 can communicate with the remote control 4 or a position where the position measuring device 3 can track. May be. The information for automatically returning the flying object 14 may use the detection result of the IMU 41, or may use the three-dimensional coordinates measured by the GNSS device 6.

  STEP: 04 When the measurement point 72 is detected in the flying object camera image 65, the operator operates the operation panel 69, and a landing instruction is transmitted from the terminal arithmetic processing unit 61. Based on the received landing instruction, the arithmetic and control unit 31 causes the flying object 14 to land. At this time, the operator may touch the display unit 64 to change the positions and sizes of the flying object camera image 65 and the wide-angle camera image 66. When the flying object 14 lands, the state where the measurement point 72 is detected in the flying object camera image 65 is maintained.

  When the measurement point 72 is detected in the flying object camera image 65, the terminal arithmetic processing unit 61 determines the position of the flying object camera image 65 and the wide-angle camera image 66 displayed on the display unit 64. The size may be automatically changed (see FIGS. 8A and 8B).

  (Step 05) After landing the flying object 14, it is determined whether the measurement point 72 is located within the driving range of the XY stage 7. The determination may be made automatically by the arithmetic control unit 31 or by the terminal arithmetic processing unit 61. Alternatively, a frame 73 indicating the driving range of the XY stage 7 is displayed in the flying object camera image 65, and depending on whether or not the measurement point 72 is located in the frame 73, the operator can make the X -It may be determined whether or not the measurement point 72 is located within the driving range of the Y stage 7. Further, the arithmetic control unit 31 and the terminal arithmetic processing unit 61 may automatically make the determination while displaying the frame 73 in the flying object camera image 65.

  FIGS. 9A to 9C show the flying object camera image 65 in which the rectangular frame 73 and the optotype 74 located at the center are displayed in the image. The target 74 has a cross-shaped mark, and the center of the cross indicates the position of the optical axis of the flying camera 9. The center of the cross coincides with the optical axis of the entire circumference prism 8.

  For example, in the case of FIG. 9A, since the measurement point 72 is located within the frame 73, it can be determined that the measurement point 72 is located within the drive range of the XY stage 7. In the case of FIG. 9B, since the measurement point 72 is located outside the frame 73, it can be determined that the measurement point 72 is located outside the drive range of the XY stage 7.

  When it is determined that the measurement point 72 is located outside the driving range of the XY stage 7, the operator takes off the flying object 14 again, guides the flying object 14 onto the measurement point 72, and Land the flying object 14. Thereafter, it is determined again whether the measurement point 72 is within the driving range of the XY stage 7 (STEP: 02 to STEP: 05).

  (Step 06) If it is determined that the measurement point 72 is located within the frame 73 and the measurement point 72 is located within the drive range of the XY stage 7, then the position of the optotype 74 is adjusted. Is The operator operates the stage operation unit 69c, transmits a driving instruction from the terminal operation processing unit 61, and drives the XY stage 7. The arithmetic control unit 31 drives the X-axis motor 42 and the Y-axis motor 43 based on a control signal from the operation panel 69, and as shown in FIG. The center of the cross and the measurement point 72 are matched.

  The operator may easily recognize that the target 74 and the measurement point 72 match. For example, when the optotype 74 and the measurement point 72 match, the color of the optotype 74 is changed, or an alarm is notified to a worker via the remote control 4.

  (Step 07) When the measurement point 72 matches the optotype 74, the operator transmits a measurement instruction via the operation panel 69. The measurement calculation processing unit 55 measures the entire circumference prism 8 based on a measurement instruction. If the optotype 74 deviates from the measurement point 72 between the start of measurement and the end of measurement by the position measuring device 3 (for example, about 0.1 second), the optotype 74 and the The measurement point 72 is matched, and the position measuring device 3 measures the entire circumference prism 8.

  Since the position measuring device 3 keeps track after landing the flying object 14, the measurement of the entire circumference prism 8 can be performed immediately.

  The terminal arithmetic processing unit 61 determines the measurement result of the full-circle prism 8 and the positional relationship between the lower end of the leg 12 and the full-circle prism 8 (the position between the lower end of the leg 12 and the swing center of the shaft 5). The relationship between the center of oscillation and the distance from the center of rotation to the full-circle prism 8), the driving amount of the XY stage 7, and the inclination of the shaft 5 with respect to the vertical direction detected by the inclination sensor 26. 72 three-dimensional coordinates are calculated.

  If there is another measurement point to be measured, the flying object 14 is taken off again and guided to the next measurement point. If there is no measurement point to be measured, the surveying process for the measurement point 72 is terminated.

  As described above, in the first embodiment, the full-circle prism 8 is provided on the flying object 14, and after operating the flying object 14, the full-circle prism 8 is moved to above the measurement point 72. The position measuring device 3 measures the entire circumference of the prism 8.

