JP6672366B2 - Measurement 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: Unmanned Air Vehicle).

  In recent years, with the progress of UAVs (Unmanned Air Vehicles), various tasks have been carried out by mounting various devices on the UAV and remotely operating the UAV or automatically flying the UAV. For example, a UAV is equipped with a photogrammetric camera and a scanner, and the measurement is performed from above to below or from a place where no one can enter. To measure the position of the UAV itself, a GPS is mounted on the UAV, and the position of the UAV is measured by the GPS.

  However, under the side of a dam, a building, or under a bridge, radio waves from artificial satellites cannot be received, and UAV position measurement cannot be performed. For this reason, there has been a problem that the remote operation of the UAV cannot be performed or the 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 remote operation and automatic flight of a UAV 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. An object of the present invention is to provide a measurement system which can measure a building such as a building or a dam even in a place or environment.

The present invention provides a flight device equipped with a GPS device and a measurement device that can be remotely controlled, a distance measurement device, a measurement device, a position measurement device installed at an arbitrary position, and a flight control device. A ground base that performs transmission and reception of data with the ground base, a remote control device capable of wirelessly communicating with the flying device, and a measurement system including a control device provided in the flying device and the ground base, The flying device includes a retroreflector as a measurement target, and the position measurement device performs distance measurement and angle measurement in any of a non-prism measurement mode, a prism measurement mode, and a tracking measurement mode as a measurement mode. or was determined according to the measurement target, ranging construct a non-prism measurement mode as the measurement object, perform the angle measurement, the tracking measurement mode tracking the retroreflector, ranging, angle measurement line The flight device acquires GPS coordinates by the GPS device at at least two points during the flight, the position measurement device measures the positions of the two points of the flight device from an installation point, and the control device includes: Any one of the above relates to a measurement system configured to obtain the absolute coordinates or GPS coordinates of the installation point of the position measuring device based on the GPS coordinates of two points and the distance measurement result and the angle measurement result by the position measuring device. It is.

  The present invention also relates to a measurement system for controlling the flight of the flying device based on the absolute coordinates or the GPS coordinates.

  Further, according to the present invention, the measuring device is a shape measuring device that measures the shape of the measuring object, and the control device is configured to measure the shape of the measuring object acquired by the shape measuring device at a measuring position, The present invention relates to a measurement system for acquiring coordinates of the shape of the measurement object based on absolute coordinates of the measurement position obtained by converting measurement results or GPS coordinates acquired by the GPS device.

  Also, in the present invention, the measuring device is a camera, and the control device is obtained by converting an image of the measuring object acquired by the camera at least at two points in flight and a measurement result of the position measuring device. The present invention relates to a measurement system for performing photogrammetry of a measurement target 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, the control device acquires absolute coordinates or GPS coordinates of each of the installing positions of the position measuring device, and measures the position measuring device from each of the installing points. The present invention relates to a measurement system that converts the acquired measurement results into absolute coordinates or GPS coordinates, and integrates the measurement results obtained from each installation point.

  Still further, 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 a non-flight range of the flying device or a position non-measurable range by the GPS device, The control device is related 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 flight 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 that can be remotely controlled, a position measurement device capable of distance measurement, angle measurement, and tracking, and a position measurement device installed at an arbitrary position; A measurement system comprising: a ground base for controlling the aircraft; a remote control device for transmitting and receiving data to and from the ground base and capable of wirelessly communicating with the flying device; and a control device provided at the flying device and the ground base. The flying device includes a retroreflector as a measurement target, and the position measurement device measures the distance and the angle in any one of a non-prism measurement mode, a prism measurement mode, and a tracking measurement mode as a measurement mode. whether to execute determined according to the measurement target, ranging construct a non-prism measurement mode as the measurement object, perform the angle measurement, the tracking measurement mode tracking the retroreflector, ranging, measuring The flight device acquires GPS coordinates by the GPS device at at least two points during the flight, the position measurement device measures the positions of the two points of the flight device from an installation point, and the control device Any of the above is configured to determine the absolute coordinates or GPS coordinates of the installation point of the position measurement device based on the GPS coordinates of two points and the distance measurement result and the angle measurement result by the position measurement device, This makes it easy to measure in a place where the absolute coordinates or the GPS coordinates of the installation position of the position measuring device cannot be obtained or is difficult to obtain, and it is possible to perform appropriate distance measurement and angle measurement according to the measurement object.

