JP3528987B2 - Unmanned survey system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned surveying system for measuring three-dimensional coordinate values of landforms in an unmanned area by randomly driving an unmanned vehicle.

[0002]

2. Description of the Related Art A conventional unmanned surveying system will be described with reference to FIG. In FIG. 2, 1 is an unmanned area in which humans cannot enter, 2 is a manned area in which humans can enter, and unmanned area 1 is an unmanned vehicle such as a crawler dump that automatically travels in unmanned area 1. 3 are arranged. The unmanned vehicle 3 is a GPS that captures GPS radio waves coming from GPS (Global Positioning System) satellites 4.
An antenna 5, a GPS receiver 6 that calculates a three-dimensional coordinate value of the unmanned vehicle 3 based on positioning data transmitted from a GPS radio wave captured by the GPS antenna 5 and a reference point described later;
A transmitter 7 that transmits the three-dimensional coordinate data of the unmanned vehicle 3 calculated by the GPS receiver 6 and a receiver 8 that receives the positioning data transmitted from the reference point and outputs the positioning data to the receiver 6 are mounted. There is.

In the manned area 2, a control center (base station) 9 for remotely controlling and monitoring the unmanned vehicle 3 in the unmanned area 1, and a relay vehicle for relaying various communications between the control center 9 and the unmanned vehicle 3 10, GPS antenna 11 and GPS receiver 12 for obtaining the three-dimensional coordinate value of the reference point, and a transmitter for transmitting the three-dimensional coordinate value (positioning data) of the reference point obtained by the GPS receiver 12 to the unmanned mobile unit 3. 13 are provided respectively. The relay vehicle 10 is provided with a receiver 14 for receiving three-dimensional coordinate data of the unmanned vehicle 3 transmitted from the transmitter 7 of the unmanned vehicle 3, and further,
Relay vehicle 10 and control center 9, the millimeter-wave communication unit 15, 16 constituting the millimeter wave communication line to perform data communication therebetween is established, respectively.

In the conventional example having the above structure, the unmanned mobile unit 3
When measuring the topography of the unmanned area 1 by driving the vehicle , the millimeter wave communication line composed of the millimeter wave communication units 15 and 16 and a specific low power radio of another system provided in the unmanned vehicle 3 and the relay vehicle 10 are used. A control command is transmitted from the control center 9 to the unmanned vehicle 3 via the machine, whereby the unmanned vehicle 3 travels randomly in the unmanned area 1.

On the other hand, the GP installed at the reference point in the manned area 2
The S antenna 11 and the GPS receiver 12 receive the GPS radio wave from the GPS satellite 4 to acquire the positioning data of the reference point. This reference positioning data is transmitted to the unmanned vehicle 3 by the transmitter 13 having a specific low power. On the other hand,
The GPS antenna 5 and the GPS receiver 6 mounted on the unmanned vehicle 3 receive the GPS radio waves from the GPS satellites 4 to obtain the positioning data of the unmanned vehicle 3 at the present time, and the positioning data and the unmanned movement. The unmanned mobile unit 3 is based on the reference positioning data received by the receiver 8 of the body 3.
Position data, that is, three-dimensional coordinate values (X, Y, H) are calculated. The calculated three-dimensional coordinate data is transmitted from the transmitter 7 of the specific low power to the relay vehicle 10, and the receiver 1 of the relay vehicle 10
After being received at 4, the signal is transmitted to the control center 9 through the millimeter wave communication units 15 and 16. This allows
It is possible to measure the performance of manned area 2 to unmanned area 1.

[0006]

However, in the conventional unmanned surveying system as described above, the GPS antenna 11 and GP for acquiring the positioning data of the relay vehicle 10 and the reference point are used.
The S receiver 12 is installed in the manned area 2, and a specific low-power radio is used for transmitting the reference positioning data to the unmanned vehicle 3 and for transmitting the three-dimensional coordinate data of the unmanned vehicle 3 to the relay vehicle 10. (This is to prevent the radio wave oscillated by the radio from affecting the communication equipment in the vicinity.) Therefore, the range of the unmanned area where the unmanned area can be measured by running the unmanned vehicle 3 is However, there is a problem that unmanned surveying of terrain at a distance of about 150 m from the manned area and above that distance becomes impossible.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an unmanned surveying system capable of greatly expanding the performance surveying range of a manned area to an unmanned area. .

