JP7147176B2 - Portable laser survey instrument pedestal, measurement vehicle, and laser measurement method - Google Patents

Description

The present invention relates to laser measurement technology, and more specifically, to a pedestal for mounting a portable laser surveying instrument, a vehicle on which the pedestal is mounted, and a measurement method using the pedestal.

In the past, aerial photographs taken from aircraft were commonly used to make measurements over a wide area in order to create topographic maps, but in recent years, aerial laser measurements have also come to be used frequently. Airborne laser measurement is performed by flying an aircraft over the terrain to be measured and receiving the reflected signal of the laser pulse irradiated to the terrain. Since the aircraft is usually equipped with a positioning device such as GNSS (Global Navigation Satellite System) and an inertial measurement device such as IMU (Inertial Measurement Unit), the irradiation position (x, y, z) of the laser survey instrument and The irradiation posture (ω, φ, κ) can be grasped, and as a result, the three-dimensional coordinates of the measurement point (the point where the laser pulse is reflected) can be obtained from the time difference between the irradiation time and the reception time.

In addition, laser measurement may be performed while moving not only in an aircraft but also in a vehicle. A method of performing measurement while moving in a vehicle is called a mobile mapping system (MMS), and laser measurement is also performed as one of the measurement means. In laser measurement by MMS, a vehicle is equipped with a positioning device (e.g., GNSS), an inertial measurement device (e.g., IMU), a camera, etc., and a laser surveying instrument is installed. Get spatial information.

In addition to airborne laser measurement and MMS, terrestrial laser measurement, in which a laser measuring instrument is installed on the ground for measurement, is also spreading. This terrestrial laser measurement is similar to the total station, which has been the mainstream of terrestrial measurement until now. do. At this time, since the irradiation direction is changed in the vertical plane (that is, the head is shaken up and down), and the irradiation is performed while rotating horizontally (rotating around the vertical axis), all features (measurement targets) around the installation of the laser measuring instrument can be irradiated. ) can be measured at once. Moreover, since it is possible to measure up to a place where the laser pulse reaches and can be reflected, the measurement range is as wide as a radius of about 1 km. In addition, the scan rate of a general laser measuring instrument is 10,000 to 50,000 points per second, and high-density feature measurement point clouds can be obtained.

By the way, the laser surveying instrument has been used so far as a specialized one for this method. That is, a dedicated laser surveying instrument is used for airborne laser measurement, and a dedicated laser surveying instrument is also used for MMS and terrestrial laser measurement. Therefore, for example, a laser surveying instrument for MMS has generally been left fixed to the vehicle. Note that Patent Document 1 proposes a technique for making a camera mounted on an MMS vehicle movable (a supporting member for the camera is foldable).

JP 2016-147570 A

In recent years, in addition to airborne laser measurement and MMS, a method of moving measurement by installing a laser survey instrument on a cart, a method of installing a laser survey instrument on a ship and performing mobile measurement, or using a backpack etc. Laser measurement methods using various means of transportation, such as a method in which a person walks while carrying a laser surveying instrument, are also being used. However, as mentioned above, the laser surveying instrument was used as a tool specialized for that method. I haven't seen many examples. However, since the laser surveying instrument is generally very expensive, if the laser surveying instrument can be diverted to various moving bodies in this way, the opportunities for utilization will increase, that is, the return on investment will be improved, which is advantageous. Against this background, there has been a long-awaited development of a technology that can easily convert a laser surveying instrument between moving bodies.

An object of the present invention is to solve the conventional problems, that is, a pedestal for a portable laser survey instrument that can be easily diverted between moving bodies, a vehicle equipped with the pedestal, It is to provide a measuring method using the pedestal.

The present invention focuses on forming a pedestal for a portable laser surveying instrument by combining a turntable on which the portable laser surveying instrument is placed and a container, and is based on an idea that has never existed before. It is an invention made based on

The portable laser surveying instrument pedestal of the present invention is a pedestal on which a portable laser surveying instrument is installed, and includes a turntable and a container. A turntable on which the portable laser survey instrument is installed is installed on top of the container, and a storage space (battery space) for accommodating a battery for the portable laser survey instrument is provided in the container.