  Further, according to the present invention, the control device controls the flight of the flying device based on the absolute coordinates or the GPS coordinates. Therefore, when the position measurement cannot be performed by the GPS device, the measurement result of the position measurement device is obtained. If 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 present invention, the measuring device is a shape measuring device that measures a shape of the measuring object, and the control device is configured to measure the shape of the measuring object acquired by the shape measuring device at a measuring position, 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. Can be measured.

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

Further , according to the present invention, the position measurement device is installed at a plurality of arbitrary points, the control device acquires absolute coordinates or GPS coordinates of each installation point of the position measurement device, and the position measurement device is obtained from each installation point. , And convert the obtained measurement results into absolute coordinates or GPS coordinates, and integrate the measurement results obtained from each installation point. Enables 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 a non-flight range of the flying device or a position non-measurable range of 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 flight device with the result measured by the position measurement device. It is effective.

FIG. 1 is a configuration diagram illustrating a measurement system according to an embodiment. (A) is a perspective view of a flight device according to the present embodiment, and (B) is a perspective view illustrating an example of a direction angle sensor. It is sectional drawing of the said flying device. FIG. 2 is a configuration diagram of a control system of the flying device. It is a schematic structure figure showing an example of a position measuring device concerning this example. It is a figure showing the schematic structure of the ground base concerning this example, and the relation of a flight device, a position measuring device, a ground base, and a remote control. It is a flowchart which shows the measurement of the installation position of the position measuring device in a present Example. It is a flowchart which shows guidance of the flying device in a present Example. It is explanatory drawing which shows the guidance of the flying device in this Example, and the measurement by a flying device and a position measuring device.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  First, a measurement system according to the present embodiment will be described with reference to FIG.

  The measurement system 1 mainly includes one flight device (UAV) 2, a position measurement device 3, a ground base 4, and a remote control 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 object 15 (described later), a shaft 6 as a support member vertically supported on the flying object 15 via a gimbal mechanism, and an imaging device provided at a lower end of the shaft 6. , A GPS device 8 provided at the upper end of the shaft 6, a prism 9 provided as a retroreflector provided at the lower end of the shaft 6, provided integrally with the prism 9, A direction angle sensor 10 provided in a known relationship with the optical axis of the vehicle, and an air vehicle communication unit 11 for communicating 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 rotatably supported about a center through 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 a position where the optical axis of the camera 7 is vertical to a position where the optical axis is horizontal.

  Since the shaft 6 is supported by the gimbal mechanism such 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 The axis coincides with the axis.

  The optical axis of the prism 9 is also provided so as to be parallel to the axis of the shaft 6, is set to be vertical, and the positional relationship between the prism 9 and the camera 7 is also known. . Note that the camera 7, the camera 7 and the prism 9 need only be supported so that their optical axes are vertical, and the axis of 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, a reflection seal may be provided at a predetermined position of the shaft 6 instead of the prism 9.

  The position measured by the GPS device 8 is located 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 plurality of light receiving sensors 30 are provided at positions around the circumference equally divided, and each of the light receiving sensors 30 can receive distance measuring light or tracking light emitted from the position measuring device 3. By judging whether or not the distance measuring light or the tracking light is detected, the direction to the distance measuring light or the tracking light (that is, the direction to the position measuring device 3) is detected.

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

  The non-prism measurement can perform a non-prism measurement in a predetermined range with reference to the installation position of the position measuring device 3.