[0008]

In order to achieve the above object, the present invention provides an unmanned vehicle that automatically runs in an unmanned area by remote control, a relay vehicle installed in the unmanned area, and a manned area. A control center for remotely controlling the unmanned vehicle via the relay vehicle, and a GPS antenna installed in the relay vehicle for acquiring temporary reference positioning data of the relay vehicle by receiving radio waves from GPS satellites; The GPS receiver and the GPS installed in the relay vehicle
The transmitter that transmits the temporary reference positioning data acquired by the antenna and the GPS receiver to the unmanned vehicle, and the temporary reference positioning data that is installed in the unmanned vehicle and transmitted by the transmitter of the relay vehicle. Tertiary of the unmanned vehicle based on the receiver for receiving, the radio wave installed in the unmanned vehicle and captured through the GPS antenna installed in the unmanned vehicle, and the temporary reference positioning data received by the receiver. A GPS receiver that acquires original coordinate values, a transmitter that is installed in the unmanned vehicle and that transmits the three-dimensional coordinate values of the unmanned vehicle acquired by the GPS receiver to the relay vehicle, and the relay vehicle. A receiver that is installed and receives the three-dimensional coordinate values of the unmanned vehicle transmitted by the transmitter of the unmanned vehicle, and various data including the three-dimensional coordinate values of the unmanned vehicle and the relay vehicle and the control And the millimeter-wave communication line for transmitting and receiving the millimeter wave communication between centers, a reflecting mirror of the installed view mutatis mutandis to the relay vehicle, is installed at a known point of the manned area, the relay by collimating said reflector A surveying unit that measures the coordinates of the vehicle, and provisional three-dimensional coordinates that are provided in the control center and are transmitted through the millimeter wave communication line based on the coordinate values of the relay vehicle measured by the surveying unit. Computation processing means for measuring the finished shape of the terrain on which the unmanned vehicle travels by correcting the value.

Further, according to the present invention, the surveying unit is provided with an automatic tracking means for automatically tracking the relay vehicle and automatically collimating the reflector on the relay vehicle.

[0010]

In the present invention, the coordinate value of the relay vehicle is measured by collimating the reflector of the relay vehicle installed in the unmanned area by the surveying unit, and the GPS value of the relay vehicle is measured based on the coordinate values. Correct the three-dimensional coordinate values of the unmanned vehicle acquired by the GPS receiver of the unmanned vehicle based on the provisional three-dimensional coordinate values obtained by the receiver and the radio waves from the GPS satellites to obtain accurate survey data. did. Therefore, the GPS antenna and its receiver, which serve as a reference for obtaining the three-dimensional coordinate values of the unmanned vehicle, can be mounted on the relay vehicle, the relay vehicle can be installed in the unmanned area, and the distance between the unmanned vehicle and the relay vehicle can be increased. Even if a wireless communication device of specified low power that does not cause radio interference to peripheral communication devices is used for the communication of, the surveying range of man-made areas to unmanned areas can be greatly expanded. Also, by automatically tracking the surveying unit to the relay vehicle and automatically aiming the reflector on the relay vehicle, even if the relay vehicle moves, its coordinates can be automatically measured and unmanned movement is possible. It is possible to accurately measure the three-dimensional coordinate values of the terrain by running the body randomly.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic configuration diagram of an unmanned surveying system according to the present invention. In FIG. 1, the same parts as those in FIG. 2 are described with the same reference numerals, 1 is an unmanned area where humans cannot enter, 2 is a manned area where humans can enter, and An unmanned vehicle 3 such as a crawler dump that automatically travels in the unmanned area 1 and a relay vehicle 10 that relays various communications between the unmanned vehicle 3 and the control center 9 are arranged. This relay vehicle 10
The movement to the unmanned area 1 is performed by remote control of the control center 9.

