JP6216587B2 - Sensor embedding system and method - Google Patents

Description

  The present invention relates to a sensor embedding system and a method for embedding a sensor in the ground.

  In the investigation of oil fields and mineral resources, a large number of sensors are placed on the ground and in the ground, impacts are generated with explosives and mechanical vibration generators, vibrations are measured, and data analysis is performed. A method for performing estimation is known.

  Here, in order to perform data analysis with as high resolution and high accuracy as possible, it is necessary to dispose sensors disposed on the ground surface and in the ground with as high a mesh as possible and in a wide range. However, since sensor installation is generally performed manually, enormous labor and time are required. In particular, oil field surveys will be carried out in caravans in deserts and extremely cold regions, which will be a harsh work environment for humans.

The following Patent Document 1 and Patent Document 2 are known as methods for making the above investigation as efficient and automated as possible with respect to such problems.

JP 2005-114485 A JP 2004-20448 A

  In the “traction type multi-channel surface wave exploration device” of Patent Document 1, the long member for traction is composed of two ropes or wires, and the front and rear end edges of the bottom surface of the base member are inclined surfaces or curved surfaces. Therefore, it is possible to obtain an appropriate coupling between the ground and the geophone because it is not blown by a crosswind and is not easily affected by gravel.

  In addition, the “high-density three-dimensional reflection seismic exploration device” disclosed in Patent Document 2 has an operation of installing an oscillation device and a vibration receiving device by mounting a plurality of oscillation devices and vibration receiving devices on a non-stretchable planar member. It becomes unnecessary and the apparatus can be moved easily.

According to the devices in Patent Document 1 and Patent Document 2 described above, since the sensors are transported and arranged in the vehicle, it is possible to reduce the amount of manual work required for installing the sensors.
However, these devices have a problem that they cannot be used for sensors that are embedded in the ground and used because the location of sensors is limited to the ground surface.
In addition, when excavation work on the ground and sensor embedding work are performed by a single device, the device cannot be moved until the sensor embedding is completed even after excavation is completed, so the sensor is efficiently embedded. There was a problem that I couldn't.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a sensor embedding system and a method for embedding a large number of sensors (for example, vibration sensors) at a distance from each other in the vicinity of a wide range of ground surfaces.

In order to achieve the above object, according to the present invention, a leading vehicle for sequentially excavating a sensor embedding hole for embedding a sensor at an embedding position;
A vehicle that autonomously travels following the leading vehicle behind the leading vehicle and sequentially embeds the sensor in the sensor embedding hole, and
The following vehicle has a position detecting device capable of remotely detecting the embedded position during excavation by the leading vehicle, and a sensor embedding system is provided.

Further, according to the present invention, the position detection device comprises:
A self-position detecting device for detecting an absolute position of the following vehicle;
A relative position detecting device for detecting a relative position of the embedded position with respect to the following vehicle;
A calculation storage device for calculating and storing a first absolute position of the embedded position from the absolute position and the relative position;

According to the present invention, the leading vehicle is
An embedded position detecting device for detecting a second absolute position of the embedded position;
A transmission device that transmits the second absolute position toward the following vehicle,
The following vehicle is
A receiving storage device for receiving and storing the second absolute position;
A control device for comparing the first absolute position and the second absolute position;
The self-position detection device and the embedded position detection device are GPS,
The control device evaluates the GPS state when the GPS information is acquired from the first absolute position and the second absolute position, and embeds the sensor at a position with higher accuracy.

According to the invention, the leading vehicle has a detection object attached to a position detectable by the relative position detection device, and the relative position detection device detects the detection object. To detect the relative position of the embedded position with respect to the following vehicle.

  According to the invention, the relative position detection device is a three-dimensional laser radar or an imaging device.

  Moreover, according to this invention, it has a communication apparatus which can communicate with a leading vehicle and a follower vehicle, and is provided with the base station which corrects the absolute position of a leading vehicle and a follower vehicle.

