JP7096022B2 - Marking point marking system using UAV - Google Patents

Description

The present invention relates to a highly accurate gauge point marking system using a UAV.

In recent years, with the progress of small unmanned aerial vehicles (UAVs: Unmanned Air Vehicles), various devices are mounted on UAVs to perform work by remote control.

For example, in Patent Document 1, the UAV is equipped with a GPS and a camera, and the coordinates and posture of the UAV can be grasped with high accuracy, enabling three-dimensional measurement of the ground surface by photography.

JP-A-2015-37937

In the field, further active use of UAVs for surveying is required. For pile driving that is frequently performed at the surveying site, the survey is first performed, the pile driving points are marked, and the piles are driven into the marked points. Since surveying and marking are repeated for a plurality of pile driving points, the amount of work is large, and there is a need to utilize the UAV for marking the pile driving points.

The present invention has been made in view of such circumstances, and an object of the present invention is to provide a highly accurate marking system using a UAV.

In order to achieve the above object, in the coordinate point marking system of a certain aspect of the present invention, it is possible to acquire a prism as a survey target, an injection device capable of marking a coordinate point by injecting a coloring solution, and position information. A flying object that has a first GPS and can be remotely controlled, a second GPS that can acquire position information, a prism surveying function that measures the distance and angle of the prism, and the flying object. The surveying instrument is provided with a surveying instrument having a remote control function for remotely operating the vehicle, the surveying instrument moves the flying object to a desired coordinate by the remote control function, and the prism surveying function measures the distance and angle of the prism. Then, the coordinates of the flying object are grasped with high accuracy from the result of the surveying function and the position information acquired from the second GPS, the flying object is adjusted to the desired coordinates with high accuracy, and the injection device is used. It was configured to mark the desired coordinates.

According to this aspect, it is possible to mark the flying object with high accuracy according to the desired coordinates.

Preferably, the flying object is provided with an image pickup device having an optical axis in the solution injection direction of the injection device, and image data acquired by the image pickup device is displayed on a display unit provided in the surveying instrument. And.

According to this aspect, the operator can check the situation around the flying object and the reference point of the injection device while staying at a remote place.

Preferably, the first GPS, the injection device, and the prism are arranged so as to be vertically on the same axis.

According to this aspect, the position information obtained from the first GPS, the position information obtained from the prism survey, and the reference point of the injection device coincide with each other in the horizontal component, and it becomes easy to match the position information.

Preferably, the surveying instrument can be connected to the Internet, and the display unit provided on the surveying instrument, together with the map data obtained from the Internet, has the desired coordinates and the flight acquired from the first GPS. It is assumed that the position information of the body and the position information of the surveying instrument acquired from the second GPS are displayed.

According to this aspect, the position and situation of the flying object can be grasped, and the fine adjustment of the position of the flying object becomes easy.

Preferably, the surveying instrument creates a flight program of the flying object from a plurality of input desired coordinates, and the flying object sequentially moves to the desired coordinates according to the flight program to obtain each desired coordinate. Marking by the injection device shall be performed for each coordinate.

According to this aspect, the flying object can be automatically moved to a plurality of desired places in sequence and marked, and the work efficiency is improved.

As is clear from the above description, according to the present invention, it is possible to provide a highly accurate marking system using a UAV.

It is a block diagram which shows the mark point marking system which concerns on embodiment. It is a front view of the flying object provided in the system. It is a block diagram of the system. It is a figure which shows the example of the image displayed on the display part. It is an operation flowchart of the system.

Hereinafter, specific embodiments of the surveying instrument of the present invention will be described with reference to the drawings. The embodiments are not limited to the invention, but are exemplary, and all the features and combinations thereof described in the embodiments are not necessarily essential to the invention.

FIG. 1 is a block diagram of a gauge point marking system 1 according to an embodiment of the present invention, FIG. 2 is a front view of an air vehicle 2 provided in the gauge point marking system 1, and FIG. 3 is a control system of the gauge point marking system 1. It is a block diagram of.

