JP2022067500A - Survey system - Google Patents

Abstract

To provide a survey system that can measure a position and a posture of a flying object without separate installation of a measuring instrument to the flying object.SOLUTION: A survey system includes a flight device that can be remotely operated and has a flying object 5 and a landing unit 17, a position determination device that can determine a position of the flying object, and a remote controller that controls flight of the flying object and can conduct radio communication with the flight device and the position determination device. The flying object has a plurality of cameras installed on its periphery, a measuring device 6 installed at a predetermined place, a hemispherical storage part formed on the lower surface of the flying object, an infrared sensor that can emit infrared light into the storage part, and a control device. The landing unit has a stand 18, a shaft 19, and a track ball 21 mounted at the upper end of the shaft and having a reference position and a reference direction. The flying object is caused to go down to the track ball so that the track ball is stored in the storage part. The control device calculates a posture of the flying object relative to the track ball's reference position and reference direction based on the infrared light reflected by the track ball.SELECTED DRAWING: Figure 2

Description

The present invention relates to a surveying system for measuring the position and orientation of a small unmanned aerial vehicle (UAV: Unmanned Air Vehicle).

In recent years, with the progress of UAV (Unmanned Air Vehicle: small unmanned aerial vehicle), various devices are mounted on the UAV and the required work is performed by remote control or autonomous flight of the UAV. For example, a UAV is equipped with a photogrammetric camera and a laser scanner, and measurements are taken from the sky to below, or in a place where no one can enter.

In the position measurement of the UAV, the position of the UAV is measured while tracking the target having the retroreflective property provided in the UAV by a surveying device such as a total station. Alternatively, a GPS is mounted on the UAV, and the position of the UAV is measured by the GPS. When the UAV is flown indoors, GPS signals cannot be received. In this case, the self-position of the UAV is estimated based on the detection result of the IMU (Inertial Measurement Unit) built in the UAV and the position of the last measured UAV.

When a laser scanner is mounted on a UAV and measurement is performed with the laser scanner, it is necessary that the orientation and inclination of the UAV are known. However, it is difficult to measure the direction and inclination of the UAV both when measuring the position of the UAV with a total station and when measuring the position of the UAV with GPS.

Therefore, in order to obtain the direction and inclination of the UAV, it is necessary to separately provide an azimuth meter and an inclination detector on the UAV. Therefore, there is a problem that the weight of the UAV increases and the configuration becomes complicated.

Japanese Unexamined Patent Publication No. 2018-44913 Japanese Unexamined Patent Publication No. 2016-1614111

The present invention provides a surveying system capable of measuring the position and attitude of a flying object without separately providing a measuring instrument on the flying object.

The present invention comprises a flight device that can be remotely controlled and has a flying object and a landing unit, a position measuring device capable of measuring the position of the flying object, and the flying device and the above-mentioned flying device that controls the flight of the flying object. It is a surveying system having a position measuring device and a remote control device capable of wireless communication, and the flying object is formed on a plurality of cameras provided on the peripheral surface, a measuring instrument provided at a predetermined position, and a lower surface thereof. It has a hemispherical storage part, an infrared sensor capable of emitting infrared light in the storage part, and a control device, and the landing unit includes a stand, a shaft vertically supported by the stand, and a shaft. It has a trackball provided at the upper end of the shaft and having a reference position and a reference direction, the remote controller lowers the flying object onto the trackball, and the trackball is stored in the storage portion. In this state, the control device relates to a measuring system configured to calculate the attitude of the flying object with respect to the reference position and the reference direction of the trackball based on the infrared light reflected by the trackball. be.

Further, in the present invention, a truncated cone-shaped recess is formed on the lower surface of the flying object, the accommodating portion is formed on the upper end of the recess, and the flying object is in contact with the inclination of the recess and the trackball when descending. The present invention relates to a surveying system that is guided by the above-mentioned storage unit and is configured to store the trackball in the storage unit.

Further, in the present invention, the measuring instrument is a uniaxial laser scanner, the laser scanner is configured to be able to scan distance measuring light one-dimensionally through a scanning mirror, and the control device is configured to rotate the scanning mirror. The present invention relates to a surveying system configured to irradiate the distance measuring light three-dimensionally in cooperation with the rotation of the flying object rotating in a direction perpendicular to the scanning mirror and acquire point group data around the entire circumference. It is a thing.

Further, in the present invention, the measuring instrument is a laser scanner, and the laser scanner is provided with a base portion, a main body portion provided so as to be horizontally rotatable with respect to the base portion, and vertically rotatable with respect to the main body portion. The scanning mirror is configured to be able to scan the distance measuring light in one dimension, and the control device has the distance measuring by the cooperation between the rotation of the main body and the rotation of the scanning mirror. It relates to a measuring system configured to rotate and irradiate light in three dimensions and acquire point group data around the entire circumference.

