JP2022159693A - Measuring system and measuring method - Google Patents

Abstract

To provide a measuring system capable of calculating a position of a moving object by a simple method.SOLUTION: A measuring system comprises: a working moving object that moves along a traveling path through an inspection area whose periphery is shielded; and first and second support moving objects for calculating a position of the working moving object under stationary state by alternately communicating with the working moving object located within a predetermined range in the inspection area. The first and second support moving objects alternately communicate with each other under stationary states so as to calculate positions of the first and second support moving objects. The working moving object performs movement control to move along the traveling path based on the self-machine position calculated by communicating with at least one support moving object of the first and second support moving objects. The first and second support moving objects execute movement control to sequentially move while alternately maintaining a state of stationary communication in order to continue communication with the working moving object that moves along the traveling path.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to a measurement system and a measurement method for calculating the position of a moving object.

Drones and other unmanned aerial vehicles (UAV: Unmanned Aerial Vehicles/UAS: Unmanned Aircraft Systems) are equipped with cameras and other shooting equipment to not only capture images and videos, but also use captured image data and video data. It is also used to inspect structures such as bridges and tunnels.

Inspection of structures by unmanned aerial vehicles can maintain the resolution of photography and 3D data scanning (hereinafter referred to as photography, etc.) The position and nose direction of the unmanned aerial vehicle that performs shooting, etc. from a predetermined reference position while keeping a certain distance from a certain structure, and the direction and angle of shooting, etc. based on the unmanned aerial vehicle itself. It is often the case that an unmanned aerial vehicle is flown while grasping the In this case, the relative position of the unmanned aerial vehicle from the preset reference position is calculated with high accuracy, and the direction and angle of shooting etc. based on the unmanned aerial vehicle itself are grasped, and the fixed position from the side of the structure is determined. A control technology is required to keep the distance of Usually, flight control technology using position information obtained from navigation signals from navigation satellites is used for flight control of this unmanned aerial vehicle. However, it is impossible to receive navigation signals from navigation satellites indoors, underground, under bridges, and inside tunnels.

In this respect, Patent Document 1 discloses a method of specifying the position of a UAV using an automatic collimation tracking (motor drive) TS (total station) that precisely measures the position of a specific point using ranging light. It is

JP 2019-117127 A

On the other hand, it is desirable to calculate the position of a moving object such as a UAV using a simple method rather than using a special device.

An object of the present disclosure is to provide a measurement system and measurement method capable of calculating the position of a moving object in a simple manner without using navigation signals.

A measurement system according to an embodiment alternately communicates with a work mobile body that moves in an inspection area whose periphery is shielded along a traveling path and a work mobile body that is positioned within a predetermined range in the inspection area in a stationary state. and first and second support mobile bodies for calculating the position of the work mobile body. The first and second support mobiles alternately communicate with each other in a stationary state to calculate the positions of the first and second support mobiles, and the work mobile communicates with the first and second support mobiles. movement control is executed to move along a traveling route based on the self-machine position calculated by communicating with at least one supporting mobile body of the body, and the first and second supporting mobile bodies move along the traveling route; In order to continue communication with the work moving body that moves by hand, movement control is executed to move sequentially while maintaining a state of alternately standing still and communicating.

According to another embodiment, communication is performed in a stationary state alternately with a work mobile body that moves in an inspection area whose surroundings are shielded along a traveling path and with a work mobile body that is positioned within a predetermined range within the inspection area. and first and second support mobiles for calculating the position of the work mobile by: the first and second support mobiles alternately communicating with each other in a stationary state a step of calculating the positions of the first and second support mobile bodies by calculating the position of the work mobile body by communicating with at least one support mobile body of the first and second support mobile bodies; and the first and second support mobile bodies alternately remain stationary to continue communication with the work mobile body that moves along the travel path. and executing movement control to sequentially move while maintaining a state of communicating with each other.

A measurement system according to yet another embodiment includes first to fourth working mobile bodies each including a communication unit, which move along an advancing route through an inspection area whose surroundings are shielded while repeating rest and movement. Among the first to fourth stationary work moving bodies, the working moving body located at the rearmost position along the progress path moves through the inspection area with the remaining three stationary working moving bodies. By communicating, the position of the machine is calculated, and based on the calculated position of the machine, movement control is executed to move ahead of the work moving body positioned at the forefront along the traveling route and stop, and the movement control is executed. After the execution, of the first to fourth stationary work moving bodies, the working moving body located at the rearmost position along the traveling path is instructed to move through the inspection area.

According to an embodiment, the measurement system and measurement method are capable of calculating the position of a moving object in a simple manner.

The above and other objects, features, aspects and advantages of the present invention will become apparent from the following detailed description of the invention, understood in conjunction with the accompanying drawings.

1 is a diagram illustrating a measurement system 1 according to Embodiment 1; FIG. 4 is a diagram illustrating the configuration of a communication unit provided on the upper surface side of the support mobile bodies 100 and 150 according to the first embodiment; FIG. 4A and 4B are diagrams illustrating calculation of position coordinates of the work mobile body 10 according to the first embodiment; FIG. 1 is a conceptual diagram of visible light communication between a work mobile 10 and support mobiles 100 and 150 according to Embodiment 1. FIG. 4 is another conceptual diagram of visible light communication between the work mobile 10 and the support mobiles 100 and 150 according to Embodiment 1. FIG. 2 is a diagram illustrating functional blocks of a work mobile body 10 and support mobile bodies 100 and 150 according to Embodiment 1. FIG. 4 is a diagram for explaining signal transfer between the work mobile body 10 and the support mobile bodies 100 and 150 according to Embodiment 1. FIG. FIG. 4 is a flow diagram illustrating transmission of an inquiry signal that is transmitted at predetermined intervals by the communication units of the support mobile bodies 100 and 150 according to the first embodiment; FIG. 4 is a flow diagram illustrating a position calculation method of the position calculation unit 17 of the work moving body 10 according to the first embodiment; FIG. 4 is a flow diagram illustrating movement determination processing of the support mobile bodies 100 and 150 according to the first embodiment; FIG. 4 is a flow diagram illustrating movement processing of the support mobile bodies 100 and 150 according to the first embodiment; FIG. 3 is a diagram explaining a measurement system 2 according to a modification of Embodiment 1; FIG. 10 is a diagram illustrating a measurement system 3 according to Embodiment 2; FIG. FIG. 11 is another conceptual diagram of visible light communication between the work mobile 10 and support mobiles 200 to 206 according to the second embodiment; FIG. 11 is a diagram illustrating a measurement system 4 according to Embodiment 3; FIG. 11 is a diagram illustrating movement of work moving bodies 31 to 34 according to Embodiment 3; FIG. 10 is a diagram illustrating another movement of the work moving bodies 31 to 34 according to the third embodiment; FIG. 13 is a flow diagram illustrating movement determination processing of a movement determination unit for work moving bodies 31 to 34 according to Embodiment 3;

Embodiments will be described in detail with reference to the drawings. In addition, the same reference numerals are given to the same or corresponding parts in the drawings, and the description thereof will not be repeated.

(Embodiment 1)
FIG. 1 is a diagram illustrating a measurement system 1 according to Embodiment 1. FIG. As shown in FIG. 1, the metrology system is shown applied to a tunnel 50 as an example. The measurement system 1 includes, for example, a working mobile body 10 (a drone as an example) and a plurality of support mobile bodies 100 and 150 (a drone as an example).

The measurement system 1 is a system that transmits and receives data by optical wireless communication between a plurality of support mobile bodies 100 and 150 and the work mobile body 10 . The work mobile 10 and the support mobiles 100 and 150 are not limited to unmanned aircraft such as drones, and may be manned aircraft. Further, the drone is not limited to a flying drone, and may be a ground-running drone or a water/underwater navigation drone, or a drone used in space such as a non-atmospheric environment that is not an atmospheric environment.

In this example, visible light communication using LEDs will be described as an example of optical wireless communication, but it is not limited to this, and communication using other light or radio waves of a high frequency band having characteristics equivalent to light It is also possible to use

In the measurement system 1 according to the first embodiment, the work moving body 10 moves through an inspection area whose surroundings are shielded along a traveling path such as the tunnel 50 . A camera and the like are mounted on the work mobile body 10 . The work mobile 10 inspects (takes an image as an example) an inspection area in the tunnel 50 using a camera or the like. The captured image data is analyzed by an analysis device or the like. It is possible to confirm the state of the inspection area (for example, cracks, etc.) by the analysis of the analysis device.

The supporting mobile body 100 and the supporting mobile body 150 are located in an illumination area where the illumination lights overlap each other so that they can communicate with each other. Supporting mobile bodies 100 and 150 perform movement control within a range where they can continue visible light communication with each other. The illumination light may be omnidirectional or wide directional illumination.

The support mobile bodies 100 and 150 exchange data with the work mobile body 10 in the illumination area by visible light communication. Each of support mobile bodies 100 and 150 has three communication units including a light receiving unit that receives illumination light and a light projecting unit that projects illumination light. The three communication units are provided at mutually different positions in each of the supporting mobile bodies 100 and 150 .

The measurement system 1 according to the first embodiment calculates the positions of the support mobile bodies 100 and 150 in spatial coordinates by alternately performing visible light communication between the support mobile body 100 and the support mobile body 150 in a stationary state. It is possible. The support mobiles 100 and 150 are each equipped with a GNSS signal receiver for receiving GNSS signals, and outside the tunnel 50, each position coordinate can be obtained using the GNSS signal receiver. Since GNSS signals cannot be received in the tunnel 50, the position coordinates of the support mobile bodies 100 and 150 can be obtained by alternately performing visible light communication in a stationary state between the support mobile bodies 100 and 150. It is possible to calculate each. Support mobile bodies 100 and 150 receive GNSS signals and acquire position coordinates before entering tunnel 50, which is an inspection area. The support mobile bodies 100 and 150 perform movement control within the tunnel 50, which is the inspection area, using the position coordinates as initial values (reference values). The support mobile bodies 100 and 150 may receive information on their position coordinates as an initial value (reference value) from an external input when executing movement control within the inspection area. The initial value (reference value) input from the outside may be coordinates linked to the GNSS signal, or may be independent coordinates determined based on the positional relationship of the communication unit of the supporting mobile body in a stationary state. .

