JP6577083B2 - Measuring system - Google Patents

Description

  The present invention relates to a measurement system for measuring a structure or the like using a small unmanned aerial vehicle (UAV).

  In recent years, with the progress of UAV (Unmanned Air Vehicle), various devices are mounted on the UAV, and the UAV is remotely operated, or the UAV is automatically flying, and the required work is performed. For example, a UAV is equipped with a photogrammetry camera and a scanner, and measurements are taken from the sky up or down, or in places where people cannot enter. For the position measurement of the UAV itself, a GPS is mounted on the UAV, and the position of the UAV is measured by the GPS.

  However, radio waves from artificial satellites cannot be received under the side of a dam, building, or bridge, and the UAV position cannot be measured. For this reason, there has been a problem that the UAV cannot be operated remotely or measurement by the UAV cannot be performed.

JP-A-8-285588 JP 2010-38822 A JP 2006-10376 A

  In view of such circumstances, the present invention enables UAV remote control and automatic flight even in an environment where radio waves from an artificial satellite cannot be received, and cannot be measured by a UAV equipped with a photogrammetry camera, a scanner, and a spectrum camera. It is intended to provide a measurement system that can measure structures such as buildings and dams even in places and environments.

The present invention has a GPS device and a measurement device mounted on a flight device that can be remotely controlled, a distance measurement, angle measurement, tracking, a position measurement device installed at an arbitrary position, and a flight control of the flying object A measurement system comprising a ground base, a remote control device that exchanges data with the ground base and is capable of wireless communication with the flying device, and a control device provided in the flying device and the ground base, The flying device includes a retroreflector as a measurement object, the position measuring device is configured to track the retroreflector, and perform ranging and angle measurement, and the flying device is configured to be at least two points during the flight. The GPS device acquires GPS coordinates, the position measuring device measures the positions of the two points of the flying device from an installation point, and any one of the control devices includes the two points of the GPS coordinates and the position. Ranging with a measuring device The absolute coordinates or GPS coordinates of installation point of the position measurement device based on fruit and angle measuring result, the flight by either a preset based on the priority selected the position measuring device of the GPS device It relates to a measuring system configured to determine the absolute coordinates or GPS coordinates of the device .

  The present invention also relates to a measurement system in which the control device controls the flight of the flying device based on the absolute coordinates or the GPS coordinates.

  In the present invention, the measuring device is a shape measuring device for measuring the shape of the measuring object, and the control device is configured to obtain the shape of the measuring object acquired by the shape measuring device at the measurement position, and the position measuring device. The present invention relates to a measurement system that acquires coordinates of the shape of the measurement object based on absolute coordinates of the measurement position obtained by converting a measurement result or GPS coordinates acquired by the GPS device.

  In the present invention, the measurement device is a camera, and the control device is obtained by converting an image of a measurement object acquired by the camera at least at two points in flight and a measurement result of the position measurement device. Further, the present invention relates to a measurement system that performs photogrammetry of a measurement object based on the absolute coordinates or GPS coordinates of the two points or the absolute coordinates or GPS coordinates of the two points acquired by the GPS device.

  Further, according to the present invention, the position measuring device is installed at a plurality of arbitrary points, and the control device acquires absolute coordinates or GPS coordinates of each setting point of the position measuring device and measures the position measuring device from each setting point. Then, the obtained measurement results are converted into absolute coordinates or GPS coordinates, respectively, and the measurement system integrates the measurement results obtained from the respective installation points.

  Furthermore, in the present invention, the measuring device of the flying device measures a blind spot range of the position measuring device, the position measuring device measures a non-flying range of the flying device or a position non-measurable range by the GPS device, The control device relates to a measurement system that converts a measurement result of the position measurement device into GPS coordinates or absolute coordinates, and integrates a result measured by the measurement device of the flying device and a result measured by the position measurement device. is there.

According to the present invention, a flight device equipped with a GPS device and a measurement device and capable of remote control, a distance measurement, an angle measurement and a tracking device, a position measurement device installed at an arbitrary position, and a flight of a flying object A measurement system comprising: a ground base that controls the ground base; a remote controller that exchanges data with the ground base and that is capable of wireless communication with the flying device; and a control device provided in the flying device and the ground base. The flying device includes a retroreflector as a measurement target, the position measuring device is configured to track the retroreflector and perform ranging and angle measurement, and the flying device is at least 2 in flight. GPS coordinates are acquired by the GPS device at a point, the position measuring device measures the position of the two points of the flying device from an installation point, and any one of the control devices is the two GPS coordinates and According to the position measuring device The absolute coordinates or GPS coordinates of installation point of the position measurement device based on the distance measurement result and angle measuring result, by either a preset based on priorities selected said position measuring device wherein among the GPS device Since the absolute coordinates or GPS coordinates of the flying device are obtained, the absolute coordinates or GPS coordinates of the installation position of the position measuring device cannot be obtained, and measurement at a difficult place is facilitated, and the position measurement is performed. The measurement accuracy when the measurement results of both the device and the GPS device are obtained can be improved.

  According to the invention, since the control device controls the flight of the flying device based on the absolute coordinates or the GPS coordinates, when the position measurement by the GPS device cannot be performed, the measurement result of the position measuring device. When the position of the flying device cannot be measured by the position measuring device, the flying device can be remotely controlled based on the position measurement result of the GPS device, and the measurement environment is not restricted.