  Therefore, since it is not necessary for the operator to carry the entire circumference prism 8 to the measurement point 72, the measurement is performed in a case where a plurality of measurement points are scattered over a wide area, or in a location where the operator is difficult to enter, such as a mountain. Even when a point exists, the three-dimensional coordinates of the measuring point 72 can be easily obtained by moving the full-circle prism 8 to the measuring point 72.

  After landing the flying object 14 from the measurement point 72, the measurement of the all-around prism 8 is performed. Therefore, it is possible to measure the entire circumference prism 8 in a state where the attitude of the flying object 14 is stabilized, so that the measurement accuracy of the entire circumference prism 8 can be improved.

  In the first embodiment, the XY stage 7, the all-round prism 8, and the flying camera 9 are provided at the lower end of the shaft 5 supported by the gimbal 23. Further, regardless of the position of the center of the XY stage 7, the optical axis of the full-circle prism 8 and the optical axis of the flying camera 9 match.

  Therefore, irrespective of the direction of the flying object 14, the point located on the optical axis of the flying object camera 9 can be measured by measuring the full-circle prism 8. When calculating the dimensional coordinates, there is no need to correct in two horizontal directions.

  Further, the XY stage 7 is provided so that the positions of the optical axes of the all-around prism 8 and the flying object camera 9 can be adjusted. Therefore, since the position of the measurement point 72 and the target 74 in the air may be roughly adjusted, the work time can be reduced and the workability can be improved.

  Next, a second embodiment of the present invention will be described with reference to FIGS. 10, 11A and 11B. In FIGS. 10, 11A, 11B, FIG. 6, and FIG. 9, the same components are denoted by the same reference numerals, and description thereof will be omitted.

  In the second embodiment, the remote controller 4 further includes an image processing unit 76. The remote controller 4 receives a detection result of the inclination sensor 26 (see FIG. 2) from the flying device 2 in real time.

  The tilt sensor 26 detects a tilt angle of the gimbal 23 (see FIG. 2) with respect to the horizontal. That is, the inclination angles of the two axes with respect to the vertical direction of the shaft 5 (see FIG. 2) are detected.

  The terminal arithmetic processing unit 61 calculates the position of the target 74 (hereinafter referred to as a vertical target 77) in the flying object camera image 65 when the shaft 5 is assumed to be vertical based on the detection result of the tilt sensor 26. Is calculated.

  The image processing unit 76 displays the vertical visual target 77 in the flying object camera image 65 based on the calculated position (see FIG. 11A). At this time, when the inclination sensor 26 does not detect the inclination, that is, when the shaft 5 is vertical, the visual target 74 and the vertical visual target 77 match. In FIGS. 11A and 11B, the vertical target 77 is indicated by a broken line. However, if the vertical target 77 can be distinguished from the target 74 by a different color from the target 74, for example. Good.

  When calculating the three-dimensional coordinates of the measurement point 72, the flying object 14 (see FIG. 2) is landed, and the XY stage 7 (see FIG. 2) illuminates the light from the measurement point 72 and the flying object camera 9. After the alignment, the three-dimensional survey of the entire circumference prism 8 (see FIG. 2) is performed by the position measuring device 3 (see FIG. 1). Further, based on the measurement result of the full-circle prism 8, the detection result of the tilt sensor 26, and the positional relationship between the leg 12 and the full-circle prism 8, the terminal processing unit 61 sets the three measurement points 72 Calculate dimensional coordinates.

  In the second embodiment, the visual target 74 and the vertical visual target 77 are displayed on the display unit 64, and only when the visual target 74 and the vertical visual target 77 match, the three-dimensional We are going to perform surveying.

  Therefore, even after the adjustment by the XY stage 7 is completed, even if the shaft 5 is tilted due to wind or the like, the measurement of the full-circle prism 8 in the tilted state is prevented, and the measurement of the measurement point 72 is prevented. Accuracy can be improved.

  Also, depending on whether the visual target 74 and the vertical visual target 77 match or not, whether the shaft 5 is vertical, the all-around prism 8 (see FIG. 2) and the flying object camera 9 (see FIG. 2) The operator can easily determine whether or not the optical axis is vertical.

  The measurement of the entire circumference prism 8 may be performed as usual, and the measurement result obtained in a state where the visual target 74 and the vertical visual target 77 do not match may be deleted by post-processing.

  In addition, the flying object camera image 65 can capture both moving images and still images, and a group of still images becomes a moving image.

  In the first embodiment and the second embodiment, the operator drives the XY stage 7 via the operation panel 69 so that the measurement point 72 matches the optical axis of the flying object camera 9. Let me. On the other hand, the arithmetic control unit 31 (see FIG. 4) of the flying device 2 causes the measurement point 72 to be detected, and the arithmetic control unit 31 is adjusted so that the measurement point 72 and the optical axis of the flying object camera 9 match. However, the XY stage 7 may be automatically driven.