The measurement system 1 according to the first embodiment can calculate the position of the work mobile 10 in spatial coordinates by visible light communication between the work mobile 10 and the support mobiles 100 and 150 . The work mobile 10 executes autonomous movement control along the travel route based on the calculated own machine position. It is assumed that the traveling route of the work moving body 10 in the tunnel 50, which is the inspection area, is set in advance. The traveling path need not be a line and may be an area where movement is permitted.

As described above, in the case of an inspection area where the surroundings are not shielded, the work mobile body 10 calculates its own position by receiving GNSS signals, and presets based on the calculated own position. It is easy to control the movement along the traveling route. On the other hand, in the case of an inspection area where the surroundings are shielded, the GNSS signal cannot be received, so the position of the aircraft itself cannot be calculated, and it is not easy to control movement along the traveling route.

In this example, in the tunnel 50 which is the inspection area, the work mobile 10 calculates its own position using two support mobiles 100 and 150, and autonomously moves along the traveling route in the tunnel 50. A case of controlling movement to . As an example, a case where two supporting mobile bodies are used will be described, but the number is not limited to two, and three or more supporting mobile bodies may be used for control.

FIG. 2 is a diagram illustrating the configuration of the communication unit provided on the upper surface side of the support mobile bodies 100 and 150 according to the first embodiment. As shown in FIG. 2, the supporting mobile unit 100 has communication units 102, 104, and 106 (sub-communication units). The communication units 102, 104, and 106 include a light receiving unit that receives illumination light for visible light communication and a light projecting unit that projects the illumination light. Communication units 102, 104, and 106 are provided at different positions and have different position information. The support mobile unit 150 has communication units 152, 154, and 156 (sub-communication units). Communication units 152, 154, and 156 include a light receiving unit that receives illumination light for visible light communication and a light projecting unit that projects illumination light. Communication units 152, 154, and 156 are provided at different positions and have different position information.

The work mobile 10 has a communication unit 11 . The communication unit 11 includes a light receiving unit that receives illumination light for visible light communication, and a light projecting unit that projects the illumination light. Since the work mobile body 10 communicates with the support mobile bodies 100 and 150 located below, the communication unit 11 may be provided on the lower surface side of the work mobile body 10 .

FIG. 3 is a diagram illustrating calculation of the position coordinates of the work mobile 10 according to the first embodiment. FIG. 3 is a diagram illustrating visible light communication between the communication unit 11 of the work mobile unit 10 and the three communication units 102, 104, and 106 of the support mobile unit 100. FIG.

In this example, in response to an inquiry signal from at least one of the communication units 102, 104, and 106 of the support mobile unit 100, the communication unit 11 of the work mobile unit 10 transmits an ACK signal. The three communication units 102, 104, and 106 of the support mobile unit 100 transmit COP signals (Copy: acknowledgment signal). Identifiers ID1, ID2, and ID3 are assigned to the communication units 102, 104, and 106, respectively. The COP signal contains the location information of the communication units 102, 104, 106 of the assisting mobile 100 along with the assigned identifier.

The communication unit 11 of the work mobile unit 10 receives the COP signals from the communication units 102 , 104 and 106 of the support mobile unit 100 . As a result, the work mobile unit 10 acquires the period t1 from the transmission of the ACK signal from the communication unit 11 to the reception of the COP signal from the communication unit 102 of the support mobile unit 100 . The work mobile unit 10 acquires the period t2 from when the communication unit 11 transmits the ACK signal to when the support mobile unit 100 receives the COP signal from the communication unit 104 . The work mobile unit 10 acquires the period t3 from when the communication unit 11 transmits the ACK signal to when the support mobile unit 100 receives the COP signal from the communication unit 106 .

The work mobile 10 can calculate the distance between the communication unit 102 of the support mobile 100 and the communication unit 11 of the work mobile 10 based on the period t1. The distance r1 between the communication unit 102 of the support mobile unit 100 and the communication unit 11 of the work mobile unit 10 is calculated by multiplying the speed of light by t1/2. The distance r2 between the communication unit 104 of the support mobile unit 100 and the communication unit 11 of the work mobile unit 10 is calculated by multiplying the speed of light by t2/2. The distance r3 between the communication unit 106 of the support mobile unit 100 and the communication unit 11 of the work mobile unit 10 is calculated by multiplying the speed of light by t3/2.

Position coordinates L1 (x1, y1, z1), L2 (x2, y2, z2), and L3 (x3, y3, z3) of communication units 102, 104, and 106 are included in the COP signal, respectively.

The position coordinates D (x, y, z) of the communication unit 11 of the work mobile body 10 can be calculated by the following equation.

It is possible to calculate the position coordinates D (x, y, z) of the communication unit 11 of the work mobile 10 based on the equation. As an example, a case where the position coordinates D of the communication unit 11 are used as the position coordinates of the work moving body 10 will be described. Note that the position coordinates of the work mobile body 10 may be calculated based on the position coordinates D of the communication unit 11 .

In this example, visible light communication between the communication unit 11 of the work mobile body 10 and the three communication units 102, 104, and 106 of the support mobile body 100 has been described. The same applies to visible light communication with the three communication units 152, 154, and 156 of the mobile object 150. FIG. The same applies to visible light communication between the supporting mobile body 100 and the supporting mobile body 150. FIG. Specifically, the position coordinates of the communication unit 102 of the mobile support unit 100 can be calculated by communicating with the communication units 152 , 154 , 156 of the mobile support unit 150 . The communication unit 102 of the supporting mobile unit 100 transmits an ACK signal in response to the inquiry signal. The communication unit 102 of the support mobile 100 receives the COP signals from the communication units 152 , 154 , 156 of the support mobile 150 . The communication unit 102 of the support mobile unit 100 acquires the period t4 from the transmission of the ACK signal to the reception of the COP signal from the communication unit 152 . The communication unit 102 of the support mobile unit 100 acquires the period t5 from the transmission of the ACK signal to the reception of the COP signal from the communication unit 154 . The communication unit 102 of the support mobile unit 100 acquires the period t6 from the transmission of the ACK signal to the reception of the COP signal from the communication unit 156. FIG.

The support mobile body 100 can calculate the distance between the communication unit 102 of the support mobile body 100 and the communication unit 152 of the support mobile body 150 based on the period t4. A distance r4 between the communication unit 102 of the support mobile unit 100 and the communication unit 152 of the support mobile unit 150 is calculated by multiplying the speed of light by t4/2. The distance r5 between the communication unit 102 of the support mobile unit 100 and the communication unit 154 of the support mobile unit 150 is calculated by multiplying the speed of light by t5/2. The distance r6 between the communication unit 102 of the support mobile unit 100 and the communication unit 156 of the support mobile unit 150 is calculated by multiplying the speed of light by t6/2.

Position coordinates L4 (x4, y4, z4), L5 (x5, y5, z5), and L6 (x6, y6, z6) of communication units 152, 154, and 156 are included in the COP signal, respectively.

The position coordinates D (x, y, z) of the communication unit 102 of the support mobile body 100 can be calculated from the above equation. The position coordinates of the communication units 104 and 106 of the support mobile body 100 can be similarly calculated. Also, the position coordinates of the communication units 152, 154, and 156 of the support mobile body 150 can be similarly calculated.

With this processing, even when movement control is performed to sequentially move the support mobile bodies 100 and 150, it is possible to accurately calculate the position coordinates of the communication unit at the position where the support mobile bodies 100 and 150 have moved. The positions of the communication units 102, 104, and 106 of the supporting mobile body 100 are separated from each other. Therefore, as the positional coordinates used for movement control of the supporting mobile body 100, for example, the positional coordinates of a certain communication unit may be used as a reference, or the center position (for example, the average value ) may be used as the position coordinates of the supporting mobile body 100 for movement control. The same applies to the support mobile body 150 . In addition, in order to calculate the position coordinates with high accuracy and move while maintaining high accuracy, while one supporting mobile unit communicates with other mobile unit communication units and calculates the distance, calculation A moving body other than the moving body performing the operation may be stationary (stopped, landed, etc.).

FIG. 4 is a conceptual diagram of visible light communication between the work mobile 10 and the support mobiles 100 and 150 according to the first embodiment. Referring to FIG. 4 , mobile support bodies 100 and 150 are stationary with respect to each other. Coordinates can be calculated. As an example, the work mobile 10 is located in an illumination area where illumination lights overlap each other so that the support mobile 100 and the support mobile 150 can communicate with each other. The supporting mobile bodies 100 and 150 are in a state of being grounded on the ground and stationary.

The work mobile body 10 can communicate with the support mobile body 100 and the support mobile body 150 by visible light communication. The work mobile 10 can calculate the position coordinates by communicating with the support mobile 100 and the support mobile 150 .

In this example, a case is described in which the mobile work unit 10 can communicate with both the mobile support unit 100 and the mobile support unit 150, but it is sufficient if it can communicate with either one of them.

FIG. 5 is another conceptual diagram of visible light communication between the work mobile 10 and the support mobiles 100 and 150 according to the first embodiment. Referring to FIG. 5, a case is shown in which the support mobile body 100 moves in front of the support mobile body 150 when the work mobile body 10 moves along the traveling path. After moving forward, the supporting mobile body 150 is in a state of being in contact with the ground and standing still.

As the work mobile 10 moves along the travel route, the communication range between the work mobile 10 and the support mobile 100 and the communication range between the work mobile 10 and the support mobile 150 change.

As an example, a case will be described in which the support mobile body 150 is positioned forward along the traveling path, and the support mobile body 100 is positioned behind the support mobile body 150 . When the work mobile body 10 moves along the traveling path, the work mobile body 10 is positioned farther from the support mobile body 100 and closer to the support mobile body 150 . That is, it becomes difficult for the work mobile body 10 to secure communication with the support mobile body 100 , and it becomes easy to secure communication with the support mobile body 150 . Therefore, in Embodiment 1, the work mobile 10 measures the distance to the support mobiles 100 and 150 when moving along the traveling route. When the distance between the work mobile body 10 and the support mobile body 150 becomes shorter than the distance between the work mobile body 10 and the support mobile body 100, the work mobile body 10 instructs the support mobile body 100 to move. do. The support mobile body 100 moves ahead of the support mobile body 150 according to the instruction from the work mobile body 10 .