Further, in the present invention, the position measuring device is a total station, an all-around prism is provided on the lower surface of the flying object, and the position measuring device performs distance measurement and angle measurement while tracking the all-around prism, and the remote measurement. The pilot is related to a surveying system configured to calculate point group data based on the position measuring device based on the measurement result of the position measuring device and the point group data acquired by the laser scanner.

Further, in the present invention, the position measuring device is a GPS device, and the remote controller is a point cloud based on the position measuring device based on the measurement result of the position measuring device and the point cloud data acquired by the laser scanner. It relates to a measurement system configured to calculate data.

Furthermore, in the present invention, the control device causes the camera to acquire a moving image or a continuous image, extracts the same feature points in temporally adjacent images, and calculates a position deviation between the feature points. The present invention relates to a surveying system configured to calculate the tilt angle, azimuth angle, and movement amount of the flying object at the time of later image acquisition with respect to the time of the previous image acquisition based on the position deviation.

According to the present invention, a flight device that can be remotely controlled and has a flying object and a landing unit, a position measuring device capable of measuring the position of the flying object, and the flying device that controls the flight of the flying object. And a measuring system having a remote control device capable of wireless communication with the position measuring device, the flying object includes a plurality of cameras provided on the peripheral surface, a measuring instrument provided at a predetermined position, and a lower surface thereof. It has a hemispherical storage part formed in the storage part, an infrared sensor capable of emitting infrared light in the storage part, and a control device, and the landing unit is a stand and a shaft vertically supported by the stand. And a trackball provided at the upper end of the shaft and having a reference position and a reference direction, the remote controller lowers the flying object onto the trackball, and the trackball is placed in the storage portion. In the retracted state, the control device is configured to calculate the attitude of the flying object with respect to the reference position and the reference direction of the trackball based on the infrared light reflected by the trackball. Since it is not necessary to separately provide a measuring instrument such as an azimuth meter or an inclination detector on the body, the excellent effect of being able to reduce the weight and size of the flying object is exhibited.

It is a block diagram of the surveying system which concerns on 1st Embodiment of this invention. It is a perspective view of the flight apparatus which concerns on 1st Embodiment of this invention. It is a vertical sectional view of the flying object which concerns on 1st Embodiment of this invention. It is explanatory drawing which shows the detection range of the posture detection part which concerns on 1st Embodiment of this invention. It is a block diagram which shows the control system of the flight apparatus. It is a block diagram which shows the control system of the position measuring apparatus which concerns on 1st Embodiment of this invention. It is a block diagram which shows the schematic structure of the remote control machine which concerns on 1st Embodiment of this invention, and the relation of a flight device, a position measuring device, and a remote control machine. (A) and (B) are explanatory views showing the flight object camera image acquired by the flight object camera and the feature points extracted from the flight object camera image. It is a vertical sectional view of the flying object which concerns on 2nd Embodiment of this invention.

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

First, the surveying system according to this embodiment will be described with reference to FIG.

The surveying system 1 is mainly composed of a flight device (UAV) 2, a position measuring device 3 such as a total station (TS), and a remote control device 4.

The flight device 2 is mainly provided on the flight object 5, a self-supporting landing unit (described later) for landing the flight object 5, and the upper surface of the flight object 5, and is measured by rotating and irradiating distance measurement light. A laser scanner 6 as a vessel, an all-around prism 7 as a retroreflector provided on the lower surface of the flying object 5, and a plurality of (for example, four) flying object cameras 8 provided on the peripheral surface of the flying object 5. And an air vehicle communication unit 9 that communicates with the remote controller 4. A reference position is set for the flying object 5. The reference position is, for example, the mechanical center of the flying object 5, the reference position, the optical center of the laser scanner 6 (the emission position of ranging light), the optical center of the all-around prism 7, and each flying object camera. The positional relationship between the 8 and the optical center is known. Further, the flying object 5, the laser scanner 6, the all-around prism 7, and each flying object camera 8 are integrated.

The laser scanner 6 emits a laser beam emitted by pulse emission or burst emission as distance measuring light, and irradiates a predetermined measurement object through a scanning mirror (described later). Further, the distance measuring light (reflected distance measuring light) reflected by the object to be measured is received by the laser scanner 6, and the distance to the object to be measured is measured based on the round trip time and the speed of light. Further, by rotating the scanning mirror, the distance measuring light is rotationally irradiated one-dimensionally in a plane including the vertical axis of the flying object 5.

The all-around prism 7 has an optical property of retroreflecting light incident from the entire lower range of the all-around prism 7. Instead of the all-around prism 7, a member having a reflective sticker all around may be provided on the lower surface of the flying object 5.

In each flying object camera 8, the angle of view, the number, the arrangement, etc. of each flying object camera 8 are determined so that the images of the adjacent flying object cameras 8 overlap each other by a predetermined amount. Further, the image pickup optical axis of each flying object camera 8 is set so as to be orthogonal to, for example, the reference position of the flying object 5 and intersect at the reference position. Further, the relationship between the image pickup center of the flying object camera 8 and the reference position is known.