The portable laser survey instrument pedestal of the present invention may further include a lifting jack that extends and retracts vertically. In this case, the portable laser survey instrument installed on the turntable can be moved up and down by raising and lowering the lifting jack.

The portable laser surveying instrument pedestal of the present invention may further include a carriage having a loading platform and wheels. In this case, the container is fixed on the carrier of the truck.

The portable laser survey instrument pedestal of the present invention may further include a vertically extendable lifting jack. In this case, the lifting jack is arranged between the turntable and the container (or below the container).

The measuring vehicle of the present invention includes a mobile vehicle that travels on the road, a portable laser survey instrument pedestal, and a portable laser survey instrument. The portable laser surveying instrument pedestal is detachably installed on the moving vehicle, and the portable laser surveying instrument is installed on the turntable of the portable laser surveying instrument pedestal. Then, it can be measured by a portable laser survey instrument while moving.

The measuring vehicle of the present invention may further include a lifting device capable of lifting the portable laser survey instrument base.

The laser measurement method of the present invention is a method in which a portable laser survey instrument mounted on a measurement vehicle is transferred to another mobile body, and measurements are performed using the portable laser survey instrument mounted on the mobile body. It is a method with steps. In the relocation process, the portable laser surveying instrument pedestal is removed from the mobile vehicle, the portable laser surveying instrument pedestal is lifted by the lifting device of the measuring vehicle, and the portable laser is placed on the mobile body placed outside the mobile vehicle. Install the survey instrument pedestal. In the measurement process, while the moving body is moving, it is measured by a portable laser survey instrument installed on the turntable of the portable laser survey instrument pedestal.

The laser measurement method of the present invention can also be a method of measuring using a portable laser survey instrument pedestal equipped with a carriage. In this case, in the relocation process, the portable laser surveying instrument pedestal is removed from the mobile vehicle, the portable laser surveying instrument pedestal is lifted by a lifting device, and the portable laser surveying instrument pedestal is lowered outside the mobile vehicle. In the measurement process, while moving on the cart of the portable laser surveying instrument pedestal, the portable laser surveying instrument installed on the turntable of the portable laser surveying instrument pedestal performs measurement.

The laser measurement method of the present invention can also be a method further comprising a positioning step. In this positioning process, positioning is performed while moving the mobile body (or cart) by the first receiver and the second receiver that receive radio waves from the positioning satellites. The first receiver is mounted on the base of the portable laser surveying instrument, and the second receiver is mounted on a support arranged behind the moving body (or cart) in the moving direction.

The portable laser surveying instrument pedestal, the measuring vehicle, and the laser measuring method of the present invention have the following effects.
(1) By remounting the portable laser surveying instrument pedestal, the laser surveying instrument can be remounted on various moving bodies such as vehicles and ships, increasing opportunities for using expensive portable laser surveying instruments. Better return on investment.
(2) In addition, since the portable laser surveying instrument can be used for various moving bodies, it is possible to flexibly cope with a combination of highways and narrow roads.
(3) By installing a lifting device (crane) on the measurement vehicle, it becomes extremely easy to unload and unload the portable laser survey instrument pedestal, and at the same time, the burden of remounting the portable laser survey instrument is significantly reduced. .

FIG. 2 is a block diagram showing the main configuration of the portable laser survey instrument pedestal of the present invention; FIG. 2 is a side view schematically showing a portable laser survey instrument pedestal on which the portable laser survey instrument is placed; (a) is a side view schematically showing a portable laser surveying instrument pedestal with a lifting jack attached between the turntable and the container, and (b) is a portable laser surveying instrument with a lifting jack attached below the container. The side view which shows a base typically. FIG. 2 is a side view schematically showing a portable laser survey instrument pedestal having a carriage; 1 is a block diagram showing the main configuration of a measurement vehicle according to the present invention; FIG. The flowchart which shows the main processes of the laser measurement method of this invention. FIG. 3 is a model diagram showing a situation in which laser measurement is performed on a portable laser surveying instrument pedestal on a cart while positioning is performed by the first receiver and the second receiver.