  The position measuring device 3 has a tracking function. In a state where the prism is measured, the position measuring device 3 tracks the prism 9 while the flying device 2 is in flight, and The three-dimensional coordinates (slope distance, horizontal angle, vertical angle) based on the installation position of the position measuring device 3 are measured. Although a total station (TS) is used as the position measuring device 3, it 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 measurement device 3 measures the position of the flying device 2 during flight, further measures the position coordinates of the flying device 2 at two locations by the GPS device 8, and obtains the measurement results obtained by the position measurement device 3, Based on the position coordinates (GPS coordinates) acquired by the GPS device 8, the installation position (GPS coordinates) of the position measurement device 3 is measured by the backward resection method. Further, the absolute coordinates are obtained by converting the GPS coordinates. Therefore, if the GPS coordinates are obtained, the absolute coordinates of the position measuring device 3 can be obtained, and 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 changed. The result of non-prism measurement as a reference can also be converted to absolute coordinates.

  Further, the three-dimensional coordinates of the prism 9 (that is, the three-dimensional coordinates of the flying device 2) measured by tracking the prism 9 (that is, the flying device 2) by the position measuring device 3 are similarly determined by the 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 performed. The device 2 can be made to fly. In the following description, a result obtained by converting the measurement result of the position measuring device 3 into a GPS coordinate system is also referred to as a GPS coordinate.

  The ground base 4 is, for example, a PC, and includes an arithmetic device having an arithmetic function, a storage unit for storing data and a program, and a base communication unit. The base communication unit includes the position measurement device 3 and the remote control device. The remote controller 5 is capable of wireless communication with the vehicle communication unit 11. The ground base 4 sets a flight safety range based on the result of the non-prism measurement, and controls the remote control device 5 to control the flight range so that the flying device 2 is remotely operated within the flight safety range. Send

  The remote control device 5 remotely controls the flight of the flight device 2. When the flight range restriction data on the flight range is transmitted from the ground base 4, the flight transmitted from the remote control device 5 is performed. The control signal is limited by the flight range restriction data, and controls the flying device 2 to fly within the flight safety range. The camera 7 and the shutter of the camera 7 can be remotely controlled.

  Since the flight device 2 includes a control device as described later, by setting flight plan data in the control device, the position data from the position measurement device 3 or the GPS device 8 can be used. 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 object 15 has a plurality of and 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 an output shaft of the propeller motor 18. The propeller 19 is rotated by the propeller motor 18 so that the flying object 15 flies.

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

  The propeller frame 17 has a rod shape, is disposed in a plane orthogonal to the axis of the main frame 21, and has a predetermined number (at least four, preferably eight, eight in the drawing) at equal angular intervals in the horizontal direction. 17a to 17h) are provided). The inner end 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 vertically supported by a gimbal 25, and the gimbal 25 is provided on the inner flange 23 via a vibration isolating member 26. Have been.

  The gimbal 25 has swing axes 27a and 27b in two orthogonal directions, 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 rotate, so that the vibration is not transmitted to the shaft 6.

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

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

  In this embodiment, a case is shown in which the direction angle sensor 10 is provided integrally with the prism 9. Briefly referring to FIG. 2B, light receiving sensors 30a, 30b, 30c, and 30d are provided along the outer peripheral surface of a 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 each of the light receiving sensors 30a, 30b, 30c, and 30d is a distance measuring light or a tracking light emitted from the position measuring device 3. When a light is received, a light receiving signal is generated. The direction of the flying device 2 with respect to the position measuring device 3 is detected by judging at which position the light receiving sensors 30a, 30b, 30c, 30d are receiving distance measuring light or tracking light.

  At the lower end of the shaft 6, a control box 31 is provided. The control device 35 is housed inside 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 shaft 33. The camera 7 is rotatable about the horizontal axis 33, and is provided with an imaging direction changing motor (not shown) that rotates the camera 7 via the horizontal axis 33. The reference attitude of the camera 7 is such 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 according to 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 on the lower surface of the direction angle sensor 10 integrally with the direction angle sensor 10.