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 the three-dimensional coordinates of the all-around prism 7 while tracking the all-around prism 7. Further, the position measuring device 3 can wirelessly communicate with the remote control device 4, and the three-dimensional coordinates measured by the position measurement device 3 are input to the remote control device 4 as coordinate data.

The remote control device 4 is, for example, a mobile terminal such as a smartphone or a tablet, or a device in which an input device is connected or integrated with the mobile terminal. The remote control unit has an arithmetic unit having an arithmetic function, a storage unit for storing data and a program, and a terminal communication unit (described later). The remote controller 4 is capable of wireless communication with the flight device 2 between the terminal communication unit and the flying object communication unit 9, and also has a communication unit between the terminal communication unit and the position measuring device 3. Wireless communication with the position measuring device 3 is possible between the two. Further, the remote control device 4 can remotely control the flight of the flight device 2, and the distance measurement operation by the laser scanner 6 can also be remotely controlled.

Next, the flight device 2 will be described with reference to FIGS. 2 and 3.

The flying object 5 has a plurality of and even-numbered propeller frames 11 (11a to 11d in the figure) extending radially, and a propeller unit is provided at the tip of the propeller frame 11. The propeller unit is composed of a propeller motor 12 (12a to 12d in the figure) attached to the tip of the propeller frame 11 and a propeller 13 (13a to 13d in the figure) attached to the output shaft of the propeller motor 12. To.

The flying object 5 has a truncated cone-shaped recess 14 formed on the lower surface. Further, a hemispherical storage portion 15 is formed on the upper surface of the recess 14. An infrared sensor 16 for emitting infrared light and receiving light is provided on the inner peripheral surface of the storage portion 15.

The landing unit 17 includes a stand 18 erected in a quadrangular pyramid shape with four legs, a shaft 19 supported by the stand 18, and a trackball 21 provided at the upper end of the shaft 19. ing.

The stand 18 can support the shaft 19 at two points, a lower support portion 18a provided at the lower portion and an upper support portion 18b provided at the upper end portion. Further, the upper support portion 18b can eccentricize the held shaft 19. Therefore, the stand 18 can adjust the inclination of the shaft 19 by eccentricizing the shaft 19 with the upper support portion 18b with the lower support portion 18a as a fulcrum, and can hold the shaft 19 in a desired posture. It has become.

The shaft 19 has, for example, a bubble tube (not shown). By eccentricizing the shaft 19 with the upper support portion 18b while referring to the bubble tube, the shaft 19 can be in a vertical posture. That is, the leveling portion of the shaft 19 is formed by the bubble tube and the upper support portion 18b. The stand 18 may be a general tripod. Also in the case of a tripod, the shaft 19 is eccentric via a bubble tube or the like so that the shaft 19 can be in a vertical posture.

The trackball 21 is a spherical object fixed to the upper end of the shaft 19, and can reflect infrared light over the entire peripheral surface. Further, in the trackball 21, fine dots having different patterns are formed, and a reference position and a reference direction (zero position and zero direction) are set. Further, the trackball 21 can be stored in the storage portion 15 and can be slidable in the storage portion 15.

The infrared sensor 16 detects the reflected light from a predetermined dot of the trackball 21 in a state where the trackball 21 is housed in the storage portion 15, so that the azimuth angle of the flying object 5 with respect to the reference direction is obtained. , The tilt angle and tilt direction with respect to the horizontal can be detected. Therefore, the infrared sensor 16 and the trackball 21 form an attitude detection unit of the flight device 2.

As shown in FIG. 4, the attitude detecting unit can detect the horizontal rotation angle (azimuth) of the flying object 5 by 360 °, and the tilt angle of the flying object 5 is the recess from the vertical state. It can be detected until the lower edge of 14 comes into contact with the shaft 19. For example, the attitude detection unit can detect the inclination angle of the flying object 5 up to a range of about ± 135 °, that is, about 270 ° with the vertical as 0 °.

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

The flying object 5 has a built-in control device 22. The control device 22 mainly includes an arithmetic control unit 23, a storage unit 24, an image pickup control unit 25, a flight control unit 26, a propeller motor driver unit 27, a scanner control unit 29, a sensor control unit 31, and the flight body communication unit 9. Is equipped with.

In this embodiment, the scanner control unit 29 is included in the control device 22, but it may have a different configuration. For example, the scanner control unit 29 may be provided in the laser scanner 6, and a control signal may be exchanged between the flying object 5 and the laser scanner 6 via the flying object communication unit 9.

The shooting of the flying object camera 8 (8a to 8d in the figure) is controlled by the image pickup control unit 25. The image taken by the flying object camera 8 is input to the image pickup control unit 25 as image data.

The flying object camera 8 is provided with a digital camera so that a still image can be captured and a moving image or a frame image constituting a continuous image can be acquired. Further, as an image pickup element, a CCD, a CMOS sensor, or the like, which is an aggregate of pixels, is provided, and the position of each pixel in the image pickup element can be specified. For example, the position of each pixel is specified by the orthogonal coordinates with the point where the optical axis of the flying object camera 8 passes through the image sensor as the origin. Each pixel outputs the pixel coordinates together with the light receiving signal to the image pickup control unit 25.