An example of an embodiment of a portable laser survey instrument pedestal, a measurement vehicle, and a laser measurement method according to the present invention will be described with reference to the drawings. The measuring vehicle of the present invention is equipped with the portable laser survey instrument pedestal of the present invention, and the laser measuring method of the present invention is a method using the measuring vehicle of the present invention. Therefore, first, the portable laser surveying instrument pedestal of the present invention will be described, and then the measuring vehicle and the laser measuring method of the present invention will be described in order.

1. Portable Laser Surveying Instrument Pedestal FIG. 1 is a block diagram showing the main configuration of a portable laser surveying instrument pedestal 100 of the present invention. FIG. 2 shows the portable laser surveying instrument with the portable laser surveying instrument mounted thereon. 4 is a side view schematically showing the base 100; FIG. As shown in FIG. 1, the portable laser survey instrument pedestal 100 includes a turntable 110 and a container 130, and can also include a carriage 140 and a first receiver 150. FIG.

The container 130 is obtained by assembling a shaft member such as an angle steel or a channel steel on a bottom plate 131 (FIG. 2) using a steel plate or the like. ) is hollow (hereinafter, this hollow portion is referred to as “accommodation space 132”). This accommodation space 132 has a space (hereinafter referred to as "battery space 132A") for accommodating the battery 220 for the portable laser surveying instrument 210. Further, when the battery 220 is arranged, a cable ( A cable space 132B that accommodates a cable connecting the portable laser surveying instrument 210 and the battery 220) can also be formed.

As shown in FIG. 2, the turntable 110 is installed on the top (upper surface) of the container 130, and the portable laser survey instrument 210 is installed on the turntable 110, so that the portable laser survey instrument pedestal 100 is It is formed. The portable laser survey instrument 210 is detachably installed on the turntable 110 with screws, bolts, or the like. By being placed on the turntable 110 in this way, the portable laser survey instrument 210 can rotate around the vertical axis of rotation (one-dot chain line shown in FIG. 2). The battery 220 is housed in the battery space 132A (accommodation space 132) and installed, and the connection cable between the portable laser survey instrument 210 and the battery 220 is housed in the cable space 132B (accommodation space 132).

As shown in FIG. 3, the portable laser surveying instrument pedestal 100 may be provided with a lifting jack 120 that expands and contracts vertically. During measurement, the lifting jack 120 is extended upward so that the portable laser surveying instrument 210 is at an appropriate height, and when not measuring, the lifting jack 120 is retracted to keep the portable laser surveying instrument 210 at a low position. . The lifting jack 120 can be arranged between the turntable 110 and the container 130 as shown in FIG. 3(a), or can be arranged below the container 130 as shown in FIG. 3(b). can also

The portable laser survey instrument pedestal 100 can also be provided with a carriage 140 as shown in FIG. The truck 140 has a truck platform 141 and wheels 142, and conventionally used trucks can be used. In this case, the container 130 is preferably fixed on the carriage bed 141 . Since the carriage carrier 141 is part of the portable laser surveying instrument pedestal 100, the portable laser surveying instrument 210 installed on the turntable 110 and the battery 220 accommodated in the container 130 (battery space 132A) can be placed horizontally. Extremely easy to move.

Some portable laser surveying instruments 210 have GNSS receivers. Note that the GNSS receiver provided in the portable laser surveying instrument 210 is referred to as "first receiver 150" in FIG. Some portable laser surveying instruments 210 do not have the first receiver 150. In such cases, the first receiver 150 can be attached to the portable laser surveying instrument pedestal 100 separately if necessary.