Conversely, a case will be described in which the support mobile body 100 is positioned forward along the traveling path and the support mobile body 150 is positioned behind the support mobile body 100 . When the work mobile body 10 moves along the traveling path, the position of the work mobile body 10 becomes farther from the support mobile body 150 and closer to the support mobile body 100 . That is, it becomes difficult for the work mobile body 10 to secure communication with the support mobile body 150 , and it becomes easy to secure communication with the support mobile body 100 . The work mobile 10 measures the distance to the support mobiles 100 and 150 . When the distance between the work mobile body 10 and the support mobile body 100 becomes shorter than the distance between the work mobile body 10 and the support mobile body 150, the work mobile body 10 instructs the support mobile body 150 to move. do. The support mobile body 150 moves ahead of the support mobile body 100 according to the instruction from the work mobile body 10 .

The support mobile bodies 100 and 150 execute movement control to sequentially move according to instructions from the work mobile body 10 . The work mobile body 10 can always continue communication with the support mobile bodies 100 and 150 when moving along the traveling route.

FIG. 6 is a diagram illustrating functional blocks of the work mobile body 10 and the support mobile bodies 100 and 150 according to the first embodiment. Referring to FIG. 6 , work mobile 10 includes communication unit 11 , camera 12 , movement control unit 13 , power generation device 14 , laser sensor 15 , communication time calculation unit 16 , position calculation unit 17 . , an IMU 18 , a GNSS receiver 19 and a movement determiner 20 .

The communication unit 11 includes a light receiving unit used for visible light communication and a light projecting unit. The communication unit 11 is assigned an identifier and assigned to ID0.

The camera 12 acquires image data of the inspection area. For example, it acquires image data of walls and internal conditions in the inspection area illuminated by the illumination light of the communication unit. The camera 12 may be fixedly installed so as to be able to directly face the object to be photographed with respect to the work moving body 10, or may be mounted on a pan head so that it can be photographed at any angle with respect to the work moving body 10. good. Further, the image data is not limited to moving images captured by the camera 12, and may be still images. In this example, the camera 12 is used as an example of a detection device that detects the state of an object to be inspected in the inspection area, but various sensors may be used without being limited to the camera 12 . Specifically, it may be 3D shape data of a wall surface obtained by a laser scanner or spectral image data obtained by a hyperspectral camera. Further, various combinations of these may be used, and various parameters of the work moving body 10 such as position data of the work moving body 10, distance data between the work moving body 10 and the object to be inspected, behavior data of the camera 12, etc. It may be detected data. In addition, when the amount of light when the camera 12 takes an image of the inspection area is insufficient, a separate light source may be provided.

The movement control unit 13 controls movement of the work mobile body 10 . Control of the movement of the work mobile 10 is automatic control, but may be manual control based on input from the outside. For example, in the case of manual control, by transmitting an external instruction to the work mobile 10, the work mobile 10 may receive the instruction data and control movement. A travel route is set in advance for movement of the work mobile body 10, and the movement control unit 13 controls the work vehicle 10 to move along the travel route. The movement control unit 13 performs automatic control of movement on the traveling route based on the position data of the work moving body 10 calculated by the position calculation unit 17 .

The power generation device 14 is a device that receives the illumination light emitted by the communication unit and generates power. By providing the power generation device 14 in the work vehicle 10 , it is possible to control the work vehicle 10 using the electric power generated by the power generation device 14 . For example, it is possible to use a solar panel as the power generator 14 . The work moving body 10 may be controlled using not only the power generated by the power generation device 14 but also the power of a battery mounted thereon. Moreover, it is also possible to use a battery and the power generator 14 together.

The laser sensor 15 interlocks with the movement of the camera 12 to measure and calculate the distance to an object (for example, a wall in the inspection area) captured by the camera at preset intervals.

The communication time calculation unit 16 calculates the communication time for communicating with the supporting mobile bodies 100 and 150 .

The position calculation unit 17 calculates the position data of the work mobile unit 10 using the position data of the support mobile units 100 and 150 received from the support mobile units 100 and 150 and the communication time calculated by the communication time calculation unit 16. do.

An IMU (inertial measurement unit) 18 measures and calculates the posture of the work moving body 10 by detecting angles and accelerations on three axes.

The GNSS receiver 19 receives the GNSS signal and calculates position data of the work mobile 10 .

Within the inspection area, the work mobile body 10 transmits the ACK signal from the communication unit 11 to the support mobile body 100 or 150 and receives the COP signal. The three-dimensional coordinates (x, y, z) of the working mobile body 10 are calculated based on the position data of the communication unit.

The supporting mobile body 100 includes communication units 102, 104, 106, a camera 112, a movement control unit 113, a power generation device 114, a laser sensor 115, a communication time calculation unit 116, a position calculation unit 117, and an IMU 118. , and the GNSS receiver 119 .

Communication units 102, 104, and 106 include a light receiving unit used for visible light communication and a light projecting unit. Identifiers are assigned to the communication units 102, 104, and 106, respectively, and are assigned to ID1 to ID3, respectively.

Camera 112 acquires image data of the inspection area. For example, it acquires image data of walls and internal conditions within the inspection area illuminated by the illumination light. The camera 112 may be fixedly mounted on the supporting mobile body 110 so as to be able to directly face the object to be photographed, or may be mounted on a pan head so that it can be photographed at any angle with respect to the working mobile body 10. good. The support mobile body 100 may not be provided with the camera 112 .

The movement control unit 113 controls movement of the supporting mobile body 100 . Control of the movement of the support mobile body 100 is automatic control, but may be manual control based on input from the outside. For example, in the case of manual control, by transmitting an external instruction to the supporting mobile body 100, the supporting mobile body 100 may receive the instruction data and control movement. Regarding the movement of the support mobile body 100, a travel route is set in advance, and the movement control unit 113 controls the support vehicle 100 to move along the travel route. Note that the travel route of the support mobile body 100 may be set using the travel route of the work mobile body 10 . The movement control unit 113 performs automatic control to move on the traveling route according to the position data of the support mobile body 100 calculated by the position calculation unit 117 and the movement instruction from the work mobile body 10 .

The power generation device 114 is a device that receives illumination light to generate power. By providing the power generation device 114 in the support mobile body 100 , the power generated by the power generation device 114 can be used to control the support mobile body 100 . For example, a solar panel can be used as power generator 114 . The support mobile body 100 may be controlled using not only the power generated by the power generation device 114 but also the power of a mounted battery.

The laser sensor 115 interlocks with the movement of the camera 112 to measure and calculate the distance to an object (for example, a wall in the inspection area) captured by the camera at preset intervals.

The communication time calculation unit 116 calculates the communication time for communicating with the supporting mobile body 150 .
The position calculator 117 calculates the position data of the mobile support 100 using the position data of the mobile support 150 received from the mobile support 150 and the communication time calculated by the communication time calculator 116 .

An IMU (inertial measurement unit) 118 measures and calculates the posture of the work moving body 10 by detecting angles and accelerations on three axes.

The GNSS receiver 119 receives GNSS signals and calculates the position data of the support mobile unit 100 .

Within the inspection area, the support mobile body 100 transmits the ACK signal from the communication unit to the support mobile body 150 and receives the COP signal based on the period t and the position data of the communication unit of the support mobile body 150. , the three-dimensional coordinates (x, y, z) of the supporting mobile body 100 are calculated.

The supporting mobile unit 150 includes communication units 152, 154, 156, a camera 162, a movement control unit 163, a power generation device 164, a laser sensor 165, a communication time calculation unit 166, a position calculation unit 167, and an IMU 168. , and the GNSS receiver 169 .

Communication units 152, 154, and 156 include a light receiving unit used for visible light communication and a light projecting unit. Identifiers are assigned to the communication units 152, 154, and 156, respectively, and are assigned to ID4 to ID6, respectively.

Camera 162 acquires image data of the inspection area. For example, it acquires image data of walls and internal conditions within the inspection area illuminated by the illumination light. The camera 162 may be fixedly installed so as to be able to directly face the object to be photographed with respect to the supporting mobile body 150, or may be mounted on a pan head so that it can be photographed at any angle with respect to the supporting mobile body 150. good. The support mobile body 150 may not be provided with the camera 162 .

The movement control unit 163 controls movement of the support mobile body 150 . Control of the movement of the support mobile body 150 is automatic control, but may be manual control based on input from the outside. For example, in the case of manual control, by sending an external instruction to the supporting mobile body 150, the supporting mobile body 150 may receive the instruction data and control movement. Regarding the movement of the support mobile body 150, a travel route is set in advance, and the movement control unit 163 controls the support vehicle 150 to move along the travel route. The travel route of the work mobile body 10 may be used to set the travel route of the support mobile body 150, or the same travel route as that of the support mobile body 100 may be used. The movement control unit 163 performs automatic control to move on the traveling route according to the position data of the support vehicle 150 calculated by the position calculation unit 167 and the movement instruction from the work vehicle 10 .

The power generation device 164 is a device that receives illumination light to generate power. By providing the power generation device 164 in the support mobile body 150 , the power generated by the power generation device 164 can be used to control the support mobile body 100 . For example, a solar panel can be used as power generator 164 . The support mobile body 150 may be controlled using the power of a battery mounted on the power generator 164 instead of the power generated by the power generator 164 .

The laser sensor 165 interlocks with the movement of the camera 162 to measure and calculate the distance to an object (for example, a wall in the inspection area) captured by the camera 162 at preset intervals.

The communication time calculation unit 166 calculates the communication time for communicating with the supporting mobile unit 100 .
The position calculator 167 calculates the position data of the mobile support 150 using the position data of the mobile support 100 received from the mobile support 100 and the communication time calculated by the communication time calculator 166 .

An IMU (inertial measurement unit) 168 measures and calculates the posture of the work moving body 10 by detecting angles and accelerations on three axes.

The GNSS receiver 169 receives GNSS signals and calculates the position data of the support mobile unit 150 .

Within the inspection area, the support mobile body 150 transmits the ACK signal to the support mobile body 100 from the communication unit to receive the COP signal based on the period t and the position data of the communication unit of the support mobile body 100 , the three-dimensional coordinates (x, y, z) of the supporting mobile body 150 are calculated.