In order to achieve the above object, according to the present invention, a leading vehicle for sequentially excavating a sensor embedding hole for embedding a sensor at an embedding position;
Following the leading vehicle autonomously travels following the leading vehicle, and prepares a following vehicle that sequentially embeds the sensor in the sensor embedding hole,
A sensor embedding method is provided, wherein the embedding position during excavation by the leading vehicle is detected remotely by the following vehicle.

  According to the above-described present invention, the follower vehicle includes the position detection device that can remotely detect the buried position during excavation by the leading vehicle, thereby moving autonomously to the buried position and embedding the sensor at that position. Is possible.

In addition, when excavation and sensor embedding are performed with a single vehicle, the vehicle cannot be moved until the sensor embedding is completed even after excavation is completed, but according to the present invention described above, Since each of the following vehicles is provided separately, after excavation is completed, excavation can be performed by moving to the next place without waiting for completion of sensor embedding. For this reason, a large number of sensors (for example, vibration sensors) can be embedded efficiently in the vicinity of a wide range of the ground surface at intervals.

It is a block diagram of the sensor embedding system in this invention. It is a block diagram of the leading vehicle in this invention. It is a block diagram of the following vehicle in this invention. It is explanatory drawing at the time of irradiating the laser radar in this invention. It is a flowchart which shows the sensor embedding method in this invention. It is a flowchart which shows the sensor embedding method in this invention.

  A preferred embodiment of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

FIG. 1 is a configuration diagram of a sensor embedding system according to the present invention.
The sensor embedding system 30 of the present invention is an apparatus for embedding the sensor 13 in the ground.
In this figure, the sensor embedding system 30 includes a leading vehicle 10 and a following vehicle 20. Reference numeral 21 denotes a buried position.

  In this example, the leading vehicle 10 includes a vehicle 1 and an excavator 2. For example, the leading vehicle 10 travels manned or unmanned along the ground surface and sequentially excavates the ground by the excavator 2. Specifically, a sensor embedding hole 21a for embedding the sensor 13 in the embedding position 21 where the embedding is planned is excavated.

In this example, the following vehicle 20 is composed of a vehicle 11 and an embedded device 12, and autonomously travels following the leading vehicle 10 behind the leading vehicle 10 and is excavated by the leading vehicle 10 by the embedded device 12. The sensors 13 are sequentially embedded in the embedded holes 21a.
The following vehicle 20 has a position detection device 18 that detects the position of the leading vehicle 10, and can thereby follow the leading vehicle 10. Further, the position detection device 18 can detect the embedded position 21 where the leading vehicle 10 has excavated, and the sensor 13 can be embedded at the detected position.
Specifically, the position detection device 18 includes a self-position detection device 14 that detects the absolute position of the following vehicle 20, a relative position detection device 16 that detects the relative position of the embedded position 21 with respect to the following vehicle 20, and the absolute position detection device 16. It is assumed that it comprises an arithmetic storage device 17 that calculates and stores the absolute position of the embedded position 21 (hereinafter referred to as the first absolute position) from the position and the relative position.

Here, the embedded position 21 detected by the following vehicle 20 by the position detection device 18 is the same as the embedded position 21 where the leading vehicle 10 actually excavated (scheduled to perform) depending on the communication status of the self-position detection device 14 and the like. There may be cases where the positions are different.
Therefore, in the present invention, the buried position 21 refers to a position where the leading vehicle 10 has actually excavated (planned position) or within a certain range from the position (for example, within a radius of 3 m to 5 m). Shall.
In addition, the sensor 13 assumes the vibration sensor which detects the impact by a gunpowder or a mechanical vibration generator, for example.

Further, in this example, it is assumed that the sensor 13 is loaded on the loading platform of the follower vehicle 20 and is held and buried by the burying device 12 attached to the follower vehicle 20.
In FIG. 1, the leading vehicle 10 performs excavation continuously, but the excavation by the leading vehicle 10 and the embedding by the following vehicle 20 may be performed alternately.

  The following vehicle 20 is not limited to manned driving but may be unmanned driving.

FIG. 2 is a configuration diagram of the leading vehicle in the present invention.
In this figure, 4 is an embedded position detecting device, and 5 is a transmitting device.