As described above, the portable laser survey instrument pedestal 100 is formed so that the turntable 110 and the container 130 are integrated, and the portable laser survey instrument 210 is mounted on the turntable 110. This usually results in a considerable weight, so it is conceivable to use a lifting device such as a crane to lift it. Therefore, the portable laser surveying instrument pedestal 100 is preferably provided with a suspension ring for hooking a crane. This hanging ring can be fixed to the container 130 by welding or the like.

2. Measurement Vehicle Next, the measurement vehicle of the present invention will be described. As described above, the measurement vehicle of the present invention is equipped with the portable laser survey instrument pedestal 100, so explanations that overlap with the content explained in "1. Portable laser survey instrument pedestal" will be avoided here. Only contents specific to the measurement vehicle of the present invention will be described. That is, the contents not described here are the same as those described in "1. Portable laser surveying instrument pedestal".

FIG. 5 is a block diagram showing the main configuration of the measurement vehicle 300 of the present invention. As shown in this figure, the measurement vehicle 300 includes a portable laser surveying instrument 210 , a portable laser surveying instrument pedestal 100 , and a mobile vehicle 310 , and can also include a lifting device 320 . The mobile vehicle 310 used for the measurement vehicle 300 preferably has a carrier, and the portable laser survey instrument pedestal 100 is detachably installed (for example, bolted) on the carrier. A measurement vehicle 300 is formed by detachably installing a portable laser survey instrument 210 on 110 . The measurement vehicle 300 can be used for MMS, that is, laser measurement can be performed by the portable laser survey instrument 210 mounted on the measurement vehicle 300 while it is running. In addition to the portable laser surveying instrument 210, the measurement vehicle 300 can also be equipped with a GNSS receiver, an IMU, a camera, and the like.

As described above, the portable laser surveying instrument pedestal 100 with the portable laser surveying instrument 210 placed on the turntable 110 has a considerable weight, so a lifting device such as a crane is required to lift it. It is possible to use Therefore, the measurement vehicle 300 is preferably provided with a lifting device 320 . In this case, it is desirable to select the lifting device 320 with an appropriate standard (performance) after considering the weight of the measurement vehicle 300 and the working radius (the distance from the lifting device to the unloading position).

3. Laser Measurement Method Next, the laser measurement method of the present invention will be described. As described above, the laser measurement method of the present invention is a method using the measurement vehicle of the present invention, and therefore overlaps with the contents described in "1. Portable laser survey instrument pedestal" and "2. Measurement vehicle". , and only the contents specific to the laser measurement method of the present invention will be described. That is, the contents not described here are the same as those described in "1. Portable laser surveying instrument pedestal" and "2. Measuring vehicle".

FIG. 6 is a flowchart showing main steps of the laser measurement method of the present invention. Hereinafter, the laser measurement method of the present invention will be described with reference to this figure. First, the portable laser survey instrument pedestal 100 is installed on the carrier of the mobile vehicle 310 (Step 10). At this time, the portable laser surveying instrument pedestal 100 is detachably installed on the moving vehicle 310 by, for example, fixing with bolts.

When the portable laser surveying instrument pedestal 100 is installed on the carrier 211, it is moved to a target location (Step 20). Laser measurement can also be performed using the portable laser survey instrument 210 during movement.

When the target location is reached, the portable laser survey instrument pedestal 100 is transferred (Step 30). More specifically, the portable laser surveying instrument pedestal 100 is removed from the main body installation base 220 (or the jack 230) by, for example, releasing the bolt fixation, and the portable laser surveying instrument pedestal 100 is lifted using the lifting device 320 installed on the measurement vehicle 300. The surveying instrument pedestal 100 is lifted, and the portable laser surveying instrument pedestal 100 is lowered onto a mobile body arranged outside the mobile vehicle 310 . At this time, the portable laser surveying instrument pedestal 100 with the portable laser surveying instrument 210 mounted thereon can be relocated, or only the portable laser surveying instrument pedestal 100 can be moved after the portable laser surveying instrument 210 is removed. can also be relocated. As a moving vehicle for moving the portable laser survey instrument pedestal 100, a trolley or the like is prepared for land, and a ship or the like is prepared for water. When the portable laser surveying instrument pedestal 100 has the carriage 140, the portable laser surveying instrument pedestal 100 can be placed on the ground as it is without preparing another moving body.