The unmanned vehicle 3 captures GPS radio waves coming from GPS (Global Positioning System) satellites 4.
PS antenna 5, GP captured by this GPS antenna 5
GPS receiver 6 that calculates the three-dimensional coordinate values of unmanned vehicle 3 based on S radio waves and temporary reference positioning data transmitted from relay vehicle 10 described later, and unmanned vehicle 3 calculated by this GPS receiver 6. The transmitter 7 that transmits the three-dimensional coordinate data of 3 to the relay vehicle 10 and the receiver 8 that receives the positioning data from the relay vehicle 10 and outputs the positioning data to the GPS receiver 6 are mounted.

The relay vehicle 10 includes a GPS antenna 17 for capturing GPS radio waves from GPS satellites 4 and the GPS antenna 17.
The unmanned vehicle 3 based on the GPS radio waves captured by the antenna 17
GPS receiver 18, which obtains temporary reference position information (temporary reference positioning data), which serves as a reference when measuring the three-dimensional coordinate of
The transmitter 19 that transmits the provisional reference positioning data acquired by the S receiver 18 to the unmanned vehicle 3, the transmitter 7 of the unmanned vehicle 3
A receiver 14 that receives the three-dimensional coordinate data of the unmanned vehicle 3 transmitted from the vehicle, and a support pillar of a GPS antenna 17 for measuring the accurate position of the relay vehicle 10 from known coordinate points of the manned area 2. prism reflector 20 attached is mounted respectively, further, the relay vehicle 10, the millimeter-wave communication
With the control center 9 via the communication line , that is,
Between the millimeter-wave communication unit 16 of the control center 9
Thus, a millimeter wave communication unit 15 that performs data communication is installed.

In the manned area 2, the control center (base station) 9 for remotely controlling and monitoring the unmanned vehicle 3 in the unmanned area 1 via the relay vehicle 10 and the accurate position of the relay vehicle 10 are measured. A surveying unit 21 such as a total station is provided for each.

The surveying unit 21 automatically tracks the optical system 211 having three functions of light emission, light reception and collimation, and the prism reflector 20 on the relay vehicle 10 by automatically tracking the relay vehicle 10. A coordinate for obtaining an accurate three-dimensional coordinate value of the relay vehicle 10 by measuring the distance, the altitude angle, and the horizontal angle by collimating the prism reflecting mirror 20 while having the automatic tracking mechanism 212 for collimating. It has a measurement function.
Further, the control center 9 stores the distance, altitude angle, and horizontal angle data measured by the surveying unit 21, and the provisional three-dimensional coordinate data of the unmanned vehicle 3 transmitted from the relay vehicle 10 through the millimeter wave communication line. Based on this, an arithmetic processing unit 91 for correcting the three-dimensional coordinate values of the unmanned vehicle 3 traveling in the unmanned area 1 and measuring the finished shape of the terrain in the unmanned area 1 is provided.

Next, the surveying operation of this embodiment constructed as described above will be explained. First, the relay vehicle 10 is moved and installed in the unmanned area 1 by remote control from the control center 9. In the relay vehicle 10 installed in the unmanned area 1, the GPS antenna 17 and the receiver 18 are operated to capture the radio wave from the GPS satellite 4,
Temporary reference positioning data of the relay vehicle 10 is acquired based on this GPS radio wave. The temporary reference positioning data thus obtained is transmitted to the unmanned vehicle 3 by the transmitter 19. Unmanned mobile unit 3
Then, the GPS antenna 5 and its receiver 6 are operated to capture the radio waves from the GPS satellites 4, and based on the captured GPS radio waves and the tentative reference positioning data transmitted from the relay vehicle 10, unmanned The three-dimensional coordinate value of the moving body 3 is calculated and acquired. The three-dimensional coordinate value data of the unmanned vehicle 3 is transmitted to the relay vehicle 10 by the transmitter 7, received by the receiver 14 of the relay vehicle 10, and then transmitted / received by the millimeter wave communication units 15 and 16, and the control center 9 Is taken into.