  In this example, the vehicle 1 is assumed to travel by the tracked wheels 1a in consideration of the presence of obstacles on the travel route, but the place where the possibility of the presence of obstacles is low For example, a wheeled vehicle 1 may be used.

In this example, the excavator 2 is assumed to have a drill 2a attached to the tip of the arm 2b, and the position for excavation can be adjusted by operating the arm 2b.
Further, in this example, in order to enable the follower vehicle 20 to follow the leading vehicle 10 and the position detection device 18 of the follower vehicle 20 to detect the embedded position 21, the detection object 2 c is placed on a part of the arm 2 b. Assume what you have installed. Details of the detection object 2c will be described later.

  The leading vehicle 10 is equipped with a transmission device 5 that transmits information toward the reception storage device 15. Specifically, position information regarding the absolute position (hereinafter referred to as a second absolute position) of the embedded position 21 detected by the embedded position detection device 4 and a signal indicating that excavation has been completed at that location (hereinafter referred to as completion of excavation). Signal) is transmitted from the transmission device 5 to the reception storage device 15. The reception storage device 15 stores the received information and the like. The embedded position detection device 4 is a GPS, for example, and may include an INS sensor.

FIG. 3 is a configuration diagram of the following vehicle in the present invention.
In this figure, 14 is a self-position detection device, 15 is a reception storage device, 16 is a relative position detection device, 17 is an arithmetic storage device, and 19 is a control device.

  In this example, the vehicle 11 is assumed to travel by the tracked wheels 11a in consideration of the presence of obstacles on the travel route, but the place where there is a low possibility of the presence of obstacles, etc. For example, a wheeled vehicle 11 may be used.

In this example, the burying device 12 is assumed to have a sensor gripping device 12a attached to the tip of the arm 12b, and the position where the sensor 13 is buried can be adjusted by operating the arm 12b. Become.
For example, the arm 12b may be provided with a detection device (not shown) for accurately detecting the embedded position 21 where the leading vehicle 10 has actually excavated. This detection device is, for example, an arm-like device that can be expanded and contracted, and by checking that there is a cavity at a position lower than the ground surface, whether or not the position is the position where the excavation was actually performed is determined. Assume what you want to detect.
Thereby, even when the burying position 21 detected by the tracking vehicle 20 by the position detection device 18 and the burying position 21 where the leading vehicle 10 actually digs are slightly different, the sensor 13 can be embedded. .

  The relative position detection device 16 is mounted on the following vehicle 20, and in this example, for example, a laser radar 16 (three-dimensional laser radar) is assumed. As shown in FIG. 4, the laser radar 16 follows up by detecting what is reflected by the detection target 2 c (in this example, the reflecting portion 2 c) mounted on the leading vehicle 10 among the irradiated laser 16 a. It becomes possible to detect the relative position of the embedded position 21 with respect to the vehicle 20. Further, the relative position of the embedded position 21 with respect to the following vehicle 20 detected by the relative position detecting device 16 and the absolute position of the following vehicle 20 acquired by the self-position detecting device 14 are added by the arithmetic storage device 17 to be embedded. The position 21 can be detected. The self-position detection device 14 is, for example, a GPS, and may include an INS sensor.

  Further, when there are a plurality of embedded positions 21, the arithmetic storage device 17 can store the plurality of embedded positions 21. For example, it is also possible to memorize in order close to the current position of the following vehicle 20.

A plurality of the reflection parts 2c described above may be installed on the vehicle 1 or the arm 2b of the leading vehicle 10 so as to be reflected in the direction of the laser radar 16 regardless of the angle at which the laser 16a is received. The structure using what consists of a reflection part or spherical shape may be sufficient. In addition, for example, the reflection portion 2c may have a shape that can be easily detected by the relative position detection device 16 by forming a cross shape.
In particular, when the detection target 2c is attached to the arm 2b, the position of the detection target 2c directly indicates the position of the embedded position 21 during excavation. It is not necessary to perform a calculation such as correction when the position 21 is obtained.

