JP3474658B2 - Hazardous area remote surveying method - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote survey method for a dangerous area such as a volcanic dangerous area which is automatically surveyed by an unmanned person. The present invention relates to a remote survey method for a dangerous area in which a remote dangerous area is surveyed.

[0002]

2. Description of the Related Art Conventionally, a "total station" that has both the function of a light-wave rangefinder and the function of a transit angle finder for this type of survey has been used as a target for surveying vehicles that are remotely operated in dangerous areas. A method of collimating and surveying has been proposed.

Recently, GPS using an artificial satellite
(Global Positioning System: Global Position
ing System) has been proposed. Specifically, a GPS is mounted on a surveying vehicle that is operated remotely by an unmanned vehicle, and continuous measurement is performed while the GPS is moving, or intermittent surveying is performed when the surveying vehicle is temporarily stopped, and the measured value is wirelessly transmitted. The information is transmitted to the accessible location P2.

[0004]

However, for surveying at the above-mentioned total station, the total station must be carried in to a position where the dangerous area can be collimated, and a person cannot enter the position where the entire dangerous area can be collimated. There is a problem that it is not possible to measure.

That is, in FIG. 2, P1 is a work location where surveying is desired, and an approachable location P
Oka H exists between 2 and the work place P1 cannot be directly seen from the approachable place P2. Therefore, in such a case, surveying at the total station becomes impossible.

Further, it is said that conventional GPS surveying has an error of 10 to 100 m in the surveying accuracy due to an error in the position of the satellite. To reduce this error, two GPS units are installed apart from each other. Then, it is necessary to observe the same GPS satellite with both GPS and adopt a relative positioning method for canceling various error factors. That is, in the case of "Fig. 2" as an example, a survey vehicle driven by remote control in a dangerous area is
The PS is installed, and the GPS is also installed at the approachable place P2, and the same GPS artificial satellite is observed by both GPSs.
The installation position of the approachable place P2 is used as a known position because it can be accurately measured by another survey, and both GPs are used.
S obtains a relative positional relationship (baseline vector: also referred to as a baseline length in the present application) between two points by obtaining a difference between measured values, and calculates a relative positional relationship between two points with one of them as the known position. Then, the GPS position of the survey vehicle can be measured.

[0007] However, the above-mentioned GPS relative positioning requires that it takes time to obtain a measurement result (normally, it is said that at least about 2 seconds are required to calculate a surveyed value by a computer. In order to measure, several measurements are taken, abnormally measured values are excluded, and calculations such as taking the average value are performed.) Accuracy cannot be guaranteed, and continuous surveying will result in running speed of the surveying vehicle. There is a problem that the surveying error increases proportionately and accurate surveying becomes impossible.

In the intermittent survey by GPS, the surveying vehicle is intermittently stopped and the surveyed value is calculated when the surveyed vehicle is stopped. However, in this case, continuous surveying cannot be performed.
Although the accuracy is tentatively secured, there is a problem that frequent stoppage (temporary stoppage) of equipment (particularly, remotely operated surveying vehicle) has a mechanical adverse effect and causes frequent failures. .

Therefore, the present invention has been made in view of the above problems, and an object thereof is to provide a remote surveying method for a dangerous area in which accurate continuous surveying can be performed even in an extremely remote place or a place that cannot be overlooked directly. It is what

[0010]

In order to solve the above-mentioned problems, the configuration of the present invention, which has the above-mentioned claims as its gist, has a fixed GPS 11 and a data transmission / reception device 12 in a manned fixed station 10. The measurement computer 13 is installed, and the relay vehicle 20 is equipped with a mobile GPS 21, an automatic tracking type total station 22, an inclinometer 23, an azimuth meter 24, and a data transmitting / receiving device 25, and the measurement vehicle 3 is operated remotely.
An omnidirectional prism 31, an azimuth meter 34, and a data transmitter / receiver 35 are mounted at 0, and the relay vehicle 20 is moved and stopped near the work location, and a fixed GPS 11 whose position is known and a fixed mobile GPS 21 are used for two GPS stations. The position of the relay vehicle 20 is measured by the fixed static relative survey, and then the position of the relay vehicle (20) is converted into the position of the automatic tracking type total station (22) by the data of the compass (24).
Next, the automatic tracking type total station 22 tracks the omnidirectional prism 31 of the measurement vehicle 30 to calculate the prism position, and the prism position is calculated based on the data of the inclinometer 33 and the azimuth meter 34 of the measurement vehicle 30. It is a technical measure that is converted to the measurement coordinates below and measured.

Further, the invention of "Claim 2" takes a technical means to remotely control both the relay vehicle 20 and the measuring vehicle 30 of the invention of "Claim 1" by the manned fixed station 10. It is a thing.