FIG. 7 is a diagram for explaining signal transmission and reception between the work mobile body 10 and the support mobile bodies 100 and 150 according to the first embodiment. As shown in FIG. 7, the communication units 102, 104, and 106 of the supporting mobile unit 100 sequentially transmit inquiry signals at predetermined intervals. The communication unit 11 of the work mobile unit 10 transmits an ACK signal in response to the inquiry signals from the communication units 102 , 104 and 106 of the support mobile unit 100 . Also, the communication units 152 , 154 , 156 of the support mobile unit 150 transmit ACK signals in response to the inquiry signals from the communication units 102 , 104 , 106 of the support mobile unit 100 .

The communication units 102 , 104 , 106 of the support mobile body 100 transmit COP signals (Copy: acknowledgment signal) in response to ACK signals from the work mobile body 10 and the support mobile body 150 . The COP signal includes location information of the communication units 102, 104, and 106 provided in the supporting mobile body 100 and its own pre-assigned ID signal. For example, the communication unit 102 transmits the COP signal including the position coordinates L1 of the communication unit 102 and the identifier ID1. The communication unit 104 transmits the COP signal including the position coordinates L2 of the communication unit 104 and the identifier ID2. The communication unit 106 transmits the COP signal including the position coordinates L3 of the communication unit 106 and the identifier ID3.

The communication unit 11 of the work mobile body 10 detects the position coordinates of the communication units 102, 104, and 106 of the support mobile body 100 and the period from the transmission of the ACK signal to the reception of the COP signal. Calculate the position of

Similarly, the communication units 152, 154, and 156 of the support mobile body 150 determine the period from the transmission of the ACK signal to the reception of the COP signal and the position coordinates L1 of the communication units 102, 104, and 106 of the support mobile body 100. , L2 and L3.

Similarly, the communication units 152, 154, and 156 of the supporting mobile unit 150 sequentially transmit inquiry signals at predetermined intervals. The communication unit 11 of the work mobile unit 10 transmits an ACK signal in response to the inquiry signals from the communication units 152 , 154 , 156 of the support mobile unit 150 .

The communication units 152 , 154 , 156 of the support mobile body 150 transmit COP signals in response to ACK signals from the work mobile body 10 and the support mobile body 100 . The COP signal includes location information of the communication units 152, 154, 156 provided in the supporting mobile unit 150 and its own pre-assigned ID signal. For example, the communication unit 152 transmits the COP signal including the position coordinates L4 of the communication unit 152 and the identifier ID4. The communication unit 154 transmits the COP signal including the position coordinates L5 of the communication unit 154 and the identifier ID5. The communication unit 156 transmits the COP signal including the position coordinates L6 of the communication unit 156 and the identifier ID6.

The communication unit 11 of the work mobile body 10 operates the work mobile body 10 based on the period from the transmission of the ACK signal to the reception of the COP signal and the position coordinates of the communication units 152, 154, and 156 of the support mobile body 150. Calculate the position of

Similarly, the communication units 102, 104, and 106 of the support mobile unit 100 determine the period from the transmission of the ACK signal to the reception of the COP signal and the position coordinates L4 of the communication units 152, 154, and 156 of the support mobile unit 150. , L5 and L6, the position coordinates of the communication units 102, 104 and 106 of the support mobile body 100 are calculated.

FIG. 8 is a flowchart illustrating transmission of an inquiry signal that is transmitted at predetermined intervals by the communication units of the support mobile units 100 and 150 according to the first embodiment. Referring to FIG. 8, mobile support 100, 150 transmits an inquiry signal at predetermined intervals (step S2). Specifically, the communication units 102, 104, and 106 of the support mobile unit 100 sequentially transmit inquiry signals at predetermined intervals. The communication units 152, 154, and 156 of the support mobile unit 150 sequentially transmit inquiry signals at predetermined intervals.

The mobile support 100, 150 determines whether or not an ACK signal has been received (step S4). Specifically, the communication units 102, 104, and 106 of the supporting mobile body 100 determine whether or not an ACK signal has been received. Alternatively, the communication units 152, 154, and 156 of the support mobile unit 150 determine whether or not an ACK signal has been received.

If it is determined in step S4 that no ACK signal has been received (NO in step S4), the supporting mobile body 100 or 150 returns to step S2 and transmits an inquiry signal.

If the mobile support 100 or 150 determines in step S4 that an ACK signal has been received (YES in step S4), it transmits a COP signal (step S5). The communication units 102, 104, and 106 of the supporting mobile unit 100 transmit the COP signal when receiving the ACK signal. The COP signal of communication unit 102 includes position coordinates L1 and identifier ID1 of communication unit 102 . The COP signal of communication unit 104 includes position coordinates L2 of communication unit 104 and identifier ID2. The COP signal of communication unit 106 includes position coordinates L3 of communication unit 106 and identifier ID3. The communication units 152, 154, and 156 of the supporting mobile unit 150 transmit the COP signal when receiving the ACK signal. The COP signal of communication unit 152 includes position coordinates L4 of communication unit 152 and identifier ID4. The COP signal of communication unit 154 includes position coordinates L5 of communication unit 154 and identifier ID5. The COP signal of communication unit 156 includes position coordinates L6 of communication unit 156 and identifier ID6.

In this example, the communication units that do not transmit the inquiry signal among the communication units 102, 104, and 106 of the supporting mobile unit 100 also transmit the COP signal when receiving the ACK signal. The same applies to the communication units 152, 154, 156 of the supporting mobile body 150. FIG.

Then, the processing is terminated (END).
In this example, a case will be described in which the inquiry signals are sequentially transmitted from the support mobile bodies 100 and 150 at predetermined intervals, but the inquiry signal may be transmitted from the work mobile body 10 .

FIG. 9 is a flowchart for explaining the position calculation method of the position calculator 17 of the work mobile 10 according to the first embodiment. Referring to FIG. 9, position calculation unit 17 determines whether or not it has received an inquiry signal from the outside (step S10). Specifically, the position calculation unit 17 determines whether or not an inquiry signal has been received via the light receiving unit of the communication unit 11 . When determining that the inquiry signal is not received (NO in step S10), the position calculation unit 17 waits until it is received.

If the position calculation unit 17 determines that it has received an inquiry signal (YES in step S10), it instructs to transmit an ACK signal (step S11). Specifically, the position calculation unit 17 instructs the transmission unit of the communication unit 11 to transmit an ACK signal.

Next, the position calculator 17 determines whether or not a COP signal has been received (step S12). Specifically, the position calculator 17 determines whether or not the COP signal has been received via the light receiver of the communication unit 11 .

When determining that the COP signal has been received (YES in step S12), the position calculation unit 17 determines whether or not all combinations of COP signals have been received (step S13). Specifically, the position calculation unit 17 determines whether or not the COP signal including the identifiers ID1 to ID3 or ID4 to ID6 is received via the light receiving unit of the communication unit 11 .

Next, when the position calculation unit 17 determines that all combinations of COP signals have been received (YES in step S13), the position calculation unit 17 calculates the communication time (step S14). When the position calculator 17 determines that all combinations of COP signals have been received, the position calculator 17 instructs the communication time calculator 16 to calculate the communication time. When a COP signal containing identifiers ID1 to ID3 or ID4 to ID6 is received, it is determined that all combinations of COP signals have been received. Based on the COP signals of all combinations, the communication time calculation unit 16 calculates the time between the communication unit 11 and the communication units 102, 104, and 106 of the support mobile unit 100, the communication unit 11 and the communication units 152 and 154 of the support mobile unit 150. , 156 is calculated. Specifically, the communication time t from the transmission of the ACK signal from the communication unit 11 to the reception of the COP signal is calculated.

Next, the position calculator 17 calculates the position of the work mobile 10 (step S15). Specifically, the position calculation unit 17 is based on the communication time calculated by the communication time calculation unit 16 and the position coordinates of the communication units 102, 104, and 106 or the position coordinates of the communication units 152, 154, and 156. The position coordinates of the communication unit 11 of the work mobile body 10 are calculated based on the method.

The position calculation unit 17 stores the calculated position coordinates of the communication unit 11 of the work mobile body 10 (step S16). The movement control unit 13 performs movement control based on the self-position using the calculated position coordinates of the communication unit 11 of the work moving body 10 as the position coordinates of the work moving body 10 . Specifically, it confirms whether or not the aircraft is flying within a preset flight route, and executes movement control along the flight route.

The position calculation unit 17 ends the position calculation process (end).
On the other hand, when the position calculation unit 17 determines that no COP signal is received (NO in step S12) or determines that all combinations of COP signals are not received (NO in step S13), the process proceeds to step S11. It returns and instructs to transmit the ACK signal again.

Although the position calculation method of the position calculation unit 17 of the work mobile body 10 has been described in this example, the position calculation method of the position calculation unit 117 of the support mobile body 100 is the same. The position calculation unit 117 determines whether or not an inquiry signal has been received from the outside, and when determining that an inquiry signal has been received, instructs the communication units 102, 104, and 106 to transmit an ACK signal. .

Position calculation section 117 determines whether or not a COP signal has been received, and when determining that a COP signal has been received, determines whether or not all combinations of COP signals have been received. Specifically, position calculation unit 117 determines whether or not each of communication units 102, 104, and 106 has received a COP signal including identifiers ID4 to ID6. When position calculation section 117 determines that all combinations of COP signals have been received for each of communication sections 102, 104, and 106, position calculation section 117 calculates the communication time. When position calculation section 117 determines that all combinations of COP signals have been received for each of communication sections 102, 104, and 106, position calculation section 117 instructs communication time calculation section 116 to calculate communication time. The communication time calculation unit 116 calculates the communication time between each of the communication units 102, 104, and 106 and the communication units 152, 154, and 156 of the support mobile unit 150 based on all combinations of COP signals for each of the communication units 102, 104, and 106. Calculate the communication time between

The position calculation unit 117 calculates the communication time of each of the communication units 102, 104, and 106 based on the position coordinates of the communication units 152, 154, and 156, and calculates the position of the communication unit 102 of the supporting mobile body 100 based on the method described above. , 104 and 106 are calculated. Then, the position calculation unit 117 stores the calculated position coordinates L1, L2, L3 of the communication units 102, 104, 106. FIG. The movement control unit 113 executes movement control based on the position coordinates of the supporting mobile body 100 based on the position coordinates calculated by the communication units 102 , 104 and 106 .