The follower vehicle 20 uses the relative position detection device 16 to include an environment map (information acquired by the self-position detector 14) including information on obstacles and the like from the position of the follower vehicle 20 to the buried position 21 in addition to the buried position 21. Map based on local coordinates that does not take into account) is acquired, and the following vehicle 20 moves to the embedded position 21 based on this. The information acquired by the self-position detection device 14 cannot detect the presence of an obstacle or the like, and thus there may be a case where the movement is hindered when there is an obstacle or the like on the movement route. By moving based on the above, it is possible to move in a form avoiding obstacles in advance.
This environment map may display, for example, information such as the embedded position 21 and obstacles on the coordinates.

The control device 19 is for comparing the first absolute position and the second absolute position described above.
For example, depending on the traveling position of the leading vehicle 10 or the following vehicle 20, there may be a case where the communication status is poor and GPS information or the like cannot be acquired. In this case, the comparison result between the first absolute position and the second absolute position may be significantly different.
In such a case, the second absolute position, which is the embedded position 21 detected by the embedded position detection device 4 of the leading vehicle 10, and the embedded position 21 detected by the self-position detection device 14 and the relative position detection device 16 of the following vehicle 20. It is possible to embed the sensor 13 at a position with a predetermined high accuracy by comparing the first absolute position. Thereby, it becomes difficult to be influenced by the communication status of the traveling position of the leading vehicle 10 or the following vehicle 20, and it is possible to reduce the influence of the sensor 13 on the embedding work.
This predetermined accuracy is assumed to be obtained by evaluating and calculating the GPS state (number of captured satellites, DOP, etc.) when GPS information is acquired.

  Specifically, when the first absolute position and the second absolute position coincide with each other or when the difference is within a predetermined range (for example, the difference is about several centimeters), the control device 19 If the first absolute position and the second absolute position do not coincide with each other, the first absolute position and the second absolute position may be embedded in a higher predetermined accuracy.

  In this example, the control device 19 and the burying device 12 are connected by a cable 19a so that the control device 19 can issue an instruction about the burying position 21 to the burying device 12. Yes.

Further, as described above, the following vehicle 20 can travel following the leading vehicle 10, and thus has a control device (not shown) for autonomous traveling to enable unmanned traveling. May be. Furthermore, in order to enable remote operation, a configuration having a control device (not shown) for remote control may be used.
In addition, when the following vehicle 20 travels autonomously or by remote control as described above, the following vehicle 20 is automatically set when the distance from the leading vehicle 10 becomes a predetermined distance (for example, about 30 m) or less. The structure which stops may be sufficient.

  In this example, the case where the reflection unit 2c and the laser radar 16 are used as the relative position detection device 16 has been described. However, for example, the position of the detection target 2c such as a light emitting plate is determined by an imaging device such as an image sensor. The structure to catch may be sufficient.

5 and 6 are flowcharts showing a sensor embedding method according to the present invention.
FIG. 5 is a flowchart until the following vehicle 20 acquires the first absolute position and the second absolute position. FIG. 6 shows the sensor 13 from when the following vehicle 20 acquires the first absolute position and the second absolute position. It is a flowchart until completion of embedding.

S <b> 1 is a step of moving the leading vehicle 10 to the embedded position 21.
In S <b> 1, the leading vehicle 10 is assumed to be manned and has a map on which at least the embedded position 21 is described. And based on this map and the embedded position detection apparatus 4, it moves to the embedded position 21 and stops there.

S2 is a step in which the follower vehicle 20 is made to follow the leading vehicle 10 and arranged at a predetermined position.
In this example, it is assumed that the following vehicle 20 detects the leading vehicle 10 by irradiating the reflecting portion 2c of the leading vehicle 10 with the laser radar 16 and detecting the reflected light. Therefore, the following vehicle 20 always needs to catch the leading vehicle 10 within the detection range (about 30 m to 100 m) of the laser radar 16, and therefore follows or stops the leading vehicle 10 as necessary. ing.
At this time, the follow-up vehicle 20 acquires an environmental map including information on the relative position of the embedded position 21 based on its own position and obstacles.
Note that when the follower vehicle 20 loses sight of the leading vehicle 10, the follower vehicle 20 may follow the second absolute position.