A program storage unit and a data storage unit are formed in the storage unit 24. In the program storage unit, a shooting program for controlling the shooting of the flying object camera 8, a feature point extraction program for extracting feature points from image data, and temporally adjacent image data have the same features. The detection results of the position deviation calculation program for calculating the position deviation between points, the flight control program for driving and controlling the propeller motor 12, the distance measuring program for controlling the distance measuring operation by the laser scanner 6, and the infrared sensor 16. Based on this, an attitude detection program that calculates the inclination and orientation (attitude) of the flying object 5, the acquired data is transmitted to the remote controller 4, and the flight command and the imaging command from the remote controller 4 are received. Programs such as communication programs are stored.

In the data storage unit, still image data and moving image data acquired by the flying object camera 8, position data of the flying device 2 measured by the position measuring device 3 transmitted from the remote controller 4, and feature points are stored. The moving distance and moving direction data of the flying device calculated based on the position deviation between the two, the tilt angle data and the azimuth angle data of the flying object 5 detected by the attitude detection unit, the still image data, and the moving image data. The time, position data, etc. at the time of acquisition are stored.

The image pickup control unit 25 controls the image pickup of the flying object cameras 8a to 8d based on the control signal emitted from the arithmetic control unit 23. Further, the flying object cameras 8a to 8d are synchronously controlled by the image pickup control unit 25 based on the control signal from the remote control device 4, the emission timing of the ranging light emitted from the laser scanner 6, and the like.

The scanner control unit 29 controls the drive of the laser scanner 6. That is, the scanner control unit 29 controls the emission interval of the distance measuring light, the rotation speed of the scanning mirror 32, and the like, and rotates and irradiates the distance measuring light through the scanning mirror 32. That is, the scanner control unit 29 controls the point cloud interval and the point cloud density of the distance measuring light emitted from the laser scanner 6. Further, the light receiving result of the reflected distance measurement light is associated with the rotation angle of the scanning mirror 32 and input to the calculation control unit 23, and the distance measurement is executed.

The sensor control unit 31 controls emission and stop of infrared light emitted from the infrared sensor 16. Further, the infrared light reflected by the trackball 21 housed in the storage unit 15 is received by the infrared sensor 16, and the light receiving signal is output to the sensor control unit 31.
The sensor control unit 31 is adapted to determine which dot of the trackball 21 is reflected based on the received light signal. Further, the calculation control unit 23 calculates the inclination and the direction of the flying object 5 based on the determination result of the sensor control unit 31.

Infrared light may be constantly emitted from the infrared sensor 16. Further, a contact type sensor may be provided in the storage portion 15, and the infrared sensor 16 may emit infrared light based on the contact between the sensor and the trackball 21. Alternatively, the flying object 5 may be provided with a camera for photographing the lower part, and the infrared sensor 16 may emit infrared light when the trackball 21 is detected in the image.

When the flight body 5 is remotely controlled by the remote control unit 4, the flight body communication unit 9 receives a control signal from the remote control unit 4 and inputs the control signal to the calculation control unit 23. do. Alternatively, it has a function of associating each image data captured by each flying object camera 8 with a capture position and transmitting the image data to the remote control unit 4.

The arithmetic control unit 23 executes various controls for scanning (measuring) the measurement object with the distance measuring light based on the various programs stored in the storage unit 24. Further, the calculation control unit 23 calculates a control signal related to flight based on the position deviation of the feature points between the control signal and the adjacent image data, and outputs the control signal to the flight control unit 26.

The flight control unit 26 drives the propeller motor 12 to a required state via the propeller motor driver unit 27 based on a flight control signal.

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

The position measuring device 3 mainly includes a measuring control device 34, a telescope unit 35 (see FIG. 1) ranging unit 36, a horizontal angle detector 37, a vertical right angle detector 38, a horizontal rotation drive unit 39, and a vertical rotation drive unit 41. , A wide-angle camera 42, a telescope 43, and the like.

The telescope unit 35 collimates the object to be measured. The range-finding unit 36 emits range-finding light through the telescope unit 35, and further receives reflected light from the measurement object via the telescope unit 35 to perform range-finding. That is, the range finder 36 has a function as a light wave range finder. Further, the telescope unit 35 incorporates the wide-angle camera 42 and the telephoto camera 43. The wide-angle camera 42 has a wide angle of view, for example, 30 °, and the telephoto camera 43 has a narrower angle of view, for example, 5 ° than the wide-angle camera 42. The optical axis of the wide-angle camera 42 and the optical axis of the telephoto camera 43 are 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 42, the optical axis of the telephoto camera 43, and the optical axis of the range-finding light are aligned with each other.

Further, the ranging unit 36 can track the object to be measured (the all-around prism 7) while executing the prism measurement. When tracking the object to be measured, the tracking light is emitted coaxially with the distance measuring light via the telescope unit 35. Alternatively, the horizontal rotation drive unit 39 and the vertical so that the measurement object is captured by either the wide-angle camera 42 or the telephoto camera 43 and the measurement object is always located at the center of the image of the camera. The rotation drive unit 41 may be controlled.