The same applies to the position calculation method of the position calculator 167 of the support mobile body 150 .
FIG. 10 is a flow diagram illustrating movement determination processing of the support mobile bodies 100 and 150 according to the first embodiment. Referring to FIG. 10 , support mobile bodies 100 and 150 move according to instructions from work mobile body 10 . Specifically, the movement determining unit 20 of the work moving body 10 determines the necessity of movement, and instructs to perform movement processing when it is determined that movement is necessary.

The movement determination unit 20 confirms the distance between the work mobile body 10 and the support mobile bodies 100 and 150 (step S22). Specifically, the calculated position coordinates of the work moving body 10 and the position coordinates of the support moving bodies 100 and 150 included in the COP signal are checked, and the movement determination unit 20 determines the position coordinates of the work moving body 10 along the traveling route. , the distance between one of the support mobile bodies 100 and 150 located in front and the other of the support mobile bodies 100 and 150 located in the rear is calculated.

Next, the movement determination unit 20 determines that the distance between the work mobile body 10 and one of the support mobile bodies 100 and 150 positioned in front is the distance between the work mobile body 10 and the other of the support mobile bodies 100 and 150 positioned in the rear. It is determined whether or not it is closer than the distance (step S24).

In step S24, the movement determination unit 20 determines that the distance between the work mobile body 10 and one of the support mobile bodies 100 and 150 positioned in front is the same as that of the work mobile body 10 and the other of the support mobile bodies 100 and 150 positioned in the rear. (YES in step S24), the other of the rear supporting mobile bodies 100 and 150 is instructed to move (step S26). Specifically, the movement determination unit 20 of the work mobile unit 10 assigns identifiers ID1 to ID3 or ID4 to ID6 assigned to the other of the support mobile units 100 and 150 located behind the communication unit 11 as destinations. Tell it to send a signal containing instructions to move it to your destination. The communication unit 11 transmits the signal to the other of the rear support mobile bodies 100 and 150 .

Next, the movement determination unit 20 determines whether or not to end the process (step S28).
In step S28, when movement determination unit 20 determines to end the process (YES in step S28), the process ends. On the other hand, when the movement determining unit 20 determines not to end the process, the process returns to step S22 and repeats the above process.

In step S24, the movement determination unit 20 determines that the distance between the work mobile body 10 and one of the support mobile bodies 100 and 150 positioned in front is the same as that of the work mobile body 10 and the other of the support mobile bodies 100 and 150 positioned in the rear. (NO in step S24), the process returns to step S22 and repeats the above process.

FIG. 11 is a flow diagram illustrating movement processing of the support mobile bodies 100 and 150 according to the first embodiment. Referring to FIG. 11 , work mobile 10 instructs the other of support mobiles 100 and 150 located behind determined by movement determination unit 20 to move.

The movement control units 113 and 163 of the support mobile units 100 and 150 determine whether or not a movement instruction has been received from the work mobile unit 10 via the communication unit (step S32). When the movement control units 113 and 163 receive the movement instruction from the work mobile unit 10 (YES in step S32), the movement control units 113 and 163 execute movement control processing (step S34). Then, the processing is terminated (END).

Specifically, the other of the supporting mobile bodies 100 and 150 located behind along the traveling path executes the movement control process so as to move further forward than the supporting mobile bodies 100 and 150 located ahead. For example, if the support mobile body 100 of the support mobile bodies 100 and 150 is positioned in front and the support mobile body 150 is positioned in the rear, the support mobile body 150 moves from the support mobile body 100 along the traveling route. may also be moved forward to a position separated by a predetermined distance. When the support mobile body 150 of the support mobile bodies 100 and 150 is positioned in front and the support mobile body 100 is positioned in the rear, the support mobile body 100 is ahead of the support mobile body 150 along the traveling route. may be moved to a position separated by a predetermined distance. The predetermined distance can be appropriately set within a range where visible light communication is possible between the support mobile body 100 and the support mobile body 150 .

In this example, a case has been described in which the movement determination unit 20 of the work moving body 10 instructs movement. The positional relationship may be calculated and movement control may be autonomously executed.

By continuing this process, the measurement system 1 according to the first embodiment can calculate the position of the work mobile 10 in spatial coordinates by visible light communication between the work mobile 10 and the support mobiles 100 and 150. . The work mobile body 10 can perform autonomous movement control along the traveling route based on the calculated own machine position.

In this example, the supporting mobile bodies 100 and 150 are alternately stationary and communicate with each other using visible light, so that the positions of the respective supporting mobile bodies 100 and 150 can be calculated. Therefore, it is possible to secure the positions of the support mobile bodies 100 and 150 with high accuracy. Conventionally, INS (Inertial Navigation System) was used to calculate the position coordinates of inspection areas such as tunnels where GNSS signals could not be received. There is a problem that the INS error is large during long-time movement. In this regard, in this example, the supporting mobile bodies 100 and 150 can accurately calculate the position coordinates based on the principle of triangulation by performing visible light communication with each other in alternately stationary states. Therefore, since the position of the work supporting body 10 is calculated based on the position coordinates with little error, the position of the work supporting body 10 can be calculated with high accuracy.

(Modification of Embodiment 1)
FIG. 12 is a diagram illustrating the measurement system 2 according to the modification of the first embodiment.

Referring to FIG. 12, the measurement system 2 includes, for example, a working mobile body 10 (a drone as an example) and a plurality of support mobile bodies 100# and 150#. Support mobile bodies 100# and 150# are not limited to drones that fly in the air as described in the first embodiment, and may be configured using drones that travel on the ground. Although the mode of movement is different, other configurations and the like are the same.

Also in this configuration, the work mobile body 10 can calculate the position and execute movement control based on the calculation result in the same manner as described above. Support mobile bodies 100# and 150# are in a stationary state in contact with the ground.

The support mobile bodies 100# and 150# exchange data with the work mobile body 10 within the illumination area of the illumination light through visible light communication. Each of support mobiles 100# and 150# has three communication units including a light receiving unit for receiving illumination light and a light projecting unit for projecting illumination light. The three communication units are provided at mutually different positions in each of support mobile bodies 100# and 150#.

The measurement system 2 according to the modification of the first embodiment alternately performs visible light communication between the support mobile body 100# and the support mobile body 150# in a stationary state, so that the support mobile bodies 100# and 150# in the spatial coordinates It is possible to calculate the position of # respectively.

The measurement system 2 according to the modification of the first embodiment can calculate the position of the work mobile 10 in spatial coordinates by visible light communication between the work mobile 10 and the support mobiles 100# and 150#. The work mobile 10 executes autonomous movement control along the travel route based on the calculated own machine position.

Further, as described above, a case is shown in which mobile support body 100# moves in front of mobile support body 150# when mobile work body 10 moves along the traveling path. As work mobile 10 moves along the travel path, the communication range between work mobile 10 and support mobile 100# and the communication range between work mobile 10 and support mobile 150# change. As an example, it is assumed that support mobile body 150# is positioned in front and support mobile body 100# is positioned rearward along the travel route. When the working mobile body 10 moves along the travel route, the working mobile body 10 is positioned farther from the support mobile body 100# and closer to the support mobile body 150#. That is, it becomes difficult for the work mobile body 10 to secure communication with the support mobile body 100#, and it becomes easy to secure communication with the support mobile body 150#. Therefore, the work mobile 10 measures the distances to the support mobiles 100# and 150# when moving along the traveling route. When the distance between the work mobile body 10 and the support mobile body 150# becomes shorter than the distance between the work mobile body 10 and the support mobile body 100#, the work mobile body 10 moves to the support mobile body 100#. to do so. According to the movement control instruction, the work mobile body 10 can always continue communication with the support mobile bodies 100# and 150# when moving along the traveling route.

By continuing the processing, the measurement system 2 according to the modification of the first embodiment calculates the position of the work mobile 10 in the spatial coordinates by visible light communication between the work mobile 10 and the support mobiles 100# and 150#. It is possible. The work mobile body 10 can perform autonomous movement control along the traveling route based on the calculated own machine position.

(Embodiment 2)
FIG. 13 is a diagram illustrating the measurement system 3 according to the second embodiment. As shown in FIG. 13, the measurement system 3 according to the second embodiment includes, for example, a work mobile 10 and a plurality of support mobiles 200-206 (drones as an example).

The measurement system 3 is a system that transmits and receives data by visible light communication between a plurality of support mobile bodies 200 to 206 and the work mobile body 10 .

The support mobile bodies 100 and 150 according to the first embodiment are configured with three communication units, but the four support mobile bodies 200 to 206 according to the second embodiment are each equipped with one communication unit. Since other configurations are the same as those of the support mobile bodies 100 and 150, detailed description thereof will not be repeated. In this example, identifiers ID7 to ID10 are assigned to the communication units of the supporting mobile units 200 to 206, respectively.

Assistance vehicles 200-206 are located within an illumination area where the illumination lights overlap each other so that they can communicate with each other. The support mobile units 200 to 206 perform movement control within a range where visible light communication can be continued with each other. The illumination light may be omnidirectional or wide directional illumination.

The support mobile bodies 200 to 206 exchange data with the working mobile body 10 within the illumination area by visible light communication. Each of the support mobile bodies 200 to 206 has one communication unit capable of receiving and projecting illumination light.

The measurement system 3 according to the second embodiment can calculate the positions of the support mobile bodies 200 to 206 in spatial coordinates by performing visible light communication with each other while the support mobile bodies 200 to 206 are alternately stationary. is. The support mobiles 200 to 206 are each equipped with a GNSS signal receiver for receiving GNSS signals, and outside the tunnel 50, each position coordinate can be obtained using the GNSS signal receiver. Since GNSS signals cannot be received in the tunnel 50, the position coordinates of the support mobile bodies 200 to 206 are calculated by performing visible light communication with each other while the support mobile bodies 200 to 206 are alternately stationary. It is possible.