When the portable laser surveying instrument pedestal 100 on which the portable laser surveying instrument 210 is placed is transferred (or when the portable laser surveying instrument 210 is placed on the transferred portable laser surveying instrument pedestal 100), the portable laser surveying instrument 210 is moved while moving. Laser measurement is performed using the laser survey instrument 210 (Step 50). Specifically, when the portable laser survey instrument pedestal 100 has a carriage 140 (or when the portable laser survey instrument pedestal 100 is relocated to a separately prepared carriage), a person pushes the carriage 140 on the ground. When the portable laser survey instrument pedestal 100 is transferred to a ship, the laser measurement is performed on the surrounding features while the ship is sailing on water. When performing laser measurement, it is preferable to perform positioning of the measurement position (Step 60). Positioning of the measured position can be performed by using GNSS. That is, as described above, positioning is performed using the first receiver 150 provided in the portable laser surveying instrument 210 at the time of shipment (or the first receiver 150 installed afterward).

By the way, when performing positioning with one GNSS receiver, it may be missing depending on the reception position. In other words, if positioning is performed only by the first receiver 150, sufficient results may not be obtained. Therefore, as shown in FIG. 7, it is preferable to use the second receiver 500 in addition to the first receiver 150 for positioning. FIG. 7 is a model diagram showing a situation in which laser measurement is performed on the portable laser surveying instrument pedestal 100 on the carriage 140 while positioning is performed by the first receiver 150 and the second receiver 500 .

In FIG. 7, a portable laser surveying instrument pedestal 100 having a carriage 140 is used, and laser measurement is performed using a portable laser surveying instrument 210 placed on the turntable 110 thereof. Then, along with performing laser measurement, the first receiver 150 provided in the portable laser surveying instrument 210 and the second receiver 500 arranged on the rear side in the direction of travel of the cart 140 (the direction of the arrow in the figure) are used by positioning satellites. Positioning is performed by receiving radio waves from ST. A carriage 140 shown in FIG. 7 has a pillar 143 erected on a carriage bed 141, and an arm 144 (handle) in a substantially horizontal (or horizontal) posture is connected above the pillar 143. As shown in FIG. In this case, if a support 400 in a substantially vertical (including vertical) posture is fixed to the rear side of the arm 144 and installed above this support 400, the second receiver 500 can be arranged on the rear side. In the case of a ship, the second receiver 500 may be installed above the support 400 fixed on the stern (stern) side.

While performing laser measurement by the portable laser surveying instrument pedestal 100 (Step 50) and positioning by the first receiver 150 and the second receiver 500 (Step 60), it moves along the planned route. Then, when the planned route is moved to the target location, a series of measurements is completed.

100 portable laser survey instrument pedestal 110 turntable (of portable laser survey instrument pedestal) 120 lifting jack (of portable laser survey instrument pedestal) 130 housing (of portable laser survey instrument pedestal) 131 bottom plate (of housing) 131 (Container) Storage space 131A (Accommodation space) Battery space 131B (Accommodation space) Cable space 140 Carriage (Pedestal for portable laser survey instrument) 141 Carriage platform (Carriage) 142 Wheels (Carriage) 143 ( Post 144 Arm (of cart) 150 First receiver 210 Portable laser survey instrument 220 Battery 162 Second receiver (portable laser survey instrument pedestal) 300 Measuring vehicle 310 Moving vehicle (of measuring vehicle) 320 ( lifting device 400 support 500 second receiver ST positioning satellite

Claims (10)