The gauge point marking system 1 is composed of an air vehicle 2 and a surveying instrument 3. The vehicle 2 is an unmanned aerial vehicle (UAV: Unmanned Air Vehicle) capable of self-sustaining flight such as a helicopter. The aircraft 2 is automatically piloted according to the input flight plan (flight program), or manually piloted by the remote control unit 43 provided in the surveying instrument 3.

(Flight 2)
The flight body 2 includes an IMU (inertial measurement unit) 5, a prism 9, an injection device 11, an image pickup device 13, a flight unit 15, a flight body communication unit 16, a flight body storage unit 17, a flight body calculation control unit 18, and a GPS unit 19. To prepare for.

The IMU 5 is built in the flying object 2, has a 3-axis gyro and a 3-axis acceleration sensor, and acquires the angular velocity and acceleration of the flying object 2 in the 3-axis direction (roll, pitch, yaw). The IMU 5 functions as an attitude detection device that detects the attitude of the flying object 2.

The flight unit 15 is composed of a propeller 6, a propeller frame 7, a propeller motor 8, and a landing rod 10, each of which has the same number and is 4 or more and an even number. The propeller frame 7 extends radially from the flying object 2, and a propeller motor 8 is attached to the tip of each propeller frame 7. A propeller 6 is attached to the output shaft of the propeller motor 8. The propeller motor 8 rotates the propeller 6 so that the flying object 2 flies. The landing rod 10 is a leg that touches the ground and supports the entire landing body 2 at the time of landing, and is hung from the tip of the propeller frame 7. The length of each landing rod 10 is adjusted so that the flying object 2 maintains a horizontal attitude when landing on the horizontal plane. The flight unit 15 functions as a flight device and an attitude control device for the flight body 2.

The injection device 11 injects a colored marking solution from a nozzle at the tip to mark a reference point. The injection device 11 is fixed to the lower part of the flying object 2 so that the injection direction of the solution is vertically downward when the flying object 2 is in the horizontal posture. Further, the height of the tip of the nozzle is fixed so as to have a gap of several cm from the landing when the flying object 2 has landed. The tip of the nozzle of the injection device 11 is set as the reference point O of the flying object 2. The coordinates of the flying object 2 refer to the coordinates of this reference point O. The injection device 11 is the main device of the gauge point marking system 1, and the gauge point marking system 1 is for transporting the injection device 11 to the pile driving point with high accuracy.

The prism 9 has an optical property of retroreflecting light incident from all directions. It is the target of the surveying instrument 3, and the optical center (optical reflection point) of the prism 9 is fixed to the upper part of the flying object 2 so as to be on the same axis as the injection direction of the injection device 11.

The GPS unit 19 is fixed to the uppermost part of the flying object 2 so as to be on the same axis as the injection direction of the injection device 11, receives signals from GPS satellites, and acquires position data of UTC time, latitude, and longitude. do. The acquired position data is used for flight control in real time, and is further transmitted from the aircraft communication unit 16 described later to the surveying instrument 3.

The solution injection direction of the injection device 11, the GPS unit 19, and the prism 9 are all installed so as to be on the same axis (vertical axis Z). The height of the position data acquired by the GPS unit 19 when the aircraft 2 maintains the horizontal attitude, the position data obtained by measuring the distance and angle of the prism 9 with the surveying instrument 3, and the reference point of the injection device 11. It is designed to match except for. The work of correcting and matching each position data becomes easy.

The image pickup device 13 is a camera that acquires image data (including moving images) of the solution of the injection device 11 in the injection direction, and is attached to the lower part of the flying object 2 like the injection device 11. The optical axis of the camera is parallel to the injection direction of the injection device 11. As the image pickup element, a CCD, a CMOS sensor, or the like, which is an aggregate of pixels, is used, and the position of each pixel in the image pickup element can be specified. For example, the position of each pixel is specified by the orthogonal coordinates with the point through which the optical axis of the image pickup apparatus 13 passes as the origin and the point through which the optical axis passes as the origin.

The aircraft communication unit 16 is a data transmission / reception device capable of wireless communication with the surveying instrument communication unit 42 of the surveying instrument 3. When the flying object 2 is manually operated by the surveying instrument 3, a steering signal from the surveying instrument communication unit 42 of the surveying instrument 3 is received, and the steering signal is input to the flying object calculation control unit 18. In the case of autopilot, the flight plan is received and input to the flight object storage unit 17. Further, the image data captured by the image pickup device 13 and the position data acquired by the GPS unit 19 are transmitted to the surveying instrument communication unit 42.