The measurement system 3 according to the second embodiment can calculate the position of the work mobile 10 in spatial coordinates by visible light communication with the work mobile 10 and the support mobiles 200 to 206 . The work mobile 10 executes autonomous movement control along the travel route based on the calculated own machine position.

In this example, the position of the work moving body 10 is calculated using four support moving bodies 200 to 206 in the tunnel 50, which is the inspection area, and the work moving body 10 moves along the traveling route in the tunnel 50. Although the case where the movement is autonomously controlled by the support mobile bodies will be described, the control may be performed using not only four support mobile bodies but also five or more support mobile bodies.

The method of calculating the position of the work moving body 10 is the same as in the first embodiment. The position coordinates of the work mobile 10 can be calculated by communication between the communication unit 11 of the work mobile 10 and at least three of the support mobiles 200 to 206 according to the second embodiment. Also, the communication unit of one support mobile unit among the support mobile units 200 to 206 can calculate the position coordinates of the support mobile unit by communicating with the remaining three support mobile unit communication units. is.

The work mobile 10 transmits an ACK signal in response to the interrogation signal of at least one of the support mobiles 200-206. The support mobile units 200 to 206 sequentially transmit inquiry signals at predetermined intervals.

The support mobile unit 200 transmits a COP signal in response to the ACK signal from the work mobile unit 10 . The COP signal includes the position coordinates of the communication unit provided in the supporting mobile body 200 and its own pre-assigned ID signal. For example, the communication unit of the supporting mobile unit 200 transmits the COP signal including the position coordinates L7 of the communication unit and the identifier ID7.

The support mobile 202 transmits a COP signal in response to the ACK signal from the work mobile 10 . The COP signal includes the position coordinates of the communication unit provided in the supporting mobile body 202 and its own pre-assigned ID signal. For example, the communication unit of the supporting mobile unit 202 transmits the COP signal including the position coordinates L8 of the communication unit and the identifier ID8.

The support mobile 204 transmits a COP signal in response to the ACK signal from the work mobile 10 . The COP signal includes the position coordinates of the communication unit provided in the support mobile unit 204 and its own pre-assigned ID signal. For example, the communication unit of the supporting mobile unit 204 transmits the COP signal including the position coordinates L9 of the communication unit and the identifier ID9.

The support mobile 206 transmits a COP signal in response to the ACK signal from the work mobile 10 . The COP signal includes the position coordinates of the communication unit provided in the support mobile unit 206 and its own pre-assigned ID signal. For example, the communication unit of the supporting mobile unit 206 transmits the COP signal including the position coordinates L10 of the communication unit and the identifier ID10.

The working mobile body 10 has a period from transmitting an ACK signal to receiving at least three COP signals among the support mobile bodies 200 to 206, and the length of the communication part of the support mobile bodies 200 to 206 included in the COP signal. The position of the work moving body 10 is calculated based on the position coordinates.

Similarly, the support mobile units 200 to 206 determine the period from the transmission of the ACK signal in response to the inquiry signal from the other support mobile unit to the reception of the COP signal, and the position of the communication unit of the other support mobile unit. The position coordinates of the communication units of the support mobile bodies 200 to 206 are calculated based on the coordinates.

The support mobile unit 200 transmits an ACK signal in response to an inquiry signal from another support mobile unit. Assisting mobiles 202-206 each transmit a COP signal in response to the ACK signal. The supporting mobile body 200 calculates the period from transmitting the ACK signal to receiving the COP signals from the supporting mobile bodies 202 to 206, the position coordinates L8 of the communication units of the supporting mobile bodies 202 to 206 included in the COP signals, The position of the supporting mobile body 200 is calculated based on L9 and L10. The supporting mobile body 202 determines the period from transmitting the ACK signal to receiving the COP signal from the supporting mobile bodies 200, 204, and 206, and the length of the communication part of the supporting mobile bodies 200, 204, and 206 included in the COP signal. The position of the support mobile body 202 is calculated based on the position coordinates L7, L9, and L10. The supporting mobile body 204 determines the period from transmitting the ACK signal to receiving the COP signal from the supporting mobile bodies 200, 202, and 206, and the length of the communication unit of the supporting mobile bodies 200, 202, and 206 included in the COP signal. The position of the support mobile body 204 is calculated based on the position coordinates L7, L8, and L10. The supporting mobile body 206 determines the period from transmitting the ACK signal to receiving the COP signal from the supporting mobile bodies 200, 202, and 204, and the length of the communication unit of the supporting mobile bodies 200, 202, and 204 included in the COP signal. The position of the support mobile body 202 is calculated based on the position coordinates L7, L8, and L9.

FIG. 14 is another conceptual diagram of visible light communication between the work mobile 10 and support mobiles 200-206 according to the second embodiment. Referring to FIG. 14, communication unit 11 of work mobile 10 can calculate the position coordinates of work mobile 10 by communicating with the communication units of support mobiles 200-204. When the work mobile 10 moves along the traveling route, the work mobile 10 can communicate with the support mobiles 202 to 206 by visible light communication. At that time, the support mobile body 200 moves forward along the traveling path in order to continue communication with the work mobile body 10 .

A case is shown in which the support mobile body 200 moves in front of the support mobile body 206 when the work mobile body 10 moves along the traveling path.

The work mobile 10 changes its communication range with the support mobiles 200 to 206 by moving along the traveling route. A case will be described in which the support mobile body 206 is positioned at the foremost position along the travel path, the support mobile body 204 is positioned next, the support mobile body 202 is positioned next, and the support mobile body 200 is positioned at the rearmost position. . When the work vehicle 10 moves along the traveling path, the position of the work vehicle 10 becomes farther from the support vehicle 200 and closer to the support vehicle 206 . That is, it becomes difficult for the work mobile body 10 to secure communication with the support mobile body 200 , and it becomes easy to secure communication with the support mobile body 206 . In the second embodiment, the work mobile 10 measures the distance to the support mobiles 200 and 206 . When the distance between the work mobile body 10 and the frontmost support mobile body 206 becomes shorter than the distance between the work mobile body 10 and the rearmost support mobile body 200, the work mobile body 10 moves to the support mobile body 200 is instructed to move ahead of the support mobile body 206 .

Next, a case where the support mobile body 200 is positioned at the forefront and the support mobile body 202 is positioned at the rearmost along the traveling route will be described. When the work vehicle 10 moves along the traveling path, the position of the work vehicle 10 becomes farther from the support vehicle 202 and closer to the support vehicle 200 . That is, it becomes difficult for the work mobile unit 10 to secure communication with the support mobile unit 202 , and it becomes easy to secure communication with the support mobile unit 200 . The work mobile 10 measures the distance to the support mobiles 200 and 202 . When the distance between the work mobile body 10 and the support mobile body 200 becomes shorter than the distance between the work mobile body 10 and the support mobile body 202, the work mobile body 10 moves to the support mobile body 202 for support. The user is instructed to move forward from the body 200 .

According to the movement control instructions, the working mobile body 10 can always continue communication with the support mobile bodies 200 to 206 when moving along the traveling route.

Specifically, the movement determining unit 20 of the work moving body 10 determines the necessity of movement, and instructs to perform movement processing when it is determined that movement is necessary.

The movement determining unit 20 confirms the position coordinates of the work moving body 10 and the support moving bodies 200 to 206, and the movement determining part 20 determines whether the work moving body 10 is positioned along the traveling route of the support moving bodies 200 to 206. Then, the distance between the support mobile body positioned at the forefront and the other of the support mobile bodies positioned at the rearmost position is calculated. The movement determination unit 20 determines whether or not the frontmost support mobile body is closer to the rearmost support mobile body than the rearmost support mobile body. Instruct the body to move.

The movement control units of the support mobile units 200 to 206 determine whether or not a movement instruction has been received from the work mobile unit 10 via the communication unit. Execute control processing.

Specifically, the movement control process is executed so that the rearmost moving support body among the moving support bodies 200 to 206 along the traveling path moves forward of the frontmost moving support body. do. For example, if the support mobile body 206 among the support mobile bodies 200 to 206 is positioned at the forefront and the support mobile body 200 is positioned at the rearmost position, the support mobile body 200 moves along the traveling route. It may be moved to a position a predetermined distance ahead of 206 . The predetermined distance can be appropriately set within a range in which visible light communication is possible with the supporting mobile bodies 200-206.

By continuing this process, the measurement system 3 according to the second embodiment can calculate the position of the work mobile 10 in spatial coordinates by visible light communication between the work mobile 10 and the support mobiles 200 to 206. be. The work mobile body 10 can perform autonomous movement control along the traveling route based on the calculated own machine position.

(Embodiment 3)
FIG. 15 is a diagram explaining the measurement system 4 according to the third embodiment. As shown in FIG. 15, the measurement system 4 includes, for example, four working mobile bodies 31 to 34 (drones as an example).

The measurement system 4 is a system that executes data transmission/reception by a plurality of working mobile bodies 31-34.

Although the work mobile body 10 according to the first embodiment is always used for inspection, in the fourth embodiment, four work mobile bodies 31 to 34 are provided, and the work mobile bodies for inspection and for support are divided into four work mobile bodies 31 to 34. A configuration in which the states are alternately switched will be described. The work mobile body 31 for inspection is flying in the inspection area, and the work mobile bodies 32 to 34 for support are stationary on the ground.

The four work mobile bodies 31 to 34 according to the third embodiment are each equipped with one communication unit and are similar to the work mobile body 10, so detailed description thereof will not be repeated. In this example, identifiers are assigned to the communication units of the work mobile bodies 31 to 34, respectively, and are assigned to ID11 to ID14, respectively.

The work mobiles 31 to 34 are positioned within an illumination area where the illumination lights overlap each other so that they can communicate with each other. The work mobiles 31 to 34 perform movement control within a range where visible light communication can be continued with each other. The illumination light may be omnidirectional or wide directional illumination.

The work mobiles 31 to 34 exchange data by visible light communication within the illumination area of the illumination light. Each of the work moving bodies 31 to 34 has one communication section capable of receiving and projecting illumination light.