S <b> 3 is a step of confirming whether or not excavation of the embedded position 21 is possible by the leading vehicle 10.
This is because when the leading vehicle 10 arrives at the buried position 21, it may be possible to find an obstacle for the first time. In this case, it is necessary to excavate after excision if it is an obstacle that can be eliminated, and to abandon excavation at that location if it is an obstacle that cannot be eliminated.
When abandoning excavation, a signal to that effect is transmitted to a base station (not shown), which will be described later, and excavation at another location is performed when instructed by the base station.

  S4 is a step of performing excavation of the buried position 21 by the excavating device 2 of the leading vehicle 10 after confirming that excavation at that position can be performed in S3.

  S <b> 5 is a step of transmitting information on the embedded position 21 (second absolute position) and the excavation completion signal from the leading vehicle 10 to the following vehicle 20.

  S6 is embedded by adding the relative position of the embedded position 21 with respect to the following vehicle 20 detected by the relative position detecting device 16 and the absolute position of the following vehicle 20 acquired by the self-position detecting device 14 by the arithmetic storage device 17. This is a step of detecting a position 21 (first absolute position).

S <b> 7 is a step of comparing the first absolute position and the second absolute position by the control device 19 mounted on the following vehicle 20.
As a result of the comparison, if the first absolute position and the second absolute position are equal, the position is recognized as the embedded position 21 in S8-1. If the first absolute position and the second absolute position are different, the one with a predetermined high accuracy is recognized as the embedded position 21 in S8-2. Note that the predetermined accuracy used in S8-2 is assumed to be obtained by evaluating and calculating the GPS state (number of captured satellites, DOP, etc.) when GPS information was acquired as already described above. Yes.
Then, in S9, the certification result of the embedded position 21 is transmitted from the following vehicle 20 to a base station (not shown) described later.

  In S8-2, neither the first absolute position nor the second absolute position is recognized as the embedded position 21 when the predetermined accuracy is lower than a predetermined threshold value or the position information cannot be acquired. The sensor 13 is not embedded. In this case, the fact is transmitted to the base station described later.

S10 moves the follower vehicle 20 to the embedded position 21 by autonomous traveling.
Here, it is desirable that the following vehicle 20 moves to the embedded position 21 using the environmental map acquired in S2. The following vehicle 20 acquires an environment map including information such as obstacles from the position of the following vehicle 20 to the embedded position 21 by the laser radar 16, and includes the above-described relative position. Assumed. For this reason, when the following vehicle 20 moves, it is possible to travel in such a way as to avoid this obstacle by using this environmental map.
Note that when the vehicle travels on a flat place where no obstacle or the like exists, the following vehicle 20 may be moved based on the first absolute position or the second absolute position.

S11 is a step of accurately grasping the embedded position 21 by a detection device (not shown) of the following vehicle 20.
When GPS is used when acquiring the first absolute position and the second absolute position, the GPS is recorded at intervals of 0.5 [s], so the embedded position 21 detected by the following vehicle 20 by the above steps. May differ from the actual burying position 21. Therefore, it is necessary to confirm the actual burying position 21 before the follower vehicle 20 starts burying the sensor 13.

S <b> 12 is a step of burying the sensor 13 by the burying device 12 of the following vehicle 20. After the actual burying position 21 is confirmed in S11, the sensor 13 is buried.
In this example, the case where the excavation by the leading vehicle 10 and the embedment of the sensor 13 by the following vehicle 20 are alternately performed has been described. However, as shown in FIG. A method of continuously embedding the sensor 13 by the following vehicle 20 may be used. However, in this case, it is necessary for the following vehicle 20 to detect the plurality of embedded positions 21 separately.

S13 transmits the burying completion signal of the sensor 13 by the following vehicle 20 to the base station.
When the base station embeds the sensor 13 with a plurality of pairs of the leading vehicle 10 and the follower vehicle 20, the base station manages the entire work progress in a unified manner, and is caused by the presence of obstacles, communication failures, etc. This information is also managed when there is a pair in which the sensor 13 is not yet embedded. By this unified management, for example, a portion where the embedment of the sensor 13 has not been completed due to a communication failure is waiting in the vicinity of the leading vehicle 10 and the following vehicle 20 with good communication status. It is possible to issue an instruction to bury the part.
In addition, this base station is assumed to always have highly accurate information on the absolute position by using GPS or the like. For this reason, a configuration capable of correcting the absolute positions of the leading vehicle 10 and the following vehicle 20 by having a communication device (not shown) capable of communicating with the leading vehicle 10 and the following vehicle 20 may be used.