The flight object calculation control unit 18 performs necessary controls such as flight, image data acquisition, marking, etc., based on the required program stored in the flight object storage unit 17. The flight object storage unit 17 receives a flight plan input in the case of autopilot, a flight control signal received from the aircraft communication unit 16 in the case of manual operation, and a flight control signal based on the detection result of the IMU5. A program that calculates and commands the flight unit 15 (propeller motor 8) to drive to the required state, transmission of image data of the image pickup device 13 and reception of commands between the flight body communication unit 16 and the surveying instrument communication unit 42. A communication program for instructing the injection device 11 to inject the solution in response to the marking execution signal is stored.

The aircraft 2 automatically moves the pile driving points sequentially according to the flight plan. The flight to the stakeout point of the fleet 2 is performed by autopilot, but the landing of the fleet 2, fine adjustment for alignment with the stakeout point, and marking are performed manually by the operator. In the case of manual maneuvering, an operation signal is transmitted from the flying object 2 to the surveying instrument 3, and the surveying instrument 3 switches to manual maneuvering. After finishing the manual maneuvering, the surveying instrument 3 is switched to the autopilot again.

First, when the operator starts the autopilot, the aircraft 2 automatically takes off and flies to the first stakeout point, and when it reaches the hover on the spot, it maintains a horizontal attitude. Therefore, the operator switches to manual operation, aligns the position to the pile driving point, lands the flying object 2, and marks the pile driving point with the injection device 11. When the operator confirms that the marking has been performed normally and switches to autopilot, the aircraft 2 automatically takes off from there, flies to the stakeout point to be marked next, and arrives on the spot. Hover. This is repeated until all the pile driving points are marked. As a result, the flying object 2 can mark all desired stakeout points.

(Surveying instrument 3)
Next, the surveying instrument 3 installed on the ground will be described.

The surveying instrument 3 is a total station capable of automatically tracking a target, and has a main body 3a that rotates horizontally and a telescope 3b that is vertically rotatable on the main body 3a. The surveying instrument 3 is installed on a tripod. The remote control unit 43 is connected to the main body 3a wirelessly or by wire with a cable.

The surveying instrument 3 includes a horizontal angle detector 32, a vertical right angle detector 33, a horizontal rotation drive unit 34, a vertical rotation drive unit 35, an operation unit 36, a display unit 37, a GPS unit 31, and a surveying instrument. It includes a storage unit 38, a distance measuring unit 39, a tracking unit 40, a surveying instrument calculation control unit 41, a surveying instrument communication unit 42, and a remote control unit 43.

The horizontal rotation drive unit 34 and the vertical rotation drive unit 35 are motors and are controlled by the surveying instrument calculation control unit 41 to drive the horizontal rotation axis and the vertical rotation axis, respectively.

The display unit 37 and the operation unit 36 are interfaces of the surveying instrument 3. The operation unit 36 can input various operation instructions, and the display unit 37 can confirm commands / settings, work status, and operation results.

In the present embodiment, the interface of the flying object 2 is a display unit 37, an operating unit 36, and a remote control unit 43, and the display unit 37 and the operating unit 36 also serve as an interface of the flying object 2. The operation unit 36 can input commands such as a flight plan by autopilot to the flight body 2, and the display unit 37 can command and set the flight body 2 and confirm the data transmitted from the flight body 2.

The remote control unit 43 is used when manually manipulating the flying object 2, and can fly the flying object 2, operate the injection device 11, and the image pickup device 13. In the present embodiment, the control unit 43 is configured as a separate body so that the operator can easily operate it, but it is preferable that the control unit 43 is integrated with the main body 3a.

The GPS unit 31 is fixed to the upper part of the surveying instrument 3, and like the GPS unit 19, receives a signal from a GPS satellite and acquires the position data of the installation point of the surveying instrument 3.