[0012]

Therefore, according to the remote sensing method of the dangerous area of the present invention, the relay vehicle 20 is moved and stopped near the work point P1 as shown in FIG. 2, and the fixed GPS 11 whose position is known and the fixed GPS 21 are fixed. Since the position measurement of the relay vehicle 20 is performed by the GPS 2 station fixed static relative survey, the position of the relay vehicle 20 can be accurately calculated (excluding the satellite orbit shift, the influence of the troposphere, the influence of the ionosphere, etc.). Present. The position measurement accuracy of this relay vehicle 20 is 0.5 cm in the horizontal direction + baseline length × 1 ppm (baseline length is fixed GPS 1
1 and mobile GPS 21), up and down 1.0 cm
+ Baseline length x 1 ppm is said to be secured.

When the position of the relay vehicle 20 (the antenna position of the mobile GPS 21) is obtained, the position of the automatic tracking type total station 22 mounted on the relay vehicle 20 is obtained by taking the data of the azimuth meter 24 into consideration. At this time, since the positional relationship between the relay vehicle 20 and the relay vehicle 20 may change depending on the stopped posture, the inclinometer 23 is mounted on the relay vehicle 20 or the automatic tracking type total station 22 as described later.
By taking this data into consideration, or by mounting the automatic tracking type total station 22 on the automatic leveling table 23a, the accurate position of the automatic tracking type total station 22 can be calculated.

When the position of the automatic tracking type total station 22 can be calculated, the automatic tracking type total station 2
In step 2, the prism position is calculated by tracking the omnidirectional prism 31 of the measurement vehicle 30, and this prism position is converted into the measurement coordinates below the measurement vehicle 30 by the data of the inclinometer 33 and the azimuth meter 34 of the measurement vehicle 30. Exhibit the action that can be done. Note that the distance measurement accuracy of the total station is the baseline length × 10 ppm (10
An angle measurement accuracy of about 3 "is secured at a distance of 0 m (about 1 mm).

Since the traveling speed of the measuring vehicle 30 can be ignored for the measurement accuracy at the automatic tracking type total station 22, it has the effect of enabling detailed real-time measurement.

[0016]

Embodiments of the present invention will now be described in detail with reference to the accompanying drawings. First, according to the method of the present invention, a fixed GPS 11, a data transmission / reception device 12, and a measurement computer 13 are installed in a manned fixed station 10.

The manned fixed station 10 corresponds to the central command room, and it is needless to say that it is provided at the approachable place P2. Then, the fixed GPS 11 is installed in the manned fixed station 10. This fixed GPS 11 is a conventionally known one, and one that receives radio waves from a plurality of GPS artificial satellites A1, A2, A3 and measures the position thereof is used. In the present invention, this fixed GPS 11 is installed. Since the position can be easily measured by other means, it is installed at a known position that has been measured in advance.

The data transmission / reception device 12 uses a pair of wireless modems in the illustrated example, and one wireless modem 12a is used for transmitting operation control between the relay vehicle 20 and the measurement vehicle 30 which will be described later, and the other. The modem 12b is used exclusively for receiving measurement data, but if it can be shared, of course, only one data transmission / reception device 12 is necessary. Since a camera is mounted and its image is used as a reference for driving, an antenna for receiving the image signal of this television camera and a monitor (the monitor of the measuring computer 13 can also be used) are provided.

Further, the measuring computer 13 is
It is used for various controls and calculations. For control, signals are arranged for operation control of the relay vehicle 20 and the measurement vehicle 30, and for calculations, measurement data of each device are combined and arranged to perform calculations. It is designed to make measurements. It is needless to say that it is desirable that the measurement computer 13 can be sufficiently supported by a personal computer, and that the measurement result is printed by a printer (not shown) or plotted on a plotter. Further, an IC card is usually attached to the automatic tracking type total station 22 to be described later, and it is also useful for work management to make the data stored in this IC card into a slip later, and the measuring computer 13 also has a card reader. It is desirable to attach it.

Further, according to the present invention, a relay vehicle 20 is prepared, and a mobile GPS 21, an automatic tracking type total station 22, an azimuth meter 24 and a data transmitting / receiving device 25 are provided on the relay vehicle 20.
And with.

The relay vehicle 20 is remotely controllable and can be operated by the manned fixed station 10 or can be remotely controlled by a portable control device at an appropriate place in the safety zone (accessible place P2).

The mobile GPS 21 may have the same structure as the fixed GPS 11, and the fixed GPS 1 installed at a known position from the fixed GPS 1 may be used.
The same GPS satellites A1, A2, A3 for both 1 and
The radio wave is received and its position is relatively measured in the same manner as described above.