On the other hand, in the surveying unit 21 in the manned area 2, the optical system 211 is operated to emit light waves for distance measurement and collimation toward the reflecting mirror 20 of the relay vehicle 10 and from the reflecting mirror 20. The reflected light wave is transmitted to the optical system 211.
The optical system 211 is automatically collimated by the reflecting mirror 20 by operating the automatic tracking mechanism 212 so that the optical system 211 can be received. When the control unit of the surveying unit 21 recognizes that the optical system 211 has been collimated by the reflecting mirror 20, the coordinate measuring function unit thereof operates to measure the distance from the installation point of the surveying unit 21 to the relay vehicle 10. Measure the altitude angle and horizontal angle of the collimation point,
The arithmetic processing unit 9 of the control center 9 uses these measurement data as accurate true three-dimensional coordinate value data of the relay vehicle 10.
Transmit to 1.

The arithmetic processing unit 91 of the control center 9 corrects the three-dimensional coordinate value data of the unmanned vehicle 3 based on the accurate true three-dimensional coordinate value data of the relay vehicle 10 to calculate an accurate survey value. . This enables unmanned surveying in an unmanned area by running the unmanned vehicle 3.

As described above, according to the present embodiment, the relay vehicle 10 equipped with the GPS antenna 17 for acquiring the provisional reference positioning data for the unmanned vehicle 3 and the receiver 18 thereof is installed in the unmanned area 1. This temporary reference positioning data and GPS
Based on the GPS radio wave from the satellite 4, G of the unmanned mobile unit 3
The PS antenna 5 and its receiver 6 calculate the three-dimensional coordinate values of the unmanned vehicle 3. Then, the surveying unit 21 is used for the reflector 20 of the relay vehicle 10 installed in the unmanned area 1.
Since the coordinate values of the relay vehicle 10 are measured by collimating, the three-dimensional coordinate value data of the unmanned vehicle 3 is corrected based on these coordinate values, and an accurate survey value is calculated. ,
G which is a reference for obtaining the three-dimensional coordinate values of the unmanned moving body 3
The PS antenna 17 and its receiver 18 can be mounted on the relay vehicle 10, and the unmanned vehicle 3 and the relay vehicle 1 can be mounted.
Even if a wireless communication device of specified low power that does not interfere with peripheral communication equipment is used for communication between 0s, it is possible to measure the quality of the unmanned area several hundred meters away from the manned area 2, and to measure the unmanned area. The area can be greatly expanded. In addition, the survey unit 21 is automatically tracked by the relay vehicle 10 and
By automatically collimating the upper reflector 20, even if the relay vehicle 10 moves, its coordinates can be automatically measured, and the three-dimensional coordinates of the terrain by randomly moving the unmanned vehicle 3 can be measured. The value can be measured accurately.

The present invention is not limited to the structure described in the above embodiment, and various modifications can be made without departing from the scope of the claims. For example, in the above embodiment, the case where the reflector 20 of the relay vehicle 10 is automatically collimated has been described, but the present invention is not limited to this, and the reflector 20 may be collimated manually. Good.

[0021]

As described above, according to the present invention, an unmanned vehicle that automatically travels in an unmanned area by remote control, a relay vehicle installed in the unmanned area, and a relay vehicle installed in the manned area through the relay vehicle. A control center for remotely controlling the unmanned vehicle, a GPS antenna and a GPS receiver installed in the relay vehicle for acquiring provisional reference positioning data of the relay vehicle by receiving radio waves from GPS satellites; Installed on a relay vehicle, the GPS antenna and GPS
A transmitter that transmits temporary reference positioning data acquired by a receiver to the unmanned vehicle, and a receiver that is installed in the unmanned vehicle and receives temporary reference positioning data transmitted by the transmitter of the relay vehicle. Machine and a three-dimensional coordinate value of the unmanned vehicle based on radio waves that are installed in the unmanned vehicle and are captured through a GPS antenna installed in the unmanned vehicle and temporary reference positioning data received by the receiver. And a transmitter that is installed in the unmanned vehicle and that transmits the three-dimensional coordinate values of the unmanned vehicle acquired by the GPS receiver to the relay vehicle, and is installed in the relay vehicle, A receiver that receives the three-dimensional coordinate values of the unmanned vehicle transmitted by the transmitter of the unmanned vehicle, and various data including the three-dimensional coordinate values of the unmanned vehicle between the relay vehicle and the control center. At Millimeter Wave And the millimeter-wave communication line for transmitting and receiving by,
A collimating reflector installed in the relay vehicle, a surveying unit installed at a known point in the manned area and measuring the coordinates of the relay vehicle by collimating the reflector, and provided in the control center. The unmanned vehicle is corrected by correcting the provisional three-dimensional coordinate value transmitted via the millimeter wave communication circuit based on the coordinate value of the relay vehicle measured by the surveying unit. And arithmetic processing means for measuring the finished shape of the traveling terrain.