  Next, a third embodiment of the present invention will be described with reference to FIGS. 12 and 13, the same components as those in FIG. 2 are denoted by the same reference numerals, and description thereof will be omitted.

  In the third embodiment, a camera box 78 is provided on the lower surface of the all-around prism 8 of the flying device 2. The full-circle prism 8 is provided on the lower surface of the control box 28, and the XY stage 7 (see FIG. 2) is omitted. In the camera box 78, the flying body camera 9, a light wave distance meter 79, a first mirror 80, and a second mirror 81 are housed.

  The flying object camera 9 is arranged at a position where the optical axis coincides with the axis of the shaft 5. The lightwave distance meter 79 is provided adjacent to the flying object camera 9, and the optical axis of the lightwave distance meter 79 is parallel to the optical axis of the flying object camera 9.

  A flying object ranging light is emitted from the lightwave distance meter 79. The flying object ranging light reflected by the measurement target such as the ground surface is received by the lightwave distance meter 79, and the received light result is transmitted to the arithmetic control unit 31 (see FIG. 4). The arithmetic control unit 31 calculates the distance from the reference position of the lightwave distance meter 79 to the measurement target based on the light reception result. The calculated distance is transmitted to the remote control 4 (see FIG. 1) via the vehicle communication unit 11 (see FIG. 4).

  The first mirror 80 is provided on the optical axis of the optical distance meter 79. The first mirror 80 deflects the optical axis of the optical distance meter 79 at right angles so as to intersect with the optical axis of the flying camera 9.

  The second mirror 81 is, for example, a half mirror, and is provided at an intersection of the optical axis of the flying camera 9 and the optical axis of the optical distance meter 79. The second mirror 81 deflects the optical axis of the lightwave range finder 79 at a right angle to match the optical axis of the flying object camera 9.

  The optical path length from the reference position of the flying object camera 9 to the second mirror 81 is known, and the optical path length from the reference position of the optical distance meter 79 to the second mirror 81 is also known. The distance between the optical axis of the body camera 9 and the optical axis of the lightwave distance meter 79 is also known.

  When calculating the three-dimensional coordinates of the measuring point 72 (see FIG. 9), the arithmetic control unit 31 captures the measuring point 72 with the flying object camera 9 and sets the flying object in a state where the shaft 5 is vertical. The camera image 65 (see FIG. 9) is obtained.

  Simultaneously with the acquisition of the flying object camera image 65, three-dimensional surveying of the entire circumference prism 8 by the position measuring device 3 (see FIG. 1) and distance measurement by the optical distance meter 79 are performed.

  The terminal calculation processing unit 61 (see FIG. 6) calculates the angle of view of the measurement point 72 with respect to the optical axis of the flight camera 9 based on the position of the measurement point 72 in the flight camera image 65. Further, the terminal arithmetic processing unit 61 calculates the angle of view, the measurement result of the lightwave distance meter 79, and the distance between the optical axis of the flying object camera 9 and the optical axis of the lightwave distance meter 79, The amount of displacement between the optical axis of the flying camera 9 and the measurement point 72 in the X and Y directions is calculated. Further, the terminal arithmetic processing unit 61 calculates the deviation amounts in the X and Y directions, the measurement results of the lightwave distance meter 79, and the distance between the optical axis of the flying camera 9 and the optical axis of the lightwave distance meter 79. The three-dimensional coordinates of the measurement point 72 are calculated based on the distance of the position measurement device 3 and the measurement result of the position measurement device 3.

  In the third embodiment, the vehicle 14 does not need to land on the ground. Further, the measurement point 72 only needs to be captured in the flying object camera image 65, and there is no need to align the optical axis of the flying object camera 9 with the measurement point 72. Therefore, the processing for measuring the measurement point 72 can be simplified, and the working time can be reduced.

  If the difference between the height of the measurement point 72 and the periphery thereof is so small that it can be ignored, the first mirror 80 and the second mirror 81 may be omitted. In this case, the measurement result obtained along the optical axis of the lightwave distance meter 79 is used as the measurement result obtained along the optical axis of the flying object camera 9.

  If the measurement point 72 is a point on an object having a known length, or if there is an object having a known length in the flying object camera image 65, the lightwave distance meter 79 is used. The first mirror 80 and the second mirror 81 may be omitted. In this case, the height of the flying camera 9 with respect to the measurement point 72 can be calculated based on the length of the object in the flying camera image 65. Therefore, the terminal arithmetic processing unit 61 calculates the three-dimensional coordinates of the measurement point 72 based on the calculated shift amounts in the X and Y directions, the calculated height, and the measurement result of the position measurement device 3. be able to.