The automatic tracking type total station 22 is a conventionally known total station equipped with an automatic tracking device. Captures the light flux that is reflected and returned by the prism
The direction of the automatic tracking type total station 22 is automatically adjusted so that this luminous flux always enters the center of the collimation direction of the automatic tracking type total station 22. Specifically, the luminous flux reflected at the collimation point is returned to the left, right, up and down. Light may be received by four photoelectric conversion elements, and the direction may be automatically adjusted so that the electromotive forces thereof are always the same. Actually, even if such an automatic tracking device is provided, the prism at the collimation point may be lost.Therefore, a search mechanism should also be provided to automatically illuminate a certain range when the prism at the collimation point is lost. Then it scans and searches for the prism of the collimation point.

A gyro compass or the like can be used as the azimuth meter 24 to measure the traveling direction of the measurement vehicle 30. Of course, it is desirable to mount the automatic tracking type total station 22 on the automatic leveling table 23a. However, if the automatic leveling table 23a is not used, the relay vehicle 20
An inclinometer 23 is mounted on. As the inclinometer 23, a conventionally known one can be used, and the inclination angle of the measurement vehicle 30 in the X-axis direction and the Y-axis direction is measured. It should be noted that the inclinometer 23, unlike the one shown in the figure, is preferably built in the automatic tracking type total station 22.

A wireless modem or the like is used as the data transmission / reception device 25, which receives a control signal and relay vehicle 20.
Control (not shown, but a controller is installed separately)
Then, the measured value is transmitted to the manned fixed station 10.

Further, the present invention provides a measurement vehicle 30,
The measurement vehicle 30 is configured to be able to travel by remote control in a work site in the dangerous area P2, and the measurement vehicle 30 includes an omnidirectional prism 31, an inclinometer 33, an azimuth meter 34, and a data transmission / reception device 35. It is equipped with.

The omnidirectional prism 31 reflects the light emitted from the automatic tracking type total station 22 in the direction opposite to the incident direction (correctly returns to the incident direction), and the prism 31 is incident from any direction of 360 degrees. The light is also reflected surely in the incident direction.

The inclinometer 33, the compass 34, and the data transmitter / receiver 35 may be the same as those mounted on the relay vehicle 20.

Further, according to the remote surveying method of the dangerous area of the present invention, the relay vehicle 20 is moved and stopped near the work place,
The position measurement of the relay vehicle 20 is performed by the fixed relative GPS 2 station fixed GPS 11 with the fixed GPS 11 whose position is known and the mobile GPS 21 fixed when the relay vehicle 20 is stopped.

The stop location of the relay vehicle 20 is the work location P1.
Select a place where you can see the whole area, but if you cannot find such a place, change the stop location on the way. Further, since the vicinity of the work place P1 where the relay vehicle 20 is stopped is usually a dangerous area and there is no danger, in principle, the relay vehicle 20 is operated by remote control. It may be possible to get on board and drive, and if the location is good, it may be possible to drive directly to the stop location with a manned person. The portable control device may be remotely operated after getting off at a proper position.

The fixed static relative survey of the GPS 2 station is the same GPS artificial satellite A for the fixed GPS 11 and the moving GPS 21 fixed when the relay vehicle 20 is stopped.
Observe 1, A2, A3. This relative survey itself is a conventionally known one, but in the present invention, it is not necessary to perform survey in a short time, it is good to take several tens of minutes or more and acquire a lot of data to ensure accuracy. It took about 1 hour from the fixing work by the outrigger (not shown) for fixing the vehicle 20 to the final determination of the measured value. It should be noted that the position measurement of the relay vehicle 20 may be performed only once, but of course, if the relay vehicle 20 is moved for some reason, the position measurement is performed again.

Then, according to the present invention, the position of the relay vehicle 20 is converted into the position of the automatic tracking type total station 22 by using the data of the compass 24.

That is, the position of the relay vehicle 20 measured by the static two-station fixed static relative survey is exactly the position of the antenna of the normal mobile GPS 21. Therefore, the position of the automatic tracking type total station 22 mounted on the relay vehicle 20 cannot be specified by itself. That is, the mutual positional relationship between the mobile GPS 21 and the automatic tracking type total station 22 changes depending on the orientation of the relay vehicle 20. Therefore, the accurate position of the automatic tracking type total station 22 can be calculated by taking into consideration the data with the azimuth meter 24 at the position obtained by the mobile GPS 21. The automatic leveling table 23
When a is not used, the accurate position of the automatic tracking type total station 22 is determined by also taking into consideration the value of the inclinometer 23 of the relay vehicle 20.

Next, the automatic tracking type total station 2
In step 2, the omnidirectional prism 31 of the measurement vehicle 30 is tracked to calculate the prism position, and the prism position is converted into measurement coordinates below the measurement vehicle 30 by the data of the inclinometer 33 and the azimuth meter 34 of the measurement vehicle 30. And measure.