The horizontal angle detector 37 detects the horizontal angle in the collimation direction of the telescope unit 35. Further, the vertical right angle detector 38 detects the vertical right angle in the collimation direction of the telescope unit 35. The detection results of the horizontal angle detector 37 and the vertical right angle detector 38 are input to the measurement control device 34.

The measurement control device 34 mainly includes a distance measurement control unit 44, a measurement calculation processing unit 45, a measurement storage unit 46, a measurement communication unit 47, a motor drive control unit 48, an image pickup control unit 49, and the like.

The distance measuring control unit 44 controls the distance measuring operation of the all-around prism 7 by the distance measuring unit 36 based on the control signal from the measurement calculation processing unit 45. Further, the measurement storage unit 46 has a measurement program for measuring the distance of the all-around prism 7, a tracking program for tracking the all-around prism 7, and imaging of the wide-angle camera 42 and the telephoto camera 43. A program such as an image pickup program for performing the above-mentioned, a communication program for communicating with the flight device 2 and the remote control unit 4, and the like are stored. Further, the measurement storage unit 46 stores the measurement results (distance measuring result, angle measuring result) of the all-around prism 7.

The measurement communication unit 47 transmits the measurement result of the all-around prism 7 (diagonal distance, horizontal angle, vertical right angle of the all-around prism 7) to the remote control unit 4 in real time.

The motor drive control unit 48 has the horizontal rotation drive unit 39 and the vertical rotation drive unit in order for the telescope unit 35 to collimate the telescope unit 35 with the all-around prism 7 or to track the all-around prism 7. 41 is controlled to rotate the telescope unit 35 in the horizontal direction or the vertical direction.

The image pickup control unit 49 controls the image pickup of the wide-angle camera 42 and the telephoto camera 43. In the state where the position measuring device 3 is tracking the all-around prism 7, the flying object 5 is always positioned in the image acquired by the wide-angle camera 42 and the telephoto camera 43. ..

The position measuring device 3 measures the distance while tracking the all-around prism 7, and based on the distance measurement result and the detection results of the horizontal angle detector 37 and the vertical right angle detector 38, the all-around prism 7 3 Measure dimensional coordinates in real time.

FIG. 7 is a diagram showing a schematic configuration of the remote control device 4 and a relationship between the flight device 2 and the position measuring device 3 and the remote control device 4.

The remote controller 4 has a terminal calculation processing unit 51, a terminal storage unit 52, a terminal communication unit 53, an operation unit 54, and a display unit 55 having a calculation function.

The terminal arithmetic processing unit 51 has a clock signal generation unit, and associates image data, coordinate data, and the like received from the flight device 2 with the clock signal, respectively. Further, the terminal calculation processing unit 51 processes various received data as time-series data based on the clock signal, and stores the data in the terminal storage unit 52.

The terminal storage unit 52 has a communication program for communicating with the flight device 2 and the position measurement device 3, and the three-dimensional all-around prism 7 based on the three-dimensional coordinates of the installation position of the position measurement device 3. Program for calculating coordinates, program for calculating 3D coordinates of measurement point (measurement target) based on 3D coordinates of the all-around prism 7 and measurement results received from the flight device 2, operation screen Programs such as a display program for displaying measurement results and images acquired by each camera, and an operation program for inputting instructions via a touch panel or the like are stored.

The terminal communication unit 53 communicates with the flight device 2 and with the position measuring device 3. Further, the operation unit 54 inputs various instructions via a button or the like of a controller provided integrally with the display unit 55, and operates the flying object 5.

The display unit 55 is a flying object camera image acquired by the flying object camera 8, a wide-angle camera image acquired by the wide-angle camera 42, a telephoto camera image acquired by the telephoto camera 43, and a position measuring device 3. A measurement result screen or the like showing the acquired measurement result is displayed.

All of the display unit 55 may be used as a touch panel. When all the display units 55 are touch panels, the operation unit 54 may be omitted. In this case, the display unit 55 is provided with an operation panel for operating the flying object 5.

Next, the measurement using the surveying system 1 will be described. In the following, the case where the GNSS device cannot be used, such as indoors, is shown.

First, the landing unit 17 is installed at an arbitrary position near the object to be measured. Further, the shaft 19 is vertically leveled by a leveling portion (not shown). Further, the reference direction of the trackball 21 is aligned with the reference direction (for example, north), or the relative azimuth angle of the trackball 21 in the reference direction with respect to the reference direction is calculated. The reference direction may be set by providing a directional meter on the stand 18 or the shaft 19 and using the directional meter, or based on the directional meter held by the operator.

Next, after shooting is started by the flying object camera 8, the flying object 5 is made to fly via the remote control device 4. At this time, the flying object 5 may be manually operated via the operation panel of the remote control aircraft 4, or the flying object 5 may be automatically flown based on a preset flight program.