Therefore, according to the present invention, it is possible to mount the GPS antenna and its receiver, which serve as a reference for obtaining the three-dimensional coordinate values of the unmanned vehicle, on the relay vehicle, and
For communication between unmanned mobile units and relay vehicles, even if a wireless communication device of specified low power that does not interfere with peripheral communication equipment is used, the surveying range from manned areas to unmanned areas can be greatly expanded. it can. Further, according to the present invention, by automatically tracking the surveying unit to the relay vehicle and automatically collimating the reflector on the relay vehicle, even if the relay vehicle moves, its coordinates are automatically adjusted. In addition to being able to measure, it is possible to accurately measure the three-dimensional coordinate values of the terrain by randomly driving an unmanned vehicle.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of an unmanned surveying system according to the present invention.

FIG. 2 is a schematic configuration diagram of a conventional unmanned surveying system.

[Explanation of symbols]

1 unmanned area 2 manned areas 3 unmanned vehicles 4 GPS satellites 5 GPS antenna 6 GPS receiver 7 transmitter 8 receiver 9 control center 10 relay vehicle 14 receiver 15 Millimeter wave communication unit 16 millimeter wave communication unit 17 GPS antenna 18 GPS receiver 19 transmitter 20 reflector 21 Surveying unit 91 arithmetic processing unit 211 Optical system 212 Automatic tracking mechanism

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Hideyoshi Masuda 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd. (56) References JP-A-5-226920 (JP, A) JP-A-3 -63310 (JP, A) Actual Kaihei 3-114079 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01C 15/00 G01S 5/00-5/14

Claims (2)

(57) [Claims] 1. An unmanned vehicle that automatically travels in an unmanned area by remote control, a relay vehicle installed in the unmanned area, and a manned area installed in a manned area to remotely control the unmanned vehicle via the relay vehicle. The control center is installed in the relay vehicle, and acquires temporary reference positioning data of the relay vehicle by receiving radio waves from GPS satellites.
A PS antenna and a GPS receiver, and the GPS antenna and GP installed in the relay vehicle.
A transmitter that transmits the temporary reference positioning data acquired by the S receiver to the unmanned vehicle, and receives the temporary reference positioning data that is installed in the unmanned vehicle and transmitted by the transmitter of the relay vehicle. A receiver and three-dimensional coordinates of the unmanned vehicle based on radio waves installed in the unmanned vehicle and captured through a GPS antenna installed in the unmanned vehicle and temporary reference positioning data received by the receiver. A GPS receiver for obtaining a value, a transmitter installed in the unmanned vehicle and transmitting the three-dimensional coordinate values of the unmanned vehicle acquired by the GPS receiver to the relay vehicle, and installed in the relay vehicle A receiver that receives the three-dimensional coordinate values of the unmanned vehicle transmitted by the transmitter of the unmanned vehicle; and various data including the three-dimensional coordinate values of the unmanned vehicle, the relay vehicle and the control center. Between And the millimeter-wave communication line for transmitting and receiving the waves communication, the reflecting mirror of the installed view mutatis mutandis to a relay vehicle, wherein is installed at a known point manned area, the coordinates of the relay vehicle by collimating said reflector The measurement unit to be measured, and the millimeter wave based on the coordinate values of the relay vehicle provided in the control center and measured by the measurement unit.
An unmanned surveying system comprising: an arithmetic processing unit that surveys the finished shape of the terrain on which the unmanned vehicle travels by correcting temporary three-dimensional coordinate values transmitted via a communication line. 2. The unmanned surveying system according to claim 1, wherein the surveying unit includes automatic tracking means for automatically tracking the relay vehicle and automatically collimating a reflector on the relay vehicle.