  According to the invention, the measuring device is a shape measuring device that measures the shape of the measuring object, and the control device is configured to obtain the shape of the measuring object acquired by the shape measuring device at the measurement position and the position measurement. Since the coordinates of the shape of the measurement object are obtained based on the absolute coordinates of the measurement position obtained by converting the measurement result of the device or the GPS coordinates obtained by the GPS device, the shape is complicated or large. The shape of the measurement object can be measured.

  According to the invention, the measurement device is a camera, and the control device converts an image of the measurement object acquired by the camera at least at two points in flight and a measurement result of the position measurement device. Since the photogrammetry of the measurement object is performed based on the obtained absolute coordinates or GPS coordinates of the two points or the absolute coordinates or GPS coordinates of the two points acquired by the GPS device, the location where the position measurement by the GPS device cannot be performed However, photogrammetry using the flying device can be performed.

Further, according to the present invention, the position measuring device is installed in a plurality of arbitrary points, wherein the control device obtains the absolute coordinates or GPS coordinates of each installation point of the position measuring device, the position measuring device from each installation point The measurement results obtained and converted into absolute coordinates or GPS coordinates respectively, and the measurement results obtained from each installation point are integrated, so measurement on complex land, measurement object of complex shape Easy measurement .

Furthermore, according to the present invention, the measuring device of the flying device measures a blind spot range of the position measuring device, and the position measuring device measures an unflyable range of the flying device or an unmeasurable range by the GPS device. The control device converts the measurement result of the position measurement device into GPS coordinates or absolute coordinates, and integrates the result measured by the measurement device of the flying device and the result measured by the position measurement device. Demonstrate the effect.

It is a block diagram which shows the measuring system which concerns on a present Example. (A) is a perspective view of the flying device according to the present embodiment, (B) is a perspective view showing an example of a direction angle sensor. It is sectional drawing of the said flight apparatus. It is a block diagram of the control system of the flying device. It is a schematic block diagram which shows an example of the position measuring apparatus which concerns on a present Example. It is a figure which shows the schematic structure of the ground base which concerns on a present Example, and the relationship of a flight apparatus, a position measuring apparatus, a ground base, and a remote control machine. It is a flowchart which shows the measurement of the installation position of the position measuring apparatus in a present Example. It is a flowchart which shows the guidance of the flight apparatus in a present Example. It is explanatory drawing which shows the measurement by the guidance of a flight apparatus, a flight apparatus, and a position measuring apparatus in a present Example.

  Embodiments of the present invention will be described below with reference to the drawings.

  First, referring to FIG. 1, a measurement system according to the present embodiment will be described.

  The measurement system 1 mainly includes one flight device (UAV) 2, a position measurement device 3, a ground base 4, and a remote control machine 5. FIG. 1 shows a case where a total station (TS) is used as the position measuring device 3.

  The flying device 2 mainly includes a flying body 15 (described later), a shaft 6 as a support member vertically supported by the flying body 15 via a gimbal mechanism, and an imaging device provided at the lower end of the shaft 6. As a camera 7, a GPS device 8 provided at the upper end of the shaft 6, a prism 9 as a retroreflector provided at the lower end of the shaft 6, and the prism 9. The direction angle sensor 10 provided in a known relationship with the optical axis and the air vehicle communication unit 11 that performs communication with the ground base 4 are provided.

  Here, a reference position is set for the flying device 2, and the relationship between the reference position and the camera 7, the GPS device 8, and the prism 9 is known. The reference position of the flying device 2 is, for example, the center position of an image element (not shown) of the camera 7.

  The camera 7 is supported so as to be rotatable about a horizontal axis, and the optical axis of the camera 7 rotates in a plane parallel to the axis of the shaft 6. The rotation range of the camera 7 includes at least a range from the vertical position to the horizontal position of the optical axis of the camera 7.

  Since the shaft 6 is supported by the gimbal mechanism so that the axis of the shaft 6 is vertical, when the optical axis of the camera 7 is vertical, the optical axis of the camera 7 and the shaft 6 It matches the axis.

  The optical axis of the prism 9 is also provided so as to be parallel to the axis of the shaft 6 and is set to be vertical, and the positional relationship between the prism 9 and the camera 7 is also known. . The camera 7, the camera 7, and the prism 9 need only be supported so that their optical axes are vertical, and the shaft 6 does not necessarily have to be vertical.

  The prism 9 is provided downward, and the prism 9 has an optical characteristic of retroreflecting light incident from the entire lower range. Further, instead of the prism 9, a reflective seal may be provided at a predetermined position of the shaft 6.

  The position measured by the GPS device 8 exists on the axis of the shaft 6, and the position measured by the GPS device 8 is known to the camera 7.

  The direction angle sensor 10 detects the direction of the flying device 2. Examples of the direction angle sensor 10 include the following.

  A light receiving sensor 30 is provided at a position equally divided around the circumference, and each light receiving sensor 30 can receive distance measuring light or tracking light emitted from the position measuring device 3, which light receiving sensor 30. By detecting whether the distance measuring light or the tracking light is detected, the direction with respect to the distance measuring light or the tracking light (that is, the direction with respect to the position measuring device 3) is detected.

  The position measuring device 3 is installed at an arbitrary position, and further leveled so that the position measuring device 3 is horizontal. The position measuring device 3 is capable of distance measurement by non-prism measurement (measurement without using a prism or retroreflector) and prism measurement (measurement with a prism or retroreflector as a measurement object), and also has a horizontal angle and a vertical angle. Can be measured.

  In the non-prism measurement, a predetermined range can be measured in a non-prism manner with the installation position of the position measuring device 3 as a reference.