According to the present invention described above, by following the leading vehicle 10 that mounts the excavating device 2 that excavates the ground, and the follower vehicle 20 that mounts the embedded device 12 that embeds the sensor 13 at the position where excavation is performed, the following vehicle is provided. The vehicle 20 can embed the sensor 13 at a position excavated by the leading vehicle 10. Therefore, the sensor 13 can be embedded in the ground.
In addition, the follower vehicle 20 includes the position detection device 18 that detects the position of the lead vehicle 10 so that the follower vehicle 10 travels following the lead vehicle 10 or grasps the buried position 21 where the lead vehicle 10 has excavated. The sensor 13 can be embedded at the position. Therefore, it is possible to reduce the amount of work by manpower and embed the sensor 13 in the ground.

  The present invention is not limited to the above-described embodiment, and various changes can be made without departing from the scope of the present invention.

1 vehicle, 1a wheel, 2 drilling equipment, 2a drill,
2b arm, 2c detection target (reflecting part)
4 buried position detecting device, 5 transmitting device, 10 leading vehicle,
DESCRIPTION OF SYMBOLS 11 Vehicle, 11a Wheel, 12 Embedded device 12a Sensor gripping device, 12b Arm, 13 Sensor 14 Self-position detection device, 15 Reception storage device 16 Relative position detection device (laser radar), 16a Laser 17 Operation storage device, 18 Position detection device , 19 Control device 19a Cable, 20 Following vehicle, 21 Embedding position 21a Sensor embedding hole, 30 Sensor embedding system

Claims (7)

A leading vehicle that sequentially excavates a sensor embedding hole for embedding the sensor at the embedding position;
A vehicle that autonomously travels following the leading vehicle behind the leading vehicle and sequentially embeds the sensor in the sensor embedding hole, and
The following vehicle has a position detecting device capable of remotely detecting the embedded position during excavation by the leading vehicle. The position detection device includes:
A self-position detecting device for detecting an absolute position of the following vehicle;
A relative position detecting device for detecting a relative position of the embedded position with respect to the following vehicle;
The sensor embedding system according to claim 1, further comprising: an arithmetic storage device that calculates and stores a first absolute position of the embedded position from the absolute position and the relative position. The leading vehicle is
An embedded position detecting device for detecting a second absolute position of the embedded position;
A transmission device that transmits the second absolute position toward the following vehicle,
The following vehicle is
A receiving storage device for receiving and storing the second absolute position;
A control device for comparing the first absolute position and the second absolute position;
The self-position detection device and the embedded position detection device are GPS,
The control device evaluates a GPS state when GPS information is acquired from the first absolute position and the second absolute position, and embeds the sensor at a position with higher accuracy. The sensor embedding system according to claim 2. The leading vehicle has a detection target attached to a position detectable by the relative position detection device, and the relative position detection device detects the detection target and thereby embeds the embedded position with respect to the following vehicle. The sensor embedding system according to claim 2, wherein a relative position of the sensor is detected.   5. The sensor embedding system according to claim 2, wherein the relative position detection device is a three-dimensional laser radar or an imaging device.   5. The sensor according to claim 1, further comprising a base station that includes a communication device capable of communicating with the leading vehicle and the following vehicle, and that corrects the absolute positions of the leading vehicle and the following vehicle. Buried system. A leading vehicle that sequentially excavates a sensor embedding hole for embedding the sensor at the embedding position;
Following the leading vehicle autonomously travels following the leading vehicle, and prepares a following vehicle that sequentially embeds the sensor in the sensor embedding hole,
A sensor embedding method, wherein the burying position during excavation by the leading vehicle is detected remotely by the following vehicle.

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