The measurement system 4 according to the third embodiment can calculate the positions of the work moving bodies 31 to 34 in spatial coordinates by performing visible light communication with each other while the work moving bodies 31 to 34 are alternately stationary. is. Each of the work mobiles 31 to 34 is equipped with a GNSS signal receiver for receiving GNSS signals, and outside the tunnel 50, each position coordinate can be obtained using the GNSS signal receiver. Since the GNSS signal cannot be received in the tunnel 50, the work mobile bodies 31 to 34 alternately perform visible light communication while standing still to calculate the position coordinates of the work mobile bodies 31 to 34, respectively. It is possible.

In the measurement system 4 according to the third embodiment, one of the work mobiles 31 to 34 is the work mobile for inspection, and the remaining three of the work mobiles 31 to 34 are the work mobiles for support. Optical communication makes it possible to calculate the position of the work mobile body for inspection. The work moving bodies 31 to 34 execute autonomous movement control along the traveling route based on the calculated own machine positions.

The method of calculating the positions of the work moving bodies 31 to 34 is the same as in the first embodiment.
The communication unit of one of the work mobiles 31 to 34 according to the third embodiment can calculate the position coordinates of the work mobile by communicating with the communication units of the other three work mobiles. is.

The work mobile 31 transmits an ACK signal in response to the inquiry signal of at least one of the work mobiles 32-34. The work mobiles 31 to 34 sequentially transmit inquiry signals at predetermined intervals.

The work mobile 32 transmits a COP signal in response to the ACK signal from the work mobile 31 . The COP signal includes the position coordinates of the communication unit provided in the working mobile body 32 and its own pre-assigned ID signal. For example, the communication unit of the work mobile unit 32 transmits the COP signal including the position coordinates L12 of the communication unit and the identifier ID12. The work mobile 33 transmits a COP signal in response to the ACK signal from the work mobile 31 . The COP signal includes the position coordinates of the communication unit provided in the working mobile body 33 and its own pre-assigned ID signal. For example, the communication unit of the work mobile unit 33 transmits the COP signal including the position coordinates L13 of the communication unit and the identifier ID13. The work mobile 34 transmits a COP signal in response to the ACK signal from the work mobile 31 . The COP signal includes the position coordinates of the communication unit provided in the working mobile body 34 and its own pre-assigned ID signal. For example, the communication unit of the work mobile unit 34 transmits the COP signal including the position coordinates L14 of the communication unit and the identifier ID14.

The work moving body 31 has a period from transmitting the ACK signal to receiving the COP signals of the work moving bodies 32 to 34, and the position coordinates L12 to L14 of the communication units of the work moving bodies 32 to 34 included in the COP signals. The position coordinate L11 of the work moving body 31 is calculated based on and. The work moving body 31 can perform autonomous movement control along the traveling route based on the calculated position of the work moving body 31 .

Similarly, the work mobiles 32 to 34 determine the period from the transmission of the ACK signal in response to the inquiry signal from the other support mobiles to the reception of the COP signal and the position of the communication unit of the other support mobiles. The position coordinates of each of the work moving bodies 32 to 34 are calculated based on the coordinates.

Work mobile 32 transmits an ACK signal in response to an inquiry signal from another support mobile, and work mobiles 31, 33, and 34 transmit COP signals in response to ACK signals. The work mobile body 32 has a period from transmission of the ACK signal to reception of the COP signal from the work mobile bodies 31, 33, and 34, and the length of the communication section of the work mobile bodies 31, 33, and 34 included in the COP signal. A position coordinate L12 of the work moving body 32 is calculated based on the position coordinates L11, L13, and L14. The work mobile body 33 has a period from transmission of the ACK signal to reception of the COP signal from the work mobile bodies 31, 32, and 34, and the length of the communication section of the work mobile bodies 31, 32, and 34 included in the COP signal. A position coordinate L14 of the work moving body 33 is calculated based on the position coordinates L11, L12, and L14. The work mobile body 34 has a period from transmission of the ACK signal to reception of the COP signal from the work mobile bodies 31, 32, and 33, and the length of the communication section of the work mobile bodies 31, 32, and 33 included in the COP signal. A position coordinate L14 of the work moving body 34 is calculated based on the position coordinates L11, L12, and L13. The work moving bodies 32 to 34 are capable of executing independent movement control along the traveling route based on the calculated own machine positions.

16A and 16B are diagrams illustrating movement of the work moving bodies 31 to 34 according to the third embodiment. Referring to FIG. 16, the communication unit of work mobile 31 can calculate the position coordinates of work mobile 31 by communicating with the communication units of work mobiles 32-34. The work movable body 31 for inspection moves in front of the foremost work movable body when moving along the traveling path.

As an example, a case is shown in which the work movable body 31 moves forward of the work movable body 34 when the work movable body 31 moves along the traveling path. After moving to the front of the work mobile 34, the work mobile 31 functions as a support work mobile.

FIG. 17 is a diagram illustrating another movement of the work moving bodies 31 to 34 according to the third embodiment. Referring to FIG. 17, the communication unit of the work mobile body 31 instructs the rearmost work mobile body to move when functioning as a support work mobile body. Specifically, the communication unit of the work movable body 31 instructs the work movable body 32 to perform movement control as a work movable body for inspection.

The work movable body 32 moves along the traveling path as a work movable body for inspection in accordance with movement control instructions from the work movable body 31 .

The communication unit of the work mobile 32 can calculate the position coordinates of the work mobile 32 by communicating with the communication units of the work mobiles 31 , 33 , and 34 . As a result, the work mobile body 32 can perform autonomous movement control along the traveling route based on the calculated own machine position. Then, the work movable body 32 for inspection moves in front of the frontmost work movable body when moving along the traveling path. The work movable body 32 moves forward of the work movable body 31 when moving along the traveling path. After moving to the front of the work mobile 31, the work mobile 32 functions as a support work mobile. The communication unit of the work movable body 32 instructs the work movable body 33 to perform movement control as a work movable body for inspection. Thereafter, the processing is repeated in the same manner.

The work mobile body for inspection and the work mobile body for support can alternately move along the traveling path while changing the state.

One of the work mobile bodies 31 to 34 can always continue to communicate with three of the work mobile bodies 31 to 34 when moving along the traveling route. Become.

The measurement system 4 according to the third embodiment can calculate the positions of the work moving bodies 31 to 34 in spatial coordinates by mutual visible light communication between the work moving bodies 31 to 34 . The work moving bodies 31 to 34 can perform autonomous movement control along the traveling route based on the calculated own machine positions.

FIG. 18 is a flowchart for explaining movement determination processing of the movement determination unit for the work moving bodies 31 to 34 according to the third embodiment. In the third embodiment, the work mobiles 31 to 34 are switched between inspection and support, and the inspection work mobile is one of the support work mobiles. be instructed to be As an example, a case where the work moving body 31 is designated for inspection in the initial state will be described. Referring to FIG. 18, work mobile 31 determines whether or not an instruction to move for inspection has been received (step S40). Specifically, the movement determination unit of the work moving body 31 determines whether or not a movement instruction for inspection has been received via the communication unit.

In step S40, when the work moving body 31 receives an instruction to move for inspection (YES in step S40), the work moving body 31 executes movement control (step S41). The movement determination unit of the work moving body 31 instructs the movement control unit to execute movement control for inspection when receiving an instruction to move for inspection. The movement control unit of the work moving body 31 executes a preset movement control according to the instruction. The work moving body 31 inspects the inspection area using a camera or the like while moving along the traveling route. The work mobile 31 transmits an ACK signal in response to an inquiry signal of at least one of the work mobiles 32 to 34 when controlling movement. Based on the period from the transmission of the ACK signal to the reception of the COP signal of the work mobile bodies 32 to 34 and the position coordinates L12, L13, L14 of the communication units of the work mobile bodies 32 to 34 included in the COP signal A position coordinate L11 of the work moving body 31 is calculated. The work moving body 31 executes autonomous movement control along the traveling route based on the calculated position of the work moving body 31 .

Next, the work mobile 31 confirms the positions of other work mobiles (step S42). Specifically, the movement determination unit of the work moving body 31 determines the positions of the other work moving bodies 32 to 34 based on the position coordinates L12, L13, and L14 of the communication units of the work moving bodies 32 to 34 included in the COP signal. to confirm. Through this processing, it is possible to identify the frontmost work mobile body and the rearmost work mobile body. In the case of this example, the frontmost work mobile body 34 and the rearmost work mobile body 32 are specified.

Next, the work movable body 31 determines whether or not it has moved a predetermined distance ahead of the frontmost work movable body (step S43). The movement determination unit of the work movable body 31 determines whether or not the work movable body 31 has moved forward by a predetermined distance from the frontmost work movable body 34 based on the calculated own machine position.

When it is determined in step S43 that the work moving body 31 has not moved forward of the frontmost work moving body by a predetermined distance (NO in step S43), the process returns to step S41 to continue the predetermined movement control. . If it is determined that the working mobile body 31 has not moved forward by the predetermined distance from the frontmost mobile working body 34 based on the calculated own machine position, the process returns to step S41 until it moves forward by the predetermined distance. , continue the movement control while calculating the position of the aircraft.

On the other hand, when it is determined in step S43 that the work movable body 31 has moved ahead of the frontmost work movable body by a predetermined distance (YES in step S43), movement is stopped (step S44). When the movement determining unit of the work moving body 31 determines that the work moving body 31 has moved a predetermined distance ahead of the work moving body 34 based on the calculated position of the work moving body 31, the work moving body 31 stops moving at that position. Specifically, the movement determination section of the work moving body 31 instructs the movement control section, and the work moving body 31 descends to the ground and stops.

Next, the work moving body 31 transmits a movement instruction for inspection (step S45). Specifically, the movement determination unit of the work movable body 31 instructs the communication unit to transmit a movement instruction to the rearmost work movable body 32 for inspection. Specifically, the movement determination unit of the work moving body 31 sends to the communication unit a signal including a command to designate the identifier ID12 assigned to the rearmost work moving body 32 as a destination and move it for inspection. Instruct to send. The communication unit transmits the signal to the work mobile body 32 .