  Further, the position measuring device 3 has a tracking function, and in the state where the prism is being measured, the position measuring device 3 tracks the prism 9 while the flying device 2 is flying, and the prism 9 Three-dimensional coordinates (slope distance, horizontal angle, vertical angle) with respect to the installation position of the position measuring device 3 are measured. Although the total station (TS) is used as the position measuring device 3, the position measuring device 3 is not limited to the TS as long as it has a tracking function and can measure an oblique distance, a horizontal angle, and a vertical angle.

  The position measuring device 3 is electrically connected to the ground base 4 by wire or wirelessly, and the measured three-dimensional coordinates are input to the ground base 4 as coordinate data.

  The installation position (absolute coordinates) of the position measuring device 3 can be measured by the following method.

  The position measuring device 3 measures the position of the flying device 2 during flight, the GPS device 8 further measures the position coordinates of two locations of the flying device 2, and the measurement result obtained by the position measuring device 3; Based on the position coordinates (GPS coordinates) acquired by the GPS device 8, the installation position (GPS coordinates) of the position measuring device 3 is measured by the backward intersection method. Furthermore, absolute coordinates are obtained by converting the coordinates of the GPS coordinates. Therefore, if the GPS coordinates are obtained, the absolute coordinates of the position measuring device 3 can be obtained, the three-dimensional coordinates measured by the position measuring device 3 can be converted into absolute coordinates, and the installation position of the position measuring device 3 can be determined. The result of non-prism measurement as a reference can also be converted into absolute coordinates.

  Furthermore, the prism 9 (that is, the flying device 2) is tracked by the position measuring device 3, and the measured three-dimensional coordinates of the prism 9 (that is, the three-dimensional coordinates of the flying device 2) are similarly GPS. Coordinates can be converted to absolute coordinates. Therefore, by transmitting the position coordinates of the flying device 2 measured by the position measuring device 3 from the ground base 4 to the flying device 2 in real time, the flight based on the position coordinates measured by the position measuring device 3 is used. The device 2 can fly. In the following description, a result obtained by converting the measurement result of the position measuring device 3 into the GPS coordinate system is also referred to as a GPS coordinate.

  The ground base 4 is, for example, a PC, and has a computing device having a computing function, a storage unit for storing data and programs, and a base communication unit, and the base communication unit includes the position measuring device 3, the remote controller 5, and the remote controller 5 can wirelessly communicate with the flying object communication unit 11. Further, the ground base 4 sets a flight safety range based on the result of the non-prism measurement, and the remote controller 5 controls the flight range control data so that the flight device 2 is remotely operated within the flight safety range. Send.

  The remote pilot 5 remotely controls the flight of the flying device 2, and when the flight range restriction data related to the flight range is transmitted from the ground base 4, the flight transmitted from the remote pilot 5. The control signal is limited by the flight range restriction data, and controls so that the flying device 2 flies within the flight safety range. The camera 7 and the shutter of the camera 7 can be remotely operated.

  As will be described later, since the flight device 2 includes a control device, by setting flight plan data in the control device, the position data from the position measurement device 3 or the GPS device 8 is The flying device 2 can fly autonomously based on the measured position data.

  Next, the flying device 2 will be described with reference to FIGS.

  The flying body 15 has a plurality of even-numbered propeller frames 17 extending radially, and a propeller unit is provided at the tip of each propeller frame 17. The propeller unit includes a propeller motor 18 attached to the tip of the propeller frame 17 and a propeller 19 (19a to 19h in the figure) attached to the output shaft of the propeller motor 18. The propeller 19 is rotated by the propeller motor 18 so that the flying body 15 flies.

  The flying body 15 has a hollow cylindrical main frame 21 at the center, an outer flange 22 extending outward at the upper end of the main frame 21, and an inner extension extending toward the center at the lower end. A flange 23 is provided. A circular hole 24 is formed at the center of the inner flange 23.

  The propeller frame 17 has a rod shape and is disposed in a plane orthogonal to the axis of the main frame 21. The propeller frame 17 has a predetermined number (at least four, preferably eight, eight in the drawing) at equal angular intervals in the horizontal direction. 17a-17h) are provided. An inner end portion of the propeller frame 17 penetrates the main frame 21 and is fixed to the outer flange 22.

  The shaft 6 is provided so as to penetrate the main frame 21 vertically, and the shaft 6 is supported so as to be vertical by a gimbal 25, and the gimbal 25 is provided on the inner flange 23 via a vibration isolation member 26. It has been.

  The gimbal 25 has two orthogonal swing shafts 27a and 27b, and the gimbal 25 supports the shaft 6 so as to be swingable in two orthogonal directions. The anti-vibration member 26 absorbs vibration when the propeller motor 18 and the propeller 19 are rotated, so that the vibration is not transmitted to the shaft 6.

  The tilt sensor 28 is provided at the lower end of the shaft 6 and detects the tilt of the shaft 6 caused by a change in the flight state of the flying object 15. The tilt sensor 28 detects the angle between the vertical line and the axis of the shaft 6 when the shaft 6 is tilted with respect to the vertical. The detection result of the tilt sensor 28 is a control device to be described later. 35 (see FIG. 4).

  The direction angle sensor 10 is provided at a required position of the main frame 21. The direction angle sensor 10 detects the direction of the flying object 15. The orientation of the flying object 15 is, for example, the orientation of the flying object based on the direction in which the position measuring device 3 is installed. In the present embodiment, the direction angle sensor 10 shown in FIG. 2B is used. An orientation sensor may be used as the direction angle sensor 10.