Since the flying object 5 does not have an azimuth meter or an inclination detector, the inclination or the orientation of the flying object 5 during flight cannot be directly detected. In this embodiment, a moving image or a continuous image of the entire circumference of 360 ° is acquired by the flying object cameras 8a to 8d.

During the flight of the flying object 5, the imaging control unit 25 continuously captures the flying object camera images 56 as shown in FIGS. 8A and 8D for each of the flying object cameras 8a to 8d. get.

The arithmetic control unit 23 extracts feature points 57 for each flying object camera image 56 and for each flying object camera image 56 from the corners of buildings and steel frames, characteristic brightness, and the like. Further, the arithmetic control unit 23 compares the temporally adjacent flying object camera images 56 acquired by the same flying object camera 8.

The calculation control unit 23 calculates the position deviation of the same feature point 57 in the flying object camera image 56 based on the two temporally adjacent flying object camera images 56. Further, the calculation control unit 23 also calculates the position deviation of the feature point 57 in the flight object camera image 56 for the flight object camera image 56 acquired by the other flight object camera 8.

The position of each pixel in the image sensor can be specified. Therefore, for each flying object camera 8, by comparing the positions of the feature points 57 in the flying object camera images 56 that are adjacent in time, later, with respect to the time point when the above-mentioned flying object camera image 56 is acquired. The tilt angle, azimuth angle, and movement amount of the flying object 5 at the time when the flying object camera image 56 is acquired can be calculated.

The calculation control unit 23 controls the attitude and flight state of the flight body 5 based on the tilt angle, azimuth angle, and movement amount of the flight body 5 sequentially calculated (optical flow).

When the flying object 5 is moved onto the landing unit 17, the arithmetic control unit 23 lowers the flying object 5 onto the trackball 21. The descent operation of the flying object 5 may be performed manually via the remote control aircraft 4. Alternatively, a camera for photographing the lower part of the flying object 5 may be provided, and the flying object 5 may be automatically lowered based on the image of the camera.

The recess 14 has a truncated cone shape. Therefore, when the trackball 21 enters the recess 14, the horizontal position of the flying object 5 is guided by the sliding of the trackball 21 with respect to the slope of the recess 14, and the inside of the storage portion 15. The trackball 21 is stored in the. When the trackball 21 is housed in the storage unit 15, the descent process of the flying object 5 is completed.

After the descent process is completed, the arithmetic control unit 23 causes the sensor control unit 31 to execute a predetermined process based on the program stored in the storage unit 24. The sensor control unit 31 drives the infrared sensor 16 based on the contact between the contact sensor (not shown) and the trackball 21, and emits infrared light from the infrared sensor 16. The infrared sensor 16 receives infrared light reflected by the trackball 21 and outputs a light receiving signal to the sensor control unit 31.

The calculation control unit 23 calculates the azimuth angle with respect to the reference position and the reference direction of the flying object 5, the inclination angle with respect to the horizontal, and the inclination direction based on the light receiving signal received by the sensor control unit 31. That is, the calculation control unit 23 calculates the attitude of the flying object 5.

The arithmetic control unit 23 rotates the flying object 5 in the horizontal direction so that the distance measuring light irradiates the object to be measured, and drives the scanning mirror 32 of the laser scanner 6 to measure with the distance measuring light. Manipulate (scan) an object. Further, the arithmetic control unit 23 executes distance measurement for each pulse light and burst light, and the installation position of the landing unit 17 is based on the attitude of the flying object 5, the rotation angle of the scanning mirror 32, and the distance measurement result. Calculates 3D coordinates based on. As a result, point cloud data along the trajectory of the ranging light is acquired.

Further, the propeller motor driver unit 27 drives the propeller motor 12 while rotating and irradiating the distance measuring light, and the flying object 5 is rotated in the horizontal direction, so that the entire circumference with respect to the trackball 21 is used as a reference. Can calculate point group data. The horizontal rotation angle at this time is calculated based on the light receiving result of the infrared light reflected by the trackball 21. The calculated point cloud data is transmitted to the remote control unit 4 via the flying object communication unit 9 and the terminal communication unit 53.

Even during the measurement by the flight device 2, the tracking of the all-around prism 7 by the position measurement device 3 is executed, and the distance measurement of the all-around prism 7 with reference to the installation position of the position measurement device 3 is performed. , The angle measurement (measurement) result is acquired in real time. Further, the measurement result acquired by the position measuring device 3 is transmitted to the remote control unit 4 via the measuring communication unit 47 and the terminal communication unit 53.

The terminal calculation processing unit 51 calculates point cloud data of a measurement object based on the installation position of the position measurement device 3 based on the measurement result by the flight device 2 and the measurement result by the position measurement device 3.

If the landing unit 17 is also installed, the flying object 5 is made to fly again, descended to the next landing unit 17, and the point cloud data of the measurement target is acquired by the same processing as described above. do. If the other landing unit 17 is not present, the flying object 5 is recovered and the measurement using the survey system 1 is terminated.