  In the third embodiment, the case where the shaft 5 is vertical has been described, but the shaft 5 may be inclined. In this case, the height of the flying object camera 9 with respect to the measurement point 72 can be calculated based on the measurement result of the lightwave distance meter 79 and the detection result of the inclination sensor 26. Therefore, the three-dimensional coordinates of the measurement point 72 can be calculated based on the calculated height and the like.

  Note that the second embodiment and the third embodiment are combined to obtain the flying object camera image 65 based on the overlap between the visual target 74 (see FIG. 11) and the vertical visual target 77 (see FIG. 11). In doing so, the operator may be able to determine whether the shaft 5 is vertical.

DESCRIPTION OF SYMBOLS 1 Measuring system 2 Flight device 3 Position measuring device 4 Remote control device 5 Shaft 7 XY stage 8 All-around prism 9 Flying object camera 12 Legs 14 Flying object 18 Main frame 23 Gimbal 26 Tilt sensor 27 Flight control device 31 Flight control device 31 44 Measurement control device 45 Telescope unit 46 Distance measuring unit 47 Horizontal angle detector 48 Vertical angle detector 52 Wide angle camera 53 Telephoto camera 61 Terminal calculation processing unit 64 Display unit 65 Flying object camera image 66 Wide angle camera image 67 Telephoto camera image 69 Operation Panel 72 Measurement point 74 Visual target 77 Vertical visual target

Claims (8)

  A flight device capable of remote control, a position measurement device capable of ranging, angle measurement, and tracking, and installed at a position having known three-dimensional coordinates, and controlling the flight of a flying object; A measurement system having a position measurement device and a remote control device capable of wireless communication, wherein the flying device includes a shaft supported by the flying object via a gimbal so as to be tiltable in an arbitrary direction, and a lower end of the shaft. A retroreflector, a flying object camera provided coaxially with the retroreflector, and a flight control device, wherein the position measuring device tracks the retroreflector, and measures distance and angle. The remote control device is configured to display a flying object camera image captured by the flying object camera and a measurement result of the position measurement device, and an operation unit for controlling the flying object Controls the display unit and the operation unit A terminal operation processing unit, the terminal operation processing unit flying the flying object until a desired measurement point is detected in the flying object camera image, the measurement result of the retroreflector, and the flight A measurement system configured to calculate three-dimensional coordinates of the measurement point based on a positional relationship between the optical axis of the flying camera and the measurement point in the body camera image.   The flight device further includes an XY stage provided at a lower end of the shaft, and a landing leg provided at a known position with respect to the retroreflector, wherein the XY stage is The optical axes of the retroreflector and the flying object camera can be displaced in two directions orthogonal to the axis of the shaft, and the flight control device causes the flying object to land on the measurement point, The processing unit drives the XY stage so that the optical axis of the airborne camera and the measurement point coincide with each other. The terminal processing unit processes the measurement result of the position measurement device and the driving of the XY stage. The measurement system according to claim 1, wherein the measurement system is configured to calculate three-dimensional coordinates of the measurement point based on the quantity.   The terminal arithmetic processing unit displays a frame indicating the driving range of the XY stage in the flying object camera image, and when the measurement point does not exist in the frame, the measurement point is in the frame. The measurement system according to claim 2, wherein the measurement system is configured to fly the flying object again so as to be positioned.   The flight device further includes an inclination sensor that detects an inclination of the shaft in two directions with respect to the vertical, the terminal arithmetic processing unit measures a result of the position measurement device, a driving amount of the XY stage, The measurement system according to claim 2, wherein three-dimensional coordinates of the measurement point are calculated based on a detection result of the tilt sensor.   The terminal arithmetic processing unit is based on the detection result of the tilt sensor, a visual target indicating the position of the optical axis of the aircraft camera, and a vertical visual target indicating the position of the visual target when the shaft is vertical 5. The measurement system according to claim 4, wherein is displayed on the flying object camera image, and the position measurement device performs measurement only when the visual target and the vertical visual target match.   The flying device further includes a lightwave distance meter having an optical axis parallel to the optical axis of the flying camera, the terminal arithmetic processing unit measures the retroreflector, and the flying camera image The measurement system according to claim 1, wherein a three-dimensional coordinate of the measurement point is calculated based on a positional relationship between the optical axis of the flight camera and the measurement point, and a measurement result of the optical distance meter. .   The position measurement device further includes a telephoto camera for collimating the flying object, and a wide-angle camera having a wider angle of view than the telephoto camera, and the terminal operation processing unit is obtained by the telephoto camera. The telescope camera image, the wide-angle camera image acquired by the wide-angle camera, and the flying object camera image are simultaneously displayed on the display unit, and are configured to be simultaneously displayed on the display unit. Measuring system.   The measurement system according to claim 7, wherein the terminal processing unit is configured to be able to change a size and a display position of the flying object camera image, the telephoto camera image, and the wide-angle camera image.

Images