  In this embodiment, the direction angle sensor 10 is provided integrally with the prism 9. Briefly referring to FIG. 2B, the light receiving sensors 30a, 30b, 30c, and 30d are provided along the outer peripheral surface of the sensor case 29 formed in a cylindrical shape. The light receiving sensors 30a, 30b, 30c, and 30d are disposed at positions obtained by dividing the circumference into four equal parts, and the light receiving sensors 30a, 30b, 30c, and 30d are distance measuring light or tracking light emitted from the position measuring device 3. When the light is received, a light reception signal is generated. Further, the direction of the flying device 2 with respect to the position measuring device 3 is detected by determining at which position the light receiving sensors 30a, 30b, 30c, and 30d receive distance measuring light or tracking light.

  A control box 31 is provided at the lower end of the shaft 6. The control device 35 is accommodated in the control box 31. A camera holder 32 is provided on the lower surface of the control box 31, and the camera 7 is provided on the camera holder 32 via a horizontal axis 33. The camera 7 is rotatable about the horizontal axis 33, and an imaging direction changing motor (not shown) that rotates the camera 7 via the horizontal axis 33 is provided. The reference posture of the camera 7 is that the optical axis is vertical, and the imaging direction changing motor rotates the camera 7 by a required angle with respect to the vertical in accordance with a command from the control device 35. In FIG. 2A, the optical axis of the camera 7 is horizontal for easy understanding.

  The direction angle sensor 10 is provided on the lower surface of the camera holder 32 via a support member 34, and the prism 9 is provided integrally with the direction angle sensor 10 on the lower surface of the direction angle sensor 10.

  The GPS device 8 is provided at the upper end of the shaft 6. The center of the GPS device 8 (the reference position of the GPS device 8) coincides with the axis of the shaft 6, and the optical axis of the prism 9 is parallel to the axis of the shaft 6.

  The control box 31, the camera holder 32, the camera 7, the prism 9, etc. function as balance weights, and when the external force does not act on the shaft 6, that is, in a free state, the shaft 6 is in a vertical state. The weight balance of the control box 31, the camera holder 32, the camera 7, and the prism 9 is set so that

  If the shaft 6 can be sufficiently held vertically by the balance weight function of the control box 31, the camera holder 32, the camera 7, the prism 9, and the like, the shaft 6 may not be provided. In order to keep it stable, a balance assisting member may be provided so that the shaft 6 can be quickly returned to the vertical state when the shaft 6 is inclined sharply (when the attitude of the flying object 15 is rapidly changed).

  The following example demonstrates the case where the damper spring 16 is provided as a balance auxiliary member.

  The damper spring 16 is stretched between the propeller frame 17 and the shaft 6. It is preferable that at least three, preferably four, of the damper springs 16 are provided, and the damper springs 16 are provided between the propeller frame 17 and the shaft 6 extending in parallel with the swing shafts 27a and 27b.

  The four damper springs 16 apply tension between the shaft 6 and the propeller frame 17, respectively, and balance the tension when the flying body 15 is in a horizontal posture (the propeller frame 17 is horizontal). Thus, the shaft 6 is set so as to maintain a vertical state. Further, the tension and the spring constant of the damper spring 16 are set small, and when the flying object 15 is tilted, the shaft 6 is directed in the vertical direction by the action of gravity.

  The damper spring 16 is a biasing means that biases the shaft 6 to a vertical state. When the shaft 6 swings and vibrates, the damper spring 16 quickly returns to the vertical state and attenuates the vibration. It is. The biasing means may be a torsion coil spring that rotates in the return direction when the swing shafts 27a and 27b of the gimbal 25 rotate in addition to the damper spring 16 described above.

  The control system of the flying device 2 will be described with reference to FIG.

  The control device 35 is accommodated in the control box 31.

  The control device 35 mainly includes a control calculation unit 36, a clock signal generation unit 37, a storage unit 38, an imaging control unit 39, a flight control unit 41, a gyro unit 42, a motor driver unit 43, and the flying object communication unit 11. is doing.

  Imaging of the camera 7 is controlled by the imaging control unit 39, and an image captured by the camera 7 is input to the imaging control unit 39 as image data.

  A digital camera is used as the camera 7 so that a still image can be taken and a moving image can also be taken. In addition, a CCD, CMOS sensor, or the like, which is an aggregate of pixels, is used as the image sensor, and the position of each pixel in the image sensor can be specified. For example, the position of each pixel is specified by orthogonal coordinates with the origin at the point through which the optical axis of the camera of the image sensor passes.

  As described above, the optical axis of the camera 7 coincides with the axis of the shaft 6, and the optical axis of the prism 9 is parallel to the axis of the shaft 6. The optical axis of the prism 9 and the optical axis of the camera 7 have a known positional relationship.

  The storage unit 38 includes a program storage unit and a data storage unit. The program storage unit transmits a photographing program for controlling photographing of the camera 7, a flight control program for driving and controlling the propeller motor 18, acquired data to the ground base 4, and the remote control device 5 stores communication programs for receiving flight commands from 5, data processing programs for processing and storing data acquired by the camera 7, and image tracking programs for tracking using moving images. Has been.

  In the data storage section, flight plan data for executing autonomous flight, still image data acquired by the camera 7, moving image data, position data of the flying device 2 measured during flight, the remote control The position data of the flying device 2 measured by the position measuring device 3 transmitted from the aircraft 5, the still image data, the time when the moving image data was acquired, the position data, and the like are stored.

  The imaging control unit 39 performs control related to imaging of the camera 7 based on a control signal issued from the control calculation unit 36. Control modes include selection of a camera angle corresponding to the measurement object, control of imaging of the camera 7, control of acquiring still images at predetermined time intervals while acquiring moving images, and the like. The shooting time is controlled based on the clock signal generated from the clock signal generator 37 or is synchronously controlled.