As described above, in the first embodiment, the flying object 5 is lowered with respect to the landing unit 17, and the trackball 21 is housed in the storage portion 15, so that the orientation of the flying object 5 is determined. The tilt and tilt direction can be calculated. Therefore, since it is not necessary to separately provide a measuring instrument such as an azimuth meter, an inclination detector, and an IMU to the flying object 5, the weight and size of the flying object 5 can be reduced.

Further, the storage portion 15 is formed at the upper end of the conical concave portion 14. Therefore, since the horizontal position of the flying object 5 can be guided by the inclination of the recess 14 and the contact with the trackball 21, strict alignment is not required and workability can be improved.

Further, since the direction of the flying object 5 can be detected by the trackball 21, the emission direction (horizontal angle) of the ranging light emitted from the laser scanner 6 of one axis can be detected. Therefore, the laser scanner 6 can be provided as a measuring device for acquiring three-dimensional data in the flying object 5, and the laser scanner 6 can remotely scan a distant measurement object from a short distance.

Further, since the flying object 5 can be rotated in the horizontal direction by driving the propeller motor 12, the flying object 5 in a direction perpendicular to the rotation of the scanning mirror 32 and the rotation direction of the scanning mirror 32. By cooperating with the rotation of, it is possible to irradiate the range-finding light in any direction. Therefore, even when acquiring point cloud data in a three-dimensional range, a single-axis laser scanner may be mounted on the flying object 5, so that weight reduction and production cost can be reduced.

Further, during flight, relative movement between the temporally adjacent flying object camera images 56 based on the flying object camera images 56 by the plurality of flying object cameras 8 provided on the flying object 5. Since the amount, azimuth angle, and inclination angle can be calculated, it is possible to control the posture during flight, avoid collision with obstacles, and improve flight stability.

Next, a second embodiment of the present invention will be described with reference to FIG. In FIG. 9, those equivalent to those in FIG. 3 are designated by the same reference numerals, and the description thereof will be omitted.

In the first embodiment, a laser scanner is fixedly provided on the upper surface of the flying object, and the laser scanner has a configuration in which only a scanning mirror can move. On the other hand, in the second embodiment, the laser scanner is configured to be rotatable in two axes. Further, in the second embodiment, the flying object camera is provided in the laser scanner.

The laser scanner 58 has a base portion 59 fixedly provided on the upper surface of the flying object 5 and a main body portion 61 provided on the base portion 59 and rotatably provided horizontally with respect to the base portion 59. Have. Further, a recess 62 is formed in the main body 61, and the recess 62 is provided with a scanning mirror 63 that can rotate vertically with respect to the main body 61. Further, a plurality of flying object cameras 64 are provided on each of the two side surfaces (front surface and rear surface) where the recess 62 of the main body 61 opens. Other configurations are the same as in the first embodiment.

In the second embodiment, four flying object cameras 64a to 64b are provided at predetermined positions on the front surface and the rear surface of the main body 61, respectively. The images acquired by the flying object cameras 64a to 64b overlap each other by a predetermined amount, and each image makes it possible to acquire an image of the entire circumference of 360 °. Needless to say, the number and arrangement of the flying object cameras 64 may be other numbers or arrangements as long as an image of the entire circumference of 360 ° can be acquired.

The rotation axis of the main body 61 coincides with the vertical axis of the flying object 5. That is, the rotation axis of the main body 61 and the rotation axis of the scanning mirror 63 are orthogonal to each other. Therefore, the laser scanner 58 can acquire point cloud data around the entire circumference by the cooperation between the rotation of the main body 61 and the rotation of the scanning mirror 63.

In the second embodiment, after the descent processing of the flying object 5 is completed, the main body 61 is rotated and the scanning mirror 63 is rotated, and the entire circumference is based on the installation position of the landing unit (see FIG. 2). Point cloud data can be calculated. Further, by measuring while tracking the all-around prism 7 with the position measuring device 3 (see FIG. 1), the position measuring device 3 is installed based on the orientation of the flying object 5 and the measurement result of the position measuring device 3. It is possible to acquire point group data of the object to be measured based on the position.

During the measurement by the laser scanner 58, the flying object camera 64 may rotate relative to the trackball 21 due to vibration. In this case, the azimuth angle of the laser scanner 63 can be calculated based on the infrared light reflected by the trackball 21 and the rotation angle of the main body 61.

In the second embodiment, the main body 61 and the scanning mirror 63 are rotatable respectively. Therefore, it is possible to stably acquire the point cloud data of the entire circumference, and the measurement accuracy can be improved.

In the first and second embodiments, the position measuring device 3 is installed at a known position, the all-around prism 7 is provided on the flying object 5, and the all-around prism 7 is provided by the position measuring device 3. The position of the flying object 5 is measured by measuring while tracking, but the present invention is not limited to this configuration. For example, when the flight device 2 is used outdoors, the flight body 5 may be provided with a GNSS device as a position measuring device, and the position of the flight body 5 may be measured by the GNSS device. When using a GNSS device, flight control is executed based on the position detected by the GNSS device.