The horizontal angle detector 32 and the vertical angle detector 33 are absolute encoders or incremental encoders. The horizontal angle detector 32 is provided with respect to the horizontal rotation axis and detects the horizontal rotation angle of the main body 3a. The vertical right angle detector 33 is provided with respect to the vertical rotation axis and detects the rotation angle of the telescope 3b in the vertical direction. The detection result is input to the surveying instrument calculation control unit 41.

The tracking unit 40 has a tracking light transmission system that detects an infrared laser or the like having a wavelength different from that of the ranging light as tracking light, and a tracking light receiving system having an image sensor such as a CCD sensor or a CMOS sensor. The tracking unit 40 acquires a landscape image including the tracking light and a landscape image excluding the tracking light, and sends both images to the surveying instrument calculation control unit 41. The surveying instrument calculation control unit 41 obtains the center of the target image from the difference between the two images, detects the position where the distance between the center of the target image and the center of the visual axis of the telescope 3b is within a certain value, and always detects the position of the target. Automatically track the telescope 3b so that it faces the target.

The ranging unit 39 has a ranging light transmission system that emits ranging light such as an infrared laser to a target, and a ranging light receiving system that receives reflected ranging light with a photodiode or the like. The distance measuring unit 39 receives the reflected distance measuring light from the target by the distance measuring light receiving system, divides a part of the distance measuring light and receives it as the internal reference light, and the reflected distance measuring light and the internal reference light. Measure the distance to the target based on the phase difference. Further, the target is measured from the values of the horizontal angle detector 32 and the vertical angle detector.

The surveying instrument calculation control unit 41 is a microcontroller that actually runs a CPU, ROM, RAM, etc. in an integrated circuit, and controls the rotation driving units 34 and 35, controls the distance measuring unit 39 and the tracking unit 28, and surveying instrument communication. It controls the entire surveying instrument 3 such as execution of commands to the unit 42 and the display unit 37. Various programs for the above arithmetic processing are stored in the surveying instrument storage unit 38. The program also includes a flight control program that controls the flight of the aircraft 2 and creates a flight plan.

The surveying instrument communication unit 42 is a data transmission / reception device for wireless communication, and receives image data from the flying object communication unit 16 and position data of the GPS unit 19 and transmits commands under the control of the surveying instrument calculation control unit 41. Is possible. The received image pickup data is displayed on the display unit 37.

The surveying instrument 3 can be connected to the Internet, obtains map data via the Internet, and stores it in the surveying instrument storage unit 38. The design drawing data including the pile driving points obtained via the Internet is also stored in the surveying instrument storage unit 38. The surveying instrument calculation control unit 41 refers to the design drawing data in the map data, calculates the coordinates (global coordinates) of the pile driving point, and creates a flight plan of the flying object 2 based on the coordinates (global coordinates). The flight plan is stored in the flight object storage unit 17 through each communication unit.

The surveying instrument 3 is a ground base of the flying object 2, and also has a role as a highly accurate position specifying device. The position data of the flying object 2 can be acquired from the GPS unit 19 provided, but more accurate position data can be acquired by measuring the distance and angle of the prism 9. The position data of the GPS unit 19 is mainly used for the flight of the flying object 2, and high-precision position data by distance measurement and angle measurement is used for marking.

Specifically, while the flying object 2 is in flight, the tracking unit 30 tracks the flying object 2. When the aircraft 2 reaches the target pile driving point, it hover while maintaining the horizontal attitude. In the hovering state, the surveying instrument 3 measures the distance and angle of the prism 9, and obtains highly accurate position data of the prism 9. Precise coordinates (global coordinates) of the flying object 2 are calculated from the coordinates of the surveying instrument 3 acquired by GPS 31 and this position data. The position of the flying object 2 is finely adjusted based on the precise coordinates of the flying object 2 based on the numerical values and images of the three axes displayed on the display unit 35 described later, and the position of the flying object 2 is adjusted to the stakeout point to be marked. Land while checking the landing point. By using the injection device 11 after landing, marking can be performed in a stable posture. This enables highly accurate marking at a desired position.