  The direction angle sensor 10 detects the orientation of the flying object 15 and inputs the detection result to the control calculation unit 36. The gyro unit 42 detects the attitude of the flying object 15 in the flight state, and the detection result is obtained. Input to the control calculation unit 36.

  When the flight of the flying object 15 is remotely operated by the remote control 5, the flying object communication unit 11 receives a control signal from the remote control 5 and outputs the control signal to the control calculation unit 36. To enter. Alternatively, it has a function of transmitting image data shot by the camera 7 to the ground base 4 on the ground side together with the shooting time.

  The control calculation unit 36 converts the position coordinates measured by the position measuring device 3 into GPS coordinates, acquires the GPS coordinates of the flying device 2, and further measures the GPS coordinates of the flying device 2 measured by the GPS device 8. To get. The flight control signal is calculated based on the obtained GPS coordinates and the flight command transmitted from the remote controller 5, or the flight control signal is calculated based on the flight plan data stored in the storage unit 38 and the GPS coordinates. And output to the flight control unit 41.

  In principle, the obtained GPS coordinates are used as to which of the GPS coordinates obtained based on the measurement result of the position measuring device 3 and the GPS coordinates measured by the GPS device 8 is to be used. For example, if there is an obstacle between the flying device 2 and the position measuring device 3 and the flying device 2 cannot be tracked by the position measuring device 3, the position data from the position measuring device 3 is lost. Therefore, the position coordinates measured by the GPS device 8 are used. In an environment where radio waves from an artificial satellite are blocked in a building or the like, GPS coordinates obtained based on the measurement result of the position measuring device 3 are used. In addition, you may use the absolute coordinate calculated | required from GPS coordinate as the positional information on which the said flight apparatus 2 is made to fly.

  In addition, when both the measurement result from the said position measuring apparatus 3 and the measurement result by the said GPS apparatus 8 are obtained, you may define the priority order utilized beforehand. Since the position measuring device 3 is better in measuring accuracy, it is preferable to give priority to the measurement result obtained by the position measuring device 3 when priority is given to accuracy.

  The control calculation unit 36 executes control necessary for acquiring an image based on a required program stored in the storage unit 38.

  When the flight control signal is input from the control calculation unit 36, the flight control unit 41 drives the propeller motor 18 to a required state via the motor driver unit 43 based on the flight control signal.

  The position measuring device 3 will be described with reference to FIG.

  The position measuring device 3 mainly includes a position measuring control device 45, a telescope unit 46 (see FIG. 1), a distance measuring unit 47, a horizontal angle detector 48, a vertical angle detector 49, a vertical rotation driving unit 51, and a horizontal rotation driving. Part 52 and the like.

  The telescope unit 46 collimates a measurement object, and the distance measuring unit 47 emits distance measuring light through the telescope unit 46, and further from the measurement object through the telescope unit 46. The reflected light is received and the distance is measured. The distance measuring unit 47 has three modes, ie, a non-prism measurement mode, a prism measurement mode, and a tracking measurement mode for tracking the measurement object (prism) while performing prism measurement. Either way, the distance to the measurement object can be measured. In the tracking measurement mode, tracking light is emitted through the telescope unit 46 in addition to the distance measuring light.

  The horizontal angle detector 48 detects a horizontal angle in the collimation direction of the telescope unit 46, and the vertical angle detector 49 detects a vertical angle in the collimation direction of the telescope unit 46. The detection results of the horizontal angle detector 48 and the vertical angle detector 49 are input to the position measurement control device 45.

  The position measurement control device 45 mainly includes an arithmetic processing unit 55, a distance measurement control unit 56, a position measurement storage unit 57, a position measurement communication unit 58, a motor drive control unit 59, and the like.

  The position measurement storage unit 57 includes a measurement program for performing distance measurement in each mode of a non-prism measurement mode, a prism measurement mode, and a tracking measurement mode, and communication for communicating with the flying device 2 and the ground base 4. A program such as a program is stored, and a measurement result (distance measurement, angle measurement) of a measurement object is stored.

  Based on the measurement mode selection command from the arithmetic processing unit 55, the distance measurement control unit 56 performs measurement of the distance measurement unit 47 in a non-prism measurement mode, a prism measurement mode, or a tracking measurement mode. And the distance measurement control unit 56 is controlled according to the determined mode. Here, in the non-prism measurement mode, the position measurement device 3 performs measurement using a building or the like as a measurement object, and in the tracking measurement mode, the measurement object becomes the prism 9 while tracking the flying device 2. The position of the flying device 2 is measured.

  The motor drive control unit 59 controls the vertical rotation drive unit 51 and the horizontal rotation drive unit 52 in order to collimate the telescope unit 46 on the measurement object or to track the measurement object, The telescope unit 46 is rotated in the vertical direction or in the horizontal direction.

  The position measurement communication unit 58 transmits the measurement result (the prism 9) in the tracking measurement mode (the oblique distance, the vertical angle, and the horizontal angle of the prism 9) to the ground base 4 in real time.

  FIG. 6 is a diagram showing a schematic configuration of the ground base 4 and the relationship between the flying device 2, the position measuring device 3, the ground base 4, and the remote control device 5.

  The ground base 4 includes a calculation processing device 61 having a calculation function, a base storage unit 62, and a base communication unit 63.