In the first and second embodiments, the four flying object cameras 8a to 8d are provided on the peripheral surface of the flying object 5, but the track ball 21 can be photographed on the lower surface of the flying object 5. More aircraft cameras may be added. By adding the flying object camera, the descent processing of the flying object 5 can be automatically performed.

Further, the barometric pressure sensor may be provided on the flying object 5. Since the altitude of the flying object 5 can be detected by the barometric pressure sensor, hovering of the flying object 5 becomes possible, and the stability of flight control can be improved.

Further, in the first and second embodiments, the one-axis or two-axis laser scanner 6 is used, but the measuring instrument is not limited to the laser scanner. For example, it is configured to scan the ranging light in the uniaxial direction or the biaxial direction by various deflection means such as a galvano mirror, a 2-axis MEMS mirror, an optical faced array, a liquid crystal beam steering, and a lesbian prism. May be good.

Further, in the first embodiment and the second embodiment, the total station is used as the position measuring device 3, but the position measuring device is not limited to the total station. A device capable of tracking an object to be measured and measuring a position, for example, a laser scanner or a tracker, can also be used as the position measuring device.

Further, since the position where the landing unit 17 is provided is arbitrary and horizontal alignment is not required, the installation work can be facilitated and the workability can be improved.

Further, if a plurality of the landing units 17 are prepared and the landing units 17 are installed for each desired measurement object, it is only necessary to sequentially fly and descend the flying object 5 between the landing units 17, thus shortening the working time. It can improve workability.

1 Survey system 2 Flight device 3 Position measurement device 4 Remote control device 5 Flying object 6 Laser scanner 7 All-around prism 8 Aircraft camera 15 Storage unit 16 Infrared sensor 17 Landing unit 19 Shaft 21 Trackball 22 Control device 23 Calculation control unit 25 Imaging control unit 26 Flight control unit 29 Scanner control unit 31 Sensor control unit 56 Flying object camera image 57 Feature points

Claims (7)

A flight device that can be remotely controlled and has a flying object and a landing unit, a position measuring device capable of measuring the position of the flying object, and the flying device and the position measuring device that control the flight of the flying object. It is a survey system having a remote control device capable of wireless communication, and the flying object is a hemispherical shape formed on a lower surface, a plurality of cameras provided on the peripheral surface, a measuring instrument provided at a predetermined position, and a hemispherical shape formed on the lower surface. The landing unit has a stand, a shaft vertically supported by the stand, and an upper end of the shaft. The remote controller has a trackball provided in the above and has a reference position and a reference direction, and the remote controller lowers the flying object onto the trackball, and the trackball is stored in the storage portion. The control device is a measuring system configured to calculate the attitude of the flying object with respect to the reference position and the reference direction of the trackball based on the infrared light reflected by the trackball. A truncated cone-shaped recess is formed on the lower surface of the flying object, the accommodating portion is formed on the upper end of the recess, and the flying object is guided by the inclination of the recess and contact with the trackball during descent. The surveying system according to claim 1, wherein the trackball is stored in the storage unit. The measuring instrument is a uniaxial laser scanner, and the laser scanner is configured to be able to scan distance measuring light in one dimension through a scanning mirror, and the control device rotates the scanning mirror and is orthogonal to the scanning mirror. The invention according to claim 1 or 2, which is configured to irradiate the range-finding light three-dimensionally in cooperation with the rotation of the flying object that rotates in the direction of rotation to acquire point group data around the entire circumference. Survey system. The measuring instrument is a laser scanner, and the laser scanner has a base portion, a main body portion provided so as to be horizontally rotatable with respect to the base portion, and a scanning mirror provided so as to be vertically rotatable with respect to the main body portion. The scanning mirror is configured to be able to scan the distance measuring light in one dimension, and the control device makes the distance measuring light three-dimensional by the cooperation between the rotation of the main body and the rotation of the scanning mirror. The measuring system according to claim 1 or claim 2, which is configured to rotate irradiation and acquire point group data around the entire circumference. The position measuring device is a total station, and an all-around prism is provided on the lower surface of the flying object. The position measuring device performs distance measurement and angle measurement while tracking the all-around prism, and the remote controller is the position. The surveying system according to claim 3 or 4, which is configured to calculate point group data based on the position measuring device based on the measurement result of the measuring device and the point group data acquired by the laser scanner. The position measuring device is a GPS device, and the remote controller calculates point cloud data based on the position measuring device based on the measurement result of the position measuring device and the point cloud data acquired by the laser scanner. The surveying system according to claim 3 or claim 4. The control device causes the camera to acquire a moving image or a continuous image, extracts the same feature points in temporally adjacent images, calculates a position deviation between the feature points, and is based on the position deviation. The survey according to any one of claims 1 to 6, which is configured to calculate the tilt angle, azimuth angle, and movement amount of the flying object at the time of later image acquisition with respect to the previous image acquisition. system.

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