  The GPS device 8 is provided at an 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, and the like function as balance weights. In a state where no external force acts 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 such that

  When the balance weight function of the control box 31, the camera holder 32, the camera 7, the prism 9, and the like can sufficiently hold the shaft 6 vertically, it is not necessary to provide the shaft 6. In order to stably maintain the vertical position, a balance assisting member may be provided so that when the shaft 6 is rapidly inclined (when the attitude of the flying object 15 is suddenly changed), it can quickly return to the vertical state.

  In the following example, a case where a damper spring 16 is provided as a balance assisting member will be described.

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

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

  The damper spring 16 is a biasing unit 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 housed inside 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. doing.

  The photographing of the camera 7 is controlled by the imaging control unit 39, and the image photographed 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 captured and a moving image can be captured. In addition, a CCD, a CMOS sensor, or the like, which is an aggregate of pixels, is used as an image sensor, and each pixel can be specified in a position in the image sensor. For example, the position of each pixel is specified by orthogonal coordinates with the point at which the optical axis of the camera of the image sensor passes through as the origin.

  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, and the acquired data to the ground base 4. 5 includes a communication program for receiving a flight command from the camera 5, a data processing program for processing and storing data acquired by the camera 7, and an image tracking program for tracking using a moving image. Have been.

  The data storage unit includes flight plan data for executing an autonomous flight, still image data acquired by the camera 7, moving image data, position data of the flying device 2 measured during the flight, the remote control The position data of the flying device 2 measured by the position measurement device 3 transmitted from the aircraft 5 and the still image data, the time at which the moving image data was obtained, the position data, and the like are stored.

  The imaging control unit 39 controls the 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 according to a measurement target, control of imaging by the camera 7, control of acquiring a still image at a predetermined time interval during acquisition of a moving image, and the like. The photographing timing is controlled based on the clock signal generated from the clock signal generator 37, or is controlled synchronously.

  The direction angle sensor 10 detects the direction 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 a flying state, and determines the detection result. It is input to the control operation unit 36.

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

  The control operation unit 36 converts the position coordinates measured by the position measuring device 3 into GPS coordinates, acquires the coordinates as the GPS coordinates of the flying device 2, and further obtains the GPS coordinates of the flying device 2 measured by the GPS device 8. To get. A flight control signal is calculated based on the obtained GPS coordinates and the flight command transmitted from the remote control device 5, or a flight control signal is calculated based on the flight plan data stored in the storage unit 38 and the GPS coordinates. Then, it outputs to the flight control unit 41.

  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 used, the GPS coordinates obtained in principle are used. For example, when an obstacle exists between the flying device 2 and the position measuring device 3 and the tracking of the flying device 2 cannot be performed 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 artificial satellites are blocked in a building or the like, GPS coordinates obtained based on the measurement result of the position measurement device 3 are used. It should be noted that absolute coordinates obtained from GPS coordinates may be used as position information at which the flying device 2 is made to fly.

  When both the measurement result from the position measurement device 3 and the measurement result from the GPS device 8 are obtained, the priority order to be used may be determined in advance. Note that the measurement accuracy of the position measuring device 3 is better, so that when the accuracy is prioritized, the measurement result by the position measuring device 3 is preferably prioritized.

  Further, the control operation unit 36 executes control necessary for obtaining an image based on a required program stored in the storage unit 38.

  When a flight control signal is input from the control operation 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 measurement device 3 mainly includes a position measurement control device 45, a telescope unit 46 (see FIG. 1), a distance measurement unit 47, a horizontal angle detector 48, a vertical angle detector 49, a vertical rotation drive unit 51, and a horizontal rotation drive. A part 52 and the like.