(Display screen of display unit 37)
FIG. 4 is an example of the display result of the display unit 37. FIG. 4A is a plan view of a work site where marking for pile driving is applied. The surveying instrument 3 obtains the map data around itself and the design drawing data via the Internet, converts the base point and the stakeout point of the design drawing into global coordinates, fuses them, and displays them at the same time. In the plan view, the coordinates P1, P2 ... _Of the pile driving point, the coordinates _PTS of the surveying instrument 3, and the coordinates _PUAV of the flying object ₂ are displayed together. The coordinate _PTS of the surveying instrument 3 and the coordinate _PUAV of the flying object 2 are obtained from each GPS unit and displayed in real time on the map data.

FIG. 4 (B) shows the image of FIG. 4 (A) at the center of the coordinates _PUAV of the flying object 2, and marks the coordinates P ₁ , P ₂ , ... Of the pile driving point next. The target coordinates _PG of the schedule are displayed. The difference (x direction, y direction, z direction, and horizontal distance D _xy ) between the coordinate _PUAV of the aircraft 2 and the target coordinate _PG is displayed on the right side as a numerical value. The distance to the target coordinates _PG can be grasped intuitively from the image on the left side and concretely from the numerical value on the right side. While checking the screen, it is possible to make fine adjustments to the position of the flying object 2 in order to match the coordinate _PUAV of the flying object 2 with the target coordinate _PG .

FIG. 4C is a shift correction of the image data captured by the image pickup device 13 so that the reference point of the injection device 11 becomes the center of the image. The reference point of the injection device 11 is displayed on the display unit 37 as the center of the screen, and the target coordinates _PG are also displayed. The operator can confirm the state under the flight body 2 at the time of flight of the flight body 2 and the state of the ground surface in real time when landing and using the injection device 11.

4 (A) to 4 (C) can be switched.

(Operation flow)
Next, the operation flow of the gauge point marking system 1 will be described with reference to FIG.

First, in step S101, the surveying instrument 3 is installed at the work place, and the surveying instrument 3 acquires its own installed coordinates _PTS (global coordinates) by the GPS unit 31. Further, the surveying instrument 3 acquires map data around the coordinate _PTS via the Internet.

Next, in step S102, the surveying instrument 3 acquires the design drawing data including the pile driving point via the Internet, refers to the map data, and marks the coordinates P ₁ , P ₂ ... ( Global coordinates) is calculated.

Next, in step S103, the operator designates the order of marking at the pile driving points by the operation unit 36. The surveying instrument calculation control unit 41 creates a flight plan for flying in a designated order, and transmits the flight plan to the aircraft 2 through each transmission unit.

Next, in step S104, the coordinates of the first _stakeout point are set to the flight target coordinates PG of the flight body 2 based on the flight plan.

Next, in step S105, when the operator starts the automatic operation, the flying object 2 automatically takes off and _flies to the target coordinate PG. The surveying instrument 3 automatically collimates the prism 9, and the tracking unit 40 tracks the prism 9. When the aircraft 2 arrives at the target coordinates PG, it _hovered and maintained its horizontal attitude on the spot. The display unit 37 displays the current coordinates _PUAV of the flying object 2 together with the map data (see FIG. 4A).

Next, in step S106, the surveying instrument 3 measures the distance and angle of the prism 9 and acquires the highly accurate coordinates _PUAV of the flying object 2. At this time, the coordinate _PUAV of the flying object 2 and the target coordinate _PG are displayed on the display unit 37 (see FIG. 4B).

Next, in step S107, the horizontal distance D _xy of the two points is calculated from the coordinates _PUAV of the current flying object 2 and the target coordinates _PG . If the horizontal distance D _xy is within 10 mm, the process proceeds to step S108, and if it is less than 10 mm, the process proceeds to step S109.

In step S108, in order to bring the coordinate _PUAV of the flying object 2 closer to the target coordinate _PG , the operator manually operates the flying object 2 and moves it in the horizontal direction to make fine adjustments. When this is completed, the process returns to step S105. Steps S106 to S108 are repeated until the horizontal distance D _xy becomes 10 mm or less.

In step S109, the operator causes the display unit 37 to display the image data from the image pickup device 13 (see FIG. 4C), and sets the flying object 2 as the local point while checking the height direction and the state of the landing point. Land. Marking is performed by injecting a marking solution with the injection device 11.