  The arithmetic processing unit 61 includes the clock signal generator, and associates image data, shutter time data, and coordinate data received via the remote controller 5 with the clock signal, and based on the clock signal, the time series The data is processed and stored in the base storage unit 62.

  The base storage unit 62 includes a flight plan creation program for creating a flight plan such as setting a flight range based on map information obtained from the Internet, the flight plan, and premeasurement data obtained by the position measurement device 3. A flight range calculation program for calculating a flight safety range of the flying device 2 based on the flight safety range, flight control data based on the flight safety range, and a flight control program for controlling the flight of the flight device 2; Based on a necessary calculation program, a communication program for performing data communication between the remote controller 5 and the position measuring device 3, the position measurement based on GPS coordinates of the flying device 2 at two or more positions transmitted from the flying device 2 A program for calculating the GPS coordinates of the installation position of the device 3, the measurement result of the position measuring device 3 (the oblique distance of the prism 9, Right angle, the horizontal angle), various programs such as a program for converting the GPS coordinates based on the GPS coordinates of the installation position of the position measuring device 3 is stored.

  For the work of converting the measurement result of the position measurement device 3 into GPS coordinates based on the GPS coordinates of the installation position of the position measurement device 3, the measurement result of the position measurement device 3 is transmitted to the flying device 2 as it is. However, it may be executed by the control device 35 of the flying device 2.

  Further, various data such as an image acquired by the flying device 2, measurement data (coordinate data) measured by the position measuring device 3, time when the image was acquired, and position coordinates are stored in the base storage unit 62.

  The base communication unit 63 performs wired communication or wireless communication between the ground base 4 and the remote controller 5.

  Hereinafter, the operation of this measurement system will be described.

  First, with reference to FIG. 7, the operation of acquiring the position (GPS coordinates or absolute coordinates) of the position measuring device 3 installed at an arbitrary position will be described.

  The flying device 2 is caused to fly manually by the remote controller 5. When a flight plan is set in advance, the flying device 2 may be caused to fly by automatic control based on the flight plan. Simultaneously with the start of the flight of the flying device 2, the tracking by the position measuring device 3 is executed.

  STEP: 01 A required position during the flight of the flying device 2 is set as a point P1, and the GPS device 8 acquires the GPS coordinate A1 of the point P1. The acquired GPS coordinates A1 are transmitted to the ground base 4 via the remote control 5.

  (Step 02) The position measuring device 3 measures the position of the prism 9 when the flying device 2 is located at the point P1 (that is, the reference position of the flying device 2 and the position of the flying device 2). Then, the position measuring device 3 acquires the TS coordinate B1 of the point P1. The coordinate acquisition timing is synchronously controlled by the ground base 4 so that the coordinate acquisition by the GPS device 8 and the coordinate acquisition by the position measurement device 3 are the same time.

  The TS coordinate B1 acquired by the position measuring device 3 is transmitted to the ground base 4. The GPS coordinates A1 acquired by the GPS device 8 and the TS coordinates B1 acquired by the position measuring device 3 are associated with the acquired times and stored in the base storage unit 62.

  (Step 03) The flying device 2 moves to another required position point P2. Here, the moving distance is calculated based on the coordinates of the points P1 and P2, and the length of the moving distance is determined in consideration of the flight altitude of the flying device 2 and the accuracy required for the measurement.

  (Step 04) The GPS coordinate A2 of the point P2 is acquired by the GPS device 8. The acquired GPS coordinate A2 is transmitted to the ground base 4 via the remote control 5.

  (Step 05) The position measuring device 3 measures the position of the flying device 2 when the flying device 2 is located at the point P2, and obtains the TS coordinate B2 of the point P2. Needless to say, the acquisition of the GPS coordinate A2 and the acquisition of the TS coordinate B2 are controlled synchronously.

  STEP: 06 The relative position between the point P1 and the installation position of the position measuring device 3 and the relative position between the point P2 and the installation position of the position measuring device 3 are measured as the TS coordinate B1 and the TS coordinate B2. Since the GPS coordinates of the point P1 and the point P2 are measured as the GPS coordinate A1 and the GPS coordinate A2, the GPS coordinates of the installation position of the position measuring device 3 are calculated by the backward intersection method.

  Since the GPS coordinates of the installation position of the position measuring device 3 are obtained, the TS coordinates of the flying device 2 measured by the position measuring device 3 can be converted into GPS coordinates. Accordingly, the flight of the flying device 2 can be controlled based on the position information of the flying device 2 measured by the position measuring device 3 in the same manner as the position information acquired by the GPS device 8.

  As described above, the position information of the flying device 2 can be acquired by the GPS device 8 or the position measuring device 3.

  The guiding action of the flying device 2 will be described with reference to FIGS.

  As described above, the installation position (GPS coordinates) of the position measurement device 3 that is arbitrarily installed is obtained, and thus the remote control of the flight device 2 based on the position measurement of the flight device 2 by the position measurement device 3 can be performed. It becomes possible.

  When the measurement by the flying device 2 is performed, the flying device 2 can be controlled by visual remote control, and further photography can be appropriately performed at the discretion of the measurer.

  Alternatively, a flight plan or a measurement plan may be set in advance in the flight device 2 and the ground base 4 and measurement may be performed based on the flight plan or the measurement plan.

  The following description is a case where a flight plan is set and the flight plan is set in the flying device 2.

  (Step 21) The control calculation unit 36 reads target position coordinates (target position) from the flight plan stored in the storage unit 38, and acquires the current position information of the flying device 2.

  (Step 22) It is determined whether the acquired position information is GPS coordinates or TS coordinates. Note that when both the GPS coordinates and the TS coordinates can be acquired, a priority order is set in advance. For example, priority is given to position information from the GPS device 8.