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

  The horizontal angle detector 48 detects a horizontal angle in the collimating direction of the telescope unit 46, and the vertical angle detector 49 detects a vertical angle in the collimating 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 of the non-prism measurement mode, the prism measurement mode, and the 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 the object to be measured is stored.

  The distance measurement control unit 56 performs measurement in any one of the non-prism measurement mode, the prism measurement mode, and the tracking measurement mode based on the measurement mode selection command from the arithmetic processing unit 55. Is determined, and the distance measurement control unit 56 is controlled in accordance with the determined mode. Here, in the non-prism measurement mode, the position measurement device 3 performs measurement using a building such as a building as a measurement target, and in the tracking measurement mode, the measurement target 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 to collimate the telescope unit 46 with the measurement target or to track the measurement target, The telescope unit 46 is rotated vertically or horizontally.

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

  FIG. 6 is a diagram showing a schematic configuration of the ground base 4 and a 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 an arithmetic processing unit 61 having an arithmetic function, a base storage unit 62, and a base communication unit 63.

  The arithmetic processing unit 61 includes the clock signal generation unit, associates image data, shutter time data, and coordinate data received via the remote control 5 with a clock signal, and generates a time-series based on the clock signal. It is processed as data 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 or the like, the flight plan, and preliminary measurement data obtained by the position measurement device 3. A flight range calculation program for calculating the flight safety range of the flying device 2 based on the flight control data, and a flight control program for controlling the flight of the flight device 2 based on the flight safety range; The position measurement is performed based on a necessary arithmetic program, a communication program for performing data communication between the remote control device 5 and the position measurement device 3, and GPS coordinates of the flight device 2 transmitted from the flight device 2 at two or more positions. A program for calculating the GPS coordinates of the installation position of the device 3, a measurement result of the position measurement 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 operation 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. Alternatively, the control may be executed by the control device 35 of the flying device 2.

  Further, various data such as the image acquired by the flying device 2, the measurement data (coordinate data) measured by the position measuring device 3, the time at which the image was acquired, and the 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 control device 5.

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

  First, 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 with reference to FIG.

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

  (Step 01) A required position of the flying device 2 during flight is defined as a point P1, and the GPS device 8 acquires GPS coordinates A1 of the point P1. The acquired GPS coordinates A1 are transmitted to the ground base 4 via the remote pilot 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 coordinates B1 of the point P1. The coordinate acquisition timing is 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 performed at the same time.

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

  (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 measurement.

  (Step 04) The GPS device 8 acquires the GPS coordinates A2 of the point P2. The acquired GPS coordinates A2 are transmitted to the ground base 4 via the remote controller 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 acquires the TS coordinates B2 of the point P2. It goes without saying that the acquisition of the GPS coordinates A2 and the acquisition of the TS coordinates B2 are synchronously controlled.

  (Step 06) The relative position between the point P1 and the installation position of the position measurement device 3 and the relative position between the point P2 and the installation position of the position measurement device 3 are measured as the TS coordinates B1 and the TS coordinates B2. Since the GPS coordinates of the points P1 and P2 are measured as the GPS coordinates A1 and the GPS coordinates A2, the GPS coordinates of the installation position of the position measuring device 3 are calculated by the rear 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 to GPS coordinates. Therefore, similarly to the position information acquired by the GPS device 8, 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.

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

  The guidance operation of the flying device 2 will be described with reference to FIGS.

  As described above, the installation position (GPS coordinates) of the arbitrarily installed position measuring device 3 is obtained, so that the remote control of the flying device 2 based on the position measurement of the flying device 2 by the position measuring 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 a photograph can be appropriately taken 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 for the case where a flight plan is set, and for the case where the flight plan is set for 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 current position information of the flying device 2.

  STEP: 22 It is determined whether the acquired position information is GPS coordinates or TS coordinates. If both the GPS coordinates and the TS coordinates can be obtained, priorities are set in advance. For example, it is set that the position information from the GPS device 8 is given priority.