A pedestal for installing a portable laser survey instrument,
comprising a turntable and a container,
The turntable on which the portable laser survey instrument is installed is installed on top of the container,
A battery space for accommodating a battery for the portable laser survey instrument is provided in the container,
The portable laser survey instrument can be detachably installed on the turntable,
A portable laser survey instrument pedestal characterized by: It is further equipped with a lifting jack that expands and contracts up and down,
As the lifting jack moves up and down, the portable laser survey instrument installed on the turntable moves up and down.
The portable laser survey instrument pedestal according to claim 1, characterized in that: further comprising a truck having a platform and wheels,
wherein the container is fixed on the loading platform;
3. The portable laser survey instrument pedestal according to claim 1 or 2, characterized in that: A cable space for housing a cable is formed above the battery space in the container,
The portable laser survey instrument pedestal according to any one of claims 1 to 3, characterized in that: a vehicle traveling on the road,
The portable laser surveying instrument pedestal according to any one of claims 1 to 4, which is detachably installed on the moving vehicle;
A portable laser survey instrument installed on the turntable,
It can be measured by the portable laser survey instrument while traveling,
A measurement vehicle characterized by: a lifting device capable of lifting the portable laser survey instrument pedestal,
6. The metrology vehicle of claim 5, further comprising: A method of transferring a portable laser survey instrument mounted on a measurement vehicle to another mobile body and measuring with the portable laser survey instrument mounted on the mobile body,
The measurement vehicle includes a mobile vehicle that travels on the road, a portable laser surveying instrument pedestal detachably installed on the mobile vehicle, a portable laser surveying instrument, and a lift capable of lifting the portable laser surveying instrument pedestal. a device;
The portable laser survey instrument pedestal has a container and a turntable installed on top of the container,
Furthermore, the measurement vehicle can be measured by the portable laser survey instrument installed on the turntable while traveling,
The portable laser survey instrument pedestal is removed from the mobile vehicle, the portable laser survey instrument pedestal is lifted by the lifting device, and the portable laser survey instrument pedestal is placed on the mobile body arranged outside the mobile vehicle. A relocation process to install,
a measuring step of measuring with the portable laser survey instrument installed on the turntable of the portable laser survey instrument pedestal while the mobile object moves;
A laser measurement method characterized by comprising: further comprising a positioning step of positioning the moving object while moving by a first receiver and a second receiver that receive radio waves from a positioning satellite;
The first receiver is provided on the portable laser survey instrument or the portable laser survey instrument pedestal,
wherein the second receiver is mounted on a support positioned behind the portable laser surveying instrument in the moving direction,
The laser measurement method according to claim 7, characterized in that: A method of unloading a portable laser surveying instrument pedestal mounted on a measuring vehicle from the measuring vehicle and measuring using a portable laser surveying instrument installed on the portable laser surveying instrument pedestal,
The measurement vehicle includes a mobile vehicle that travels on a road, a pedestal for the portable laser survey instrument detachably installed on the mobile vehicle, a lifting device capable of lifting the pedestal for the portable laser survey instrument, and the portable type. a laser survey instrument;
The portable laser survey instrument pedestal has a carriage equipped with a carrier and wheels, a container fixed on the carrier, and a turntable installed on top of the carrier,
Furthermore, the measurement vehicle can be measured by the portable laser survey instrument installed on the turntable while traveling,
a relocation step of removing the portable laser survey instrument pedestal from the mobile vehicle, lifting the portable laser survey instrument pedestal by the lifting device, and unloading the portable laser survey instrument pedestal outside the mobile vehicle;
a measuring step of measuring with the portable laser survey instrument installed on the turntable of the portable laser survey instrument pedestal while moving on the carriage of the portable laser survey instrument pedestal;
A laser measurement method characterized by comprising: Further comprising a positioning step of positioning the carriage while moving by a first receiver and a second receiver that receive radio waves from a positioning satellite,
The first receiver is provided on the portable laser survey instrument or the portable laser survey instrument pedestal,
wherein the second receiver is mounted on a support positioned behind the portable laser surveying instrument in the moving direction,
The laser measurement method according to claim 9 , characterized in that:

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