  (Step 23) If there is no position information from the GPS device 8 and the position information from the position measuring device 3 can be acquired, the TS coordinates are converted into GPS coordinates. When the position information from the GPS device 8 can be acquired, the GPS coordinates are acquired as current position information as they are.

  (Step 24) The target position is compared with the current position, a deviation is obtained, and a control signal is issued to the flight control unit 41 so that the deviation becomes zero. The flight control unit 41 is based on the control signal, and the motor driver unit The drive of the propeller motor 18 is controlled via 43.

  (Step 25) If the target position matches the current position, that is, if the deviation is 0 or an allowable range, a required operation such as shooting by the camera 7 is executed. When the required work is completed, the next target position is read, and STEP: 21 to STEP: 25 are repeated.

  If it is determined in STEP: 25 that the target position does not match the current position, STEP: 22 to STEP: 25 are further repeated.

  With reference to FIG. 9, the measurement using the said induction | guidance | derivation effect | action is demonstrated. In the figure, the upper part of the line indicated by L1 is a space in which the GPS device 8 can receive the radio wave of the artificial satellite (a space 72 in which position information by the GPS device 8 can be acquired), and the lower part of the line L1 is the above-mentioned line A space 73 in which position information from the GPS device 8 cannot be acquired is shown. FIG. 9 shows a case where photogrammetry is mainly performed. When the photogrammetry is executed, the direction (direction) of the camera 7 is required, so the signal obtained by the direction angle sensor 10 is used.

  Further, when flying near a measurement object (building) or in a space where an obstacle exists, a signal obtained by the obstacle detection sensor 69 is used to ensure flight safety. The obstacle detection sensor 69 is, for example, an ultrasonic sensor, and detects a distance between the flying device 2 and a measurement object or an obstacle. The control calculation unit 36 determines the distance between the obstacle and the obstacle. The flight is controlled so that it is not less than the predetermined distance.

  In FIG. 9, P1 to P6 indicate target positions set in the flight plan, and P1 to P4 are points where the flying device 2 flies in the space 72 and the GPS device 8 can be used. . P5 and P6 are points where the flying device 2 flies in the space 73 and the GPS device 8 cannot be used.

  The position measuring device 3 is first installed at the installation position S1 and then installed at the installation position S2. As for the installation position S1 and the installation position S2, as described above, STEP: 01 to STEP: 06 are executed, and GPS coordinates are acquired.

  While the flying device 2 is flying in the space 72, the position coordinates (GPS coordinates) by the GPS device 8 can be acquired, and the flight of the flying device 2 is controlled based on the position information obtained from the GPS device 8. Is done. The flying device 2 is guided to P1 to P4, and photographs are acquired at P1 to P4, respectively, and photogrammetry is performed based on the acquired photographs and position information of P1 to P4.

  When the position information measured by the position measuring device 3 is obtained, the position information measured by the position measuring device 3 has higher accuracy. Therefore, the flying device 2 is based on the position information obtained by the position measuring device 3. Measurement accuracy is improved by controlling the flight.

  When the flying device 2 flies in the space 73, the GPS device 8 cannot be used. For example, when a photograph is taken along a side wall of a building and radio waves from an artificial satellite are blocked in the building.

  When the flying device 2 flies in the space 73, the flight of the flying device 2 is controlled based on the position information measured by the position measuring device 3, and the position coordinates of P5 and P6 are further measured by the flying device 2. The

  Further, when the position measuring device 3 is installed at one place, a blind spot may occur, and the range of the blind angle cannot be measured by the position measuring device 3. In the present embodiment, the position measuring device 3 can be moved to an arbitrary position according to the measurement situation. As described above, since the GPS coordinates of the installation position S2 after movement can be easily measured, the measurement data acquired at the installation position S1 and the measurement data acquired at the installation position S2 are both GPS coordinate systems, Furthermore, an absolute coordinate system can be used, and data can be easily associated with each other.

According to the measurement system of the present embodiment, measurement can be executed in various measurement modes.
[Measurement mode 1]
When photogrammetry is mainly used, the position measuring device 3 functions as position information acquisition means for measuring the position of the flying device 2 and controlling the flight of the flying device 2.

  In the measurement mode 1, when the position information can be acquired from the GPS device 8 and the position measuring device 3, the position information is acquired according to the set priority order, and the measurement photograph is acquired at the position set in the flight plan.

  Here, the case where the position information cannot be acquired by the position measuring device 3 is the case where the flying device 2 enters the blind spot of the position measuring device 3 such as measuring the roof of a building, and the GPS device 8 If the position information cannot be obtained by the method, the wall surface of the building or the bottom of the bridge is measured, and the place where the radio wave from the artificial satellite does not reach. Needless to say, when taking a picture of a wall of a building, the camera 7 is rotated to control the optical axis to be horizontal.

In addition, when measuring a place where the flying device 2 cannot fly, the position measuring device 3 directly measures the measurement object in a narrow space or a place where there is a roof or the like.
[Measurement mode 2]
When the measurement by the position measuring device 3 is mainly performed, the flying device 2 is used as means for measuring the GPS coordinates or absolute coordinates of the place where the position measuring device 3 is installed.

  As described above, the position measuring device 3 is installed at an arbitrary position, the flying device 2 is caused to fly, two GPS coordinates are acquired by the GPS device 8, and the flying device at the two points is further acquired. By measuring the position 2 with the position measuring device 3, the GPS coordinates of the installation position of the position measuring device 3 and further absolute coordinates can be acquired.