  (Step 23) If there is no position information from the GPS device 8 and position information from the position measurement device 3 can be obtained, the TS coordinates are converted to GPS coordinates. When the position information from the GPS device 8 can be obtained, the GPS coordinates are obtained as it is as the current position information.

  (Step 24) The target position and the current position are compared, a deviation is obtained, and a control signal is issued to the flight control unit 41 so that the deviation becomes 0. The flight control unit 41 uses the motor driver unit based on the control signal. 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 the allowable range, necessary operations such as photographing by the camera 7 are performed. 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, measurement using the above-described inducing action will be described. In the figure, the space above the line indicated by L1 is a space in which the GPS device 8 can receive radio waves from artificial satellites (the space 72 in which position information can be obtained by the GPS device 8), and the space below the line L1 is the space above. A space 73 from which position information cannot be obtained by the GPS device 8 is shown. FIG. 9 shows a case where photogrammetry is mainly performed. When photogrammetry is performed, the direction (direction) of the camera 7 is required, and thus a signal obtained by the direction angle sensor 10 is used.

  Further, when flying close to the object to be measured (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, detects the distance between the flying device 2 and the measurement target or the obstacle, and the control operation unit 36 determines that the distance between the obstacle and the obstacle is Control the flight so that it does not fall below a predetermined distance.

  In FIG. 9, P1 to P6 indicate target positions set in the flight plan, and P1 to P4 are points at which the flying device 2 flies through 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.

  Also, the position measuring device 3 is shown as being installed at the installation position S1 first and then at the installation position S2. Regarding the installation position S1 and the installation position S2, as described above, STEP: 01 to STEP: 06 are executed to acquire GPS coordinates.

  While the flying device 2 is flying in the space 72, position coordinates (GPS coordinates) by the GPS device 8 can be obtained, 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, acquires a photograph at each of P1 to P4, and performs photogrammetry based on the acquired photograph and position information of P1 to P4.

  When the position information measured by the position measuring device 3 is obtained, the accuracy of the position information measured by the position measuring device 3 is higher. The flight 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, there is a case where a photograph is taken along the side wall of a building, and radio waves from artificial satellites are blocked in the building.

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

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

According to the measurement system of the present embodiment, measurement can be performed in various measurement modes.
[Measurement mode 1]
In the case of mainly photogrammetry, the position measuring device 3 functions as a position information acquisition unit 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 obtained from the GPS device 8 and the position measurement device 3, the position information is obtained according to the set priority order, and a photograph for measurement is obtained at the position set in the flight plan.

  Here, the case where the position information cannot be acquired by the position measurement device 3 is, for example, when the flying device 2 enters the blind spot of the position measurement device 3 such as when measuring the roof of a building. The case where the location information cannot be acquired in the above case is a case where the wall surface of a building or the underside of a bridge is measured, and is a place where radio waves from artificial satellites do not reach. It is needless to say that when taking a picture of a wall surface of a building or the like, the camera 7 is rotated to control the optical axis to be horizontal.

In addition, when measuring a place where the flight device 2 cannot fly, in a small space or a place having a roof or the like, the measurement object is directly measured by the position measurement device 3.
[Measurement mode 2]
When mainly measuring by the position measuring device 3, the flying device 2 is used as a means for measuring GPS coordinates or absolute coordinates of the installation location of the position measuring device 3.

  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 obtained by the GPS device 8, and the flying device at the two points is further obtained. By measuring the position 2 with the position measuring device 3, the GPS coordinates and the absolute coordinates of the installation position of the position measuring device 3 can be obtained.