Next, in step S110, if there is a pile driving point to be marked next, the process proceeds to step S111, and if not, the process proceeds to step S112.

In step S111, the coordinates of the next pile driving point are set to the target coordinates _PG , and the process proceeds to step 105.

In step S112, when the aircraft 2 returns to the starting point where it first took off by autopilot, the operation ends.

By the above operation, the flying object 2 sequentially moves to the pile driving point and marks it based on the flight plan. The current position of the flying object 2 is displayed on the display unit 37, and the displayed image can be switched to the image data captured by the image pickup device 13 at any time, and the operator can view the state of the flying object 2 and the landing point at a remote location. You can check from.

In order to stabilize the marking point, marking is basically performed after landing, but depending on the situation at the landing point, marking may be performed while hovering.

(Action effect)
According to the present embodiment, by measuring the distance and angle of the prism 9 with the surveying instrument 3, the coordinates of the flying object 2 are grasped with high accuracy and fine adjustment is performed, and the flying object 2 is aligned with the pile driving point. , It is possible to accurately mark the pile driving point by the flying object 2. It is also possible to continuously mark multiple pile driving points.

In the past, the position coordinates were confirmed by the GPS unit mounted on the flying object, so the position accuracy of the flying object was about several cm to 1 m. By surveying the flying object 2 with the surveying instrument 3, the accuracy of the position coordinates has been greatly improved.

Normally, the worker must go to the target point, mark the target point and stake out while surveying with a surveying instrument, but the worker does not have to move from the front of the surveying instrument 3 and stake out significantly. Work efficiency has improved.

The display unit 37 can grasp the situation and position around the aircraft 2 in real time, and is user-friendly. In addition, the state of the injection device 11 at the time of marking can be confirmed, and the safety is high.

Although the preferred embodiments of the present invention have been described above, the above-described embodiments are examples of the present invention, and these can be modified based on the knowledge of those skilled in the art, and such embodiments are also the present invention. Included in the range.

1 Coordinate marking system 2 Aircraft 3 Surveying instrument 9 Prism 11 Injection device 13 Imaging device 15 Flight unit 19 GPS unit 31 GPS unit 37 Display unit 39 Distance measuring unit 41 Surveying instrument calculation control unit 43 Remote control unit P ₁ , P ₂ … Coordinates of stakeout point _PG Target coordinates P Coordinates of _UAV flying object 2 Coordinates of _PTS surveying instrument 3

Claims (5)

A flying object that has a prism as a survey target, an injection device that can mark a reference point by injecting a coloring solution, and a first GPS that can acquire position information, and can be remotely controlled.
A second GPS capable of acquiring position information, a surveying instrument having a prism surveying function for measuring a distance and an angle to the prism, and a remote control function for remotely controlling the flying object.
Equipped with
The surveying instrument moves the flying object to desired coordinates by the remote control function, distances and angles the prism by the prism surveying function, and obtains the result of the surveying function and the second GPS. The coordinates of the flying object are grasped from the position information, the flying object is aligned with the desired coordinates, landed, and the desired coordinates are marked by the injection device.
A marked point marking system characterized by this. The flying object comprises an image pickup device having an optical axis in the solution jet direction of the jet device.
The image data acquired by the image pickup device is displayed on the display unit provided in the surveying instrument.
The marker point marking system according to claim 1. The first GPS, the injection device, and the prism are arranged so as to be vertically on the same axis.
The marker point marking system according to claim 1 or 2, characterized in that. The surveying instrument can be connected to the Internet, and the display unit provided on the surveying instrument displays the map data obtained from the Internet, the desired coordinates, and the position of the flying object acquired from the first GPS. Information, the position information of the surveying instrument acquired from the second GPS is displayed.
The marker point marking system according to any one of claims 1 to 3, wherein the marking system is characterized by the above. The surveying instrument creates a flight program of the flying object from a plurality of input desired coordinates, and the flying object sequentially moves to the desired coordinates according to the flight program, and for each desired coordinate. Marking by the injection device is performed.
The marker point marking system according to any one of claims 1 to 4, wherein the marking system is characterized by the above.

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