When the accurate position of the automatic tracking type total station 22 is obtained, the automatic tracking type total station 22 collimates the omnidirectional prism 31 of the measurement vehicle 30 to obtain the automatic tracking type total station 22.
The position of the prism can be determined by However, also in this case, it is the position of the omnidirectional prism 31 of the measurement vehicle 30 that is measured, not the measurement coordinate portion of the ground surface to be surveyed. Therefore, the inclinometer 3 of the measurement vehicle 30
The measurement coordinates below the measurement vehicle 30 are obtained by taking into consideration the data of 3 and the azimuth meter 34.

The inclinometer 33 and the compass 3 of the measuring vehicle 30
4 is sent to the relay vehicle 20, and the relay vehicle 20
Then, this data is added to the measurement value of the automatic tracking type total station 22 to calculate the measurement coordinates, and the result is sent to the manned fixed station 10. However, the measurement value of the automatic tracking type total station 22 and the inclinometer 33 Compass 34
It is needless to say that the data may be sent separately to the manned fixed station 10 and the above-mentioned calculation may be performed by the manned fixed station 10.

Therefore, if the measurement vehicle 30 is moved to a proper place, the coordinates of the ground surface at that place can be measured, and conversely, the measurement vehicle 30 can be moved to a proper place with reference to the measurement place. For example, the measurement vehicle 30 scans the entire working area as indicated by the broken line in FIG.
By programming 1 in advance, it is possible to measure the overall shape and the like of the work site, and the measurement vehicle 30 can be provided with an appropriate marking device (not shown) to mark the measurement result at the desired location. .

The marking of the survey result is usually made by driving in a pile or a tack, or paint is used. In the present invention, if marking is required, these may be used. I don't need it,
Later, it is advisable to carry in and install a pillar or the like that can be easily identified by an automatic identification device provided in a work vehicle for unmanned civil engineering work at the work location P1.

[0039]

As described above, the present invention can provide a remote surveying method for a dangerous area in which a worker can perform real-time surveying without entering the work site P1 in the dangerous area.

In particular, the present invention can provide a remote surveying method for a dangerous area which enables highly accurate continuous surveying because the automatic tracking type total station 22 is used for surveying.

Further, according to the present invention, by using the relay vehicle 20, it is possible to measure a place which cannot be directly collimated. Since the relay vehicle 20 is equipped with the automatic tracking type total station 22, it is not always necessary for an operator to get in the vehicle. Therefore, the relay vehicle 20 can be unmanned, and a remote surveying method for a dangerous area can be provided which enables accurate and detailed surveying even in a place where a person can enter only a place far away from the work place.

[Brief description of drawings]

FIG. 1 is a schematic front view of a dangerous area remote surveying method according to the present invention in execution.

FIG. 2 is a schematic plan view in which a remote survey method for a dangerous area of the present invention is being performed.

[Explanation of symbols]

10 manned fixed stations 11 fixed GPS 12 Data transceiver 13 Measuring computer 20 relay vehicle 21 Mobile GPS 22 Automatic tracking type total station 23 Inclinometer 24 compass 25 data transceiver 30 measurement vehicles 31 All-round prism 33 inclinometer 34 compass 35 data transceiver

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Tamotsu Konishi 1-20-10 Toranomon, Minato-ku, Tokyo Nishimatsu Construction Co., Ltd. No. 1-36, Tachibana ▲ Taka Engineering Laboratory (56) References JP-A-6-28031 (JP, A) JP-A-4-296683 (JP, A) (58) Fields investigated (Int.Cl . ⁷ , DB name) G01C 15/00 G01S 5/00-5/14

Claims (2)

(57) [Claims] 1. A fixed GPS (1) is attached to a manned fixed station (10).
1), a data transmission / reception device (12) and a measurement computer (13) are installed, and a mobile GPS (21), an automatic tracking type total station (22), an azimuth meter (24) and a data transmission / reception device are installed in a relay vehicle (20). (25) is mounted on a measurement vehicle (30) which is remotely driven, and an omnidirectional prism (31) and an inclinometer (33) are installed.
And an azimuth meter (34) and a data transmission / reception device (35) are mounted, and the relay vehicle (20) is moved and stopped near the work site.
Fixed GPS (11) with known position and fixed mobile GP
Position measurement of the relay vehicle (20) is carried out by S2 (21) by static relative survey of GPS2 stations, and then the position of the relay vehicle (20) is determined by its compass (24).
Data is converted into the position of the automatic tracking total station (22), and then the automatic tracking total station (22) tracks the omnidirectional prism (31) of the measurement vehicle (30) to calculate the prism position. Vehicle for measuring prism position (30)
A remote surveying method for a dangerous area in which the data of the inclinometer (33) and the compass (34) are converted into the measurement coordinates below the measurement vehicle (30) to measure. 2. The relay vehicle (20) and the measurement vehicle (3)
0) The remote surveying method for a dangerous area according to claim 1, wherein both of them are remotely controlled by the manned fixed station (10).