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

Further, even when the installation position of the position measuring device 3 is changed, the GPS coordinates or the absolute coordinates can be measured, so that all the measurement data can be easily associated.
[Measurement mode 3]
When importance is attached to the measurement accuracy, after acquiring the GPS coordinates of the installation position of the position measurement device 3, measurement of the measurement target is performed by the position measurement device 3, and the location, part, For example, in a state where there is an obstacle between the roof of a building and an object to be measured, 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 in a wide range or a complicated place using a plurality of position measuring devices 3, or when measuring a measurement object (building) having a complicated shape, a plurality of the plurality of position measuring apparatuses 3 are arranged at a place most suitable for the measurement. The position measuring device 3 is installed, measurement is performed from each of the installed positions, and the GPS coordinates of the installed 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 acquired 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 acquired. Measurement is easy in places where acquisition is difficult. 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, the measurement results can be easily integrated, and the measurement results obtained by photogrammetry can be obtained. Integration with the measurement result measured by the position measuring device 3 can be easily performed.

  In the above embodiment, photogrammetry was performed as a measurement by the flying device 2, but another measuring device may be mounted on the flying device 2. For example, a laser scanner may be mounted as a shape measuring device to acquire point cloud data of a measurement object, or a geographical survey, a spectral camera for investigating a growing state of a crop may be mounted. Good.

DESCRIPTION OF SYMBOLS 1 Measurement system 2 Flight device 3 Position measurement device 4 Ground base 5 Remote control device 7 Camera 8 GPS device 9 Prism 10 Direction angle sensor 11 Aircraft communication unit 15 Aircraft 30 Light receiving sensor 36 Control calculation unit 37 Clock signal generation unit 38 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 (5)

A flight device equipped with a GPS device and a measurement device and capable of remote control, a total station installed at an arbitrary position capable of distance measurement, angle measurement, and tracking, and a ground base for controlling the flight of the flying object; A measurement system that transmits and receives data to and from a ground base and has a remote control device capable of wirelessly communicating with the flying device, and a control device provided at the flying device and the ground base, wherein the flying device performs measurement. A retroreflector is provided as an object, and the total station performs a non-prism measurement mode, a prism measurement mode, or a tracking measurement mode as a measurement mode. In the non-prism measurement mode, distance measurement and angle measurement are performed with the building as the measurement target, and in the tracking measurement mode, the retroreflector is tracked, and the distance measurement and measurement are performed. The flight device acquires GPS coordinates by the GPS device at at least two points during the flight, the total station measures the positions of the two points of the flight device from an installation point, and includes: Is configured to obtain the absolute coordinates or GPS coordinates of the installation point of the total station based on the GPS coordinates of two points and the distance measurement result and the angle measurement result by the total station ,
A flight plan in which a flight range is set based on map information obtained from the Internet, and a safety range of the flight device is set based on the flight plan and pre-measurement data obtained by the total station. The blind spot range of the total station is set based on the safety range, the total station measures a flight impossible range of the flying device or a position measurement impossible range by the GPS device, and the control device determines a measurement result of the total station by GPS coordinates or A measurement system configured to convert to absolute coordinates and integrate a result measured by the measuring device of the flying device and a result measured by the total station .   The measurement system according to claim 1, wherein the control device controls the 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 the measuring object, and the control device is obtained by converting the shape of the measuring object acquired by the shape measuring device at the measuring position and the measurement result of the total station. The measurement system according to claim 2, wherein the coordinates of the shape of the measurement target are acquired based on the absolute coordinates of the measurement position obtained or the GPS coordinates acquired by the GPS device.   The measurement device is a camera, and the control device is an image of a measurement object acquired by the camera at least at two points in flight, and absolute coordinates of the two points obtained by converting a measurement result of the total station. The measurement system according to claim 2, wherein photogrammetry of the measurement target is performed based on GPS coordinates or absolute coordinates or GPS coordinates of the two points acquired by the GPS device.   The total station is installed at a plurality of arbitrary points, the control device acquires absolute coordinates or GPS coordinates of each installation point of the total station, measures the total station from each installation point by the total station, and acquires the acquired measurement result in absolute coordinates or The measurement system according to claim 1, wherein the measurement system converts the coordinates into GPS coordinates and integrates measurement results obtained from each installation point.

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