  Therefore, by measuring the measurement object with the position measuring device 3, the GPS coordinates or absolute coordinates of the measurement object can be acquired. Furthermore, since the installation position can be arbitrarily changed as long as the position measuring device 3 can be collimated, a measurement result that cannot be obtained when installed at one point such as the back side of a building is obtained.

Furthermore, even when the installation position of the position measuring device 3 is changed, the GPS coordinates or absolute coordinates can be measured, so that all measurement data can be easily associated.
[Measurement mode 3]
When importance is attached to measurement accuracy, after obtaining the GPS coordinates of the installation position of the position measurement device 3, the position measurement device 3 performs measurement of the measurement object, and the location, part, For example, in the state where there is an obstacle between the roof of the building and the measurement object, photogrammetry is executed by the flying device 2. At this time, position information for controlling the flight of the flying device 2 is acquired by the position measuring device 3.
[Measurement mode 4]
When measuring a plurality of position measuring devices 3 in a wide range or at a complicated place, or when measuring a measurement object (building) having a complicated shape, a plurality of units are provided at the most suitable place for measurement. The position measuring device 3 is installed, the measurement is executed from each installation position, and the GPS coordinates of the installation position of the position measuring device 3 are measured using the GPS device 8 of the flying device 2.

  According to the present embodiment, since the GPS coordinates at an arbitrary position can be obtained using the GPS device 8 of the flying device 2, the absolute coordinates or the GPS coordinates of the installation position of the position measuring device 3 cannot be obtained. Measurements in places that are difficult to acquire become easy. In addition, since the measurement result of the position measurement device 3 can be converted into GPS coordinates, the position measurement device 3 can be installed at a plurality of locations, and the measurement results can be easily integrated, and the measurement result obtained by photogrammetry Integration with the measurement results measured by the position measuring device 3 is also easy.

  In the above embodiment, photogrammetry is performed as the measurement by the flying device 2, but another measuring device may be mounted on the flying device 2. For example, the shape measuring device may be equipped with a laser scanner to acquire point cloud data of the object to be measured, or it may be equipped with a spectrum camera to investigate geology and crop growth. Good.

DESCRIPTION OF SYMBOLS 1 Measurement system 2 Flight apparatus 3 Position measurement apparatus 4 Ground base 5 Remote control machine 7 Camera 8 GPS apparatus 9 Prism 10 Direction angle sensor 11 Flight object communication part 15 Flight object 30 Light reception sensor 36 Control calculation part 37 Clock signal generation part 38 Memory | storage Unit 39 imaging control unit 41 flight control unit 45 position measurement control device 47 distance measurement unit 56 distance measurement control unit 57 position measurement storage unit 58 position measurement communication unit 61 arithmetic processing unit 62 base storage unit 63 base communication unit

Claims (6)

  A flight device equipped with a GPS device and a measurement device and capable of remote control, a position measurement device capable of ranging, angle measurement and tracking, and installed at an arbitrary position, and a ground base for controlling the flight of the flying object A measurement system comprising a remote control device that exchanges data with the ground base and is capable of wireless communication with the flying equipment, and the flying equipment and a control device provided in the ground base. A retroreflector as an object to be measured, and the position measuring device is configured to track the retroreflector and perform ranging and angle measurement. The flying device is at least two points during flight by the GPS device. The GPS coordinate is acquired, the position measuring device measures the position of the two points of the flying device from the installation point, and one of the control devices is measured by the two points of the GPS coordinate and the position measuring device. Distance result and measurement Based on the result, the absolute coordinates or GPS coordinates of the installation point of the position measuring device are obtained, and the absolute coordinates of the flying device are selected by one of the position measuring device and the GPS device selected based on a preset priority order. Alternatively, a measurement system configured to obtain GPS coordinates.   The measurement system according to claim 1, wherein the control device controls flight of the flying device based on the absolute coordinates or the GPS coordinates.   The measuring device is a shape measuring device that measures the shape of a measuring object, and the control device converts the shape of the measuring object acquired by the shape measuring device at a measurement position and the measurement result of the position measuring device. The measurement system according to claim 2, wherein coordinates of the shape of the measurement object are acquired based on absolute coordinates of the measurement position obtained in the above or GPS coordinates acquired by the GPS device.   The measurement device is a camera, and the control device has at least two images obtained by converting an image of a measurement object acquired by the camera at two points in flight and a measurement result of the position measurement device. 3. The measurement system according to claim 2, wherein a photogrammetry of the measurement object is performed based on the absolute coordinates, the GPS coordinates, or the absolute coordinates or the GPS coordinates of the two points acquired by the GPS device.   The position measurement device is installed at a plurality of arbitrary points, and the control device acquires absolute coordinates or GPS coordinates of each installation point of the position measurement device, measures from each installation point by the position measurement device, and acquires the measurement The measurement system according to claim 1, wherein the results are converted into absolute coordinates or GPS coordinates, respectively, and the measurement results obtained from the respective installation points are integrated. A flight plan in which a flight range is set based on map information obtained from the Internet, a safety range of the flight device is set based on the flight plan and pre-measurement data obtained by the position measurement device, and the measurement of the flight device is performed. The device measures a blind spot range of the position measuring device based on the safety range, the position measuring device measures an unflyable range of the flying device or an unmeasurable range by the GPS device, and the control device measures the position measurement The measurement system according to claim 1, wherein the measurement result of the device is converted into GPS coordinates or absolute coordinates, and the result measured by the measurement device of the flying device and the result measured by the position measurement device are integrated.

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