Then, the processing is terminated (END).
As a result, the mobile work body 31 operates as a mobile work team for support. The work mobile body 32 receives an instruction to move for inspection with a destination specified from the work mobile body 31 and operates as the work mobile body 31 for inspection. Specifically, the work moving body 32 inspects the work moving body 31 using a camera or the like while moving along the progress route in the inspection area in the same manner as described above for the work moving body 31 . The work mobile body 32 transmits an ACK signal in response to an inquiry signal of at least one of the work mobile bodies 31, 33, and 34 when performing movement control. A period from transmission of the ACK signal to reception of the COP signal of the work moving bodies 31, 33, 34, and position coordinates L11, L13, L14 of the communication units of the work moving bodies 31, 33, 34 included in the COP signals. The position coordinate L12 of the work moving body 32 is calculated based on and. The work mobile body 32 executes autonomous movement control along the traveling route based on the calculated own machine position. Subsequent processing is the same as that of the work moving body 31 .

By continuing the processing, the measurement system 4 according to the third embodiment can calculate the positions of the work moving bodies 31 to 34 in the spatial coordinates by the visible light communication of the work moving bodies 31 to 34 . The work moving bodies 31 to 34 can perform autonomous movement control along the traveling route based on the calculated own machine positions.

By using the four work moving bodies 31 to 34, it is possible to efficiently perform the inspection work in the inspection area.

It should be noted that the methods described in each of the above embodiments can be applied to programs that can be executed by a computer, such as magnetic disks (hard disks, etc.), optical disks (CDROM, DVD, etc.), magneto-optical disks (MO), semiconductor memories, etc. It can also be stored in a medium and distributed. Moreover, as long as the storage medium can store the program and is readable by the computer, the storage format may be any form.

In order to realize the above embodiments, the OS (operating system) running on the computer based on the instructions of the program installed in the computer from the storage medium, MW (middleware) such as database management software, network software, etc. You may perform a part of each process of . Furthermore, the storage medium in each embodiment is not limited to a medium independent of a computer, and includes a storage medium in which a program transmitted via LAN, Internet, etc. is downloaded and stored or temporarily stored. Moreover, the storage medium is not limited to one, and the storage medium in the present invention includes the case where the processing in each of the above embodiments is executed from a plurality of media, and the medium configuration may be any configuration. The computer in each embodiment executes each process in each of the above embodiments based on a program stored in a storage medium. Any configuration, such as a connected system, may be used.
(Appendix)
The embodiments as described above include the following technical ideas.

A measurement system (1) according to an embodiment alternately moves a working mobile body (10) that moves in an inspection area whose periphery is shielded along a travel route, and a working mobile body that is positioned within a predetermined range in the inspection area. and first and second support vehicles (100, 150) for calculating the position of the work vehicle by stationary communication. The first and second support mobiles alternately communicate with each other in a stationary state to calculate the positions of the first and second support mobiles, and the work mobile communicates with the first and second support mobiles. movement control is executed to move along a traveling route based on the self-machine position calculated by communicating with at least one supporting mobile body of the body, and the first and second supporting mobile bodies move along the traveling route; In order to continue communication with the work moving body that moves by hand, movement control is executed to move sequentially while maintaining a state of alternately standing still and communicating. Therefore, the measurement system can calculate the position of the moving object in a simple manner.

In one aspect, the work vehicle includes a communication unit (11) that communicates with the first and second support vehicles, respectively. Each of the first and second support mobile bodies includes at least three or more sub-communication units (102, 104, 106, 152, 154, 156) having different communication positions for communicating with the communication unit. The communication unit of the working mobile body calculates its own position by communicating with three or more sub-communication units of at least one of the first and second support mobile bodies. One of the first and second support mobile bodies is provided with one sub-communication unit among at least three or more sub-communication units on its own side and the other support mobile body A position is calculated by communicating with at least three or more sub-communication units. Therefore, it is possible to calculate the positions of the work mobile body and the support mobile body by a simple method.

In one aspect, the communication section of the work mobile body calculates its own position by optically communicating with three or more sub-communication sections of the first and second support mobile bodies. The work vehicle further includes an imaging unit (12). The imaging unit captures an image of the inspection area with light projected from the first and second support mobile bodies. Since the imaging unit can capture an image using the light of optical communication as a light source, it is possible to reduce the weight of the moving body without the need to prepare a separate light source.

In one aspect, the work vehicle further includes a power generation device (14) that generates power using light projected from the first and second support vehicles. By installing the power generation device, it is possible to reduce the capacity of the battery installed in the moving body.

In one aspect, the measurement system further includes third and fourth support mobiles (200-206) for detecting the positions of the work mobiles by communicating with the work mobiles located within a predetermined range. . The first to fourth support mobile bodies communicate with each other to calculate the position of each of the first to fourth support mobile bodies. The work mobile body executes movement control to move along the traveling route based on its position calculated by communicating with at least three of the first to fourth support mobile bodies. The first to fourth support mobile bodies execute movement control to sequentially move respectively in order to continue communication with the work mobile body moving along the traveling route. Therefore, it is possible to calculate the positions of the work mobile body and the support mobile body by a simple method.

According to another embodiment, the working mobile body (10) moving in the inspection area with the surroundings shielded along the travel path and the working mobile body located within a predetermined range in the inspection area alternately stand still. A metrology method is provided comprising first and second support vehicles (100, 150) for calculating a position of a work vehicle by communicating with. The control method of this measurement system includes a step of calculating the positions of the first and second support mobile bodies by communicating with each other while the first and second support mobile bodies are alternately stationary; executing movement control to move along a traveling route based on the self-machine position calculated by communicating with at least one of the first and second support mobile bodies; The second support mobile body has a step of executing movement control to sequentially move while alternately maintaining a state of being stationary and communicating with the work mobile body moving along the traveling route in order to continue communication. Therefore, it is possible to calculate the positions of the work mobile body and the support mobile body by a simple method.

A measurement system according to yet another embodiment includes first to fourth work moving bodies (31 to 34). Among the first to fourth stationary work moving bodies, the working moving body located at the rearmost position along the progress path moves through the inspection area with the remaining three stationary working moving bodies. By communicating, the position of the machine is calculated, and based on the calculated position of the machine, movement control is executed to move ahead of the work moving body positioned at the forefront along the traveling route and stop, and the movement control is executed. After the execution, of the first to fourth stationary work moving bodies, the working moving body located at the rearmost position along the traveling path is instructed to move through the inspection area. Therefore, it is possible to calculate the position of the work moving body by a simple method.

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present disclosure is indicated by the scope of claims rather than the above description, and is intended to include all modifications within the scope and meaning of equivalents of the scope of claims.

1, 2, 3, 4 measurement system 10, 31, 32, 33, 34 working mobile body 11, 102, 104, 106, 152, 154, 156 communication section 12, 112, 162 camera 13, 113, 163 Movement control unit 14,114,164 Power generation device 15,115,165 Laser sensor 16,116,166 Communication time calculation unit 17,117,167 Position calculation unit 19,119,169 GNSS reception unit 20 Movement determination unit, 50 Tunnel, 100, 110, 150, 200, 202, 204, 206 Support mobile body.

Claims (7)

a working mobile body that moves along a travel path through an inspection area whose periphery is shielded;
First and second support mobile bodies for calculating the position of the work mobile body by alternately communicating with the work mobile body located within a predetermined range in the inspection area in a stationary state,
the first and second support mobile bodies alternately communicate with each other in stationary states to calculate the positions of the first and second support mobile bodies;
The working mobile body executes movement control to move along the travel route based on the position of the work mobile body calculated by communicating with at least one of the first and second support mobile bodies. ,
In order to continue communication with the working mobile body moving along the traveling route, the first and second support mobile bodies execute movement control to move sequentially while alternately remaining stationary and maintaining a state of communication. measurement system. The work mobile includes a communication unit that communicates with the first and second support mobiles, respectively;
each of the first and second support mobile bodies includes at least three or more sub-communication units having different communication positions that communicate with the communication unit;
The communication unit of the working mobile body calculates the position of the own machine by communicating with the three or more sub-communication units of at least one of the first and second support mobile bodies,
One of the first and second support mobile bodies is provided in one of the at least three or more sub communication units on the own device side and in the other support mobile body. 2. The measurement system according to claim 1, wherein said position is calculated by communicating with said at least three or more sub communication units provided. The communication unit of the work mobile body calculates the position of the own machine by optically communicating with the three or more sub-communication units of the first and second support mobile bodies,
The work mobile body further includes an imaging unit,
3. The measurement system according to claim 2, wherein said imaging unit images said inspection area with light projected from said first and second support mobile bodies. 4. The measurement system according to claim 3, wherein said work mobile body further includes a power generator that generates power by light projected from said first and second support mobile bodies. further comprising third and fourth support mobile bodies for detecting the position of the work mobile body by communicating with the work mobile body located within the predetermined range;
The first to fourth support mobile bodies calculate the position of each of the first to fourth support mobile bodies by communicating with each other,
The work mobile body executes movement control to move along the travel route based on the position of the work mobile body calculated by communicating with at least three support mobile bodies of the first to fourth support mobile bodies. ,
2. The measurement system according to claim 1, wherein said first to fourth support mobile bodies execute movement control to sequentially move respectively in order to continue communication with said work mobile body moving along said advancing route. By alternately communicating with the work moving body that moves in an inspection area whose surroundings are shielded along the progress route and the work moving body that is positioned within a predetermined range in the inspection area in a stationary state, the work moving body A measurement method comprising first and second support mobile bodies for calculating a position,
calculating the positions of the first and second support mobile bodies by communicating with each other while the first and second support mobile bodies are alternately stationary;
The work mobile unit executes movement control to move along the traveling route based on the own position calculated by communicating with at least one of the first and second support mobile units. a step;
In order to continue communication with the working mobile body moving along the traveling route, the first and second support mobile bodies execute movement control to move sequentially while alternately remaining stationary and maintaining a state of communication. A measuring method, comprising: Equipped with first to fourth work moving bodies, each of which includes a communication unit, moving in an inspection area whose periphery is shielded along the traveling route while repeating stationary and moving,
Among the first to fourth work moving bodies in a stationary state, the work moving body positioned at the rearmost position along the traveling path is
Calculate the position of the machine by communicating with the remaining three stationary work moving bodies when moving through the inspection area;
executing movement control to move and stop in front of the work moving body positioned at the forefront along the traveling path based on the calculated own machine position;
After executing the movement control, the work moving body positioned at the rearmost position along the advancing path among the first to fourth work moving bodies in the stationary state is instructed to move through the inspection area. , measurement system.

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