JPH0868847A - Roadbed level measuring apparatus - Google Patents
Roadbed level measuring apparatusInfo
- Publication number
- JPH0868847A JPH0868847A JP20572194A JP20572194A JPH0868847A JP H0868847 A JPH0868847 A JP H0868847A JP 20572194 A JP20572194 A JP 20572194A JP 20572194 A JP20572194 A JP 20572194A JP H0868847 A JPH0868847 A JP H0868847A
- Authority
- JP
- Japan
- Prior art keywords
- antenna
- roadbed
- traveling machine
- gps
- measured
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は路盤レベル測定装置に関
するものであり、特に、起伏の多い路盤に於いての測定
精度の向上を図った路盤レベル測定装置に関するもので
ある。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a roadbed level measuring device, and more particularly to a roadbed level measuring device for improving the measurement accuracy on a roadbed with many undulations.
【０００２】[0002]
【従来の技術】従来の此種路盤レベル測定装置は、ブル
ドーザ等の走行機械の上部にグローバル・ポジショニン
グ・システム（以下ＧＰＳという）のアンテナを載置
し、前記走行機械を計測したい地点内を走行させてい
る。このとき、前記ＧＰＳにより連続して前記アンテナ
の位置座標が計測されるので、前記走行機械が水平路盤
上にて予め計測されている前記ＧＰＳのアンテナの路盤
からの高さを、前記計測された位置座標のＺ軸座標値か
ら減ずることによって路盤のレベル（高さ）が算出され
ている。2. Description of the Related Art A conventional roadbed level measuring device of this type has a global positioning system (hereinafter referred to as GPS) antenna mounted on a traveling machine such as a bulldozer and travels within a point where the traveling machine is desired to be measured. I am letting you. At this time, since the position coordinates of the antenna are continuously measured by the GPS, the height of the GPS antenna from the roadbed, which is previously measured by the running machine on the horizontal roadbed, is measured. The level (height) of the roadbed is calculated by subtracting the position coordinate from the Z-axis coordinate value.
【０００３】[0003]
【発明が解決しようとする課題】従来の路盤レベル測定
装置は、路盤レベルをＧＰＳにて計測したＧＰＳのアン
テナのＺ軸座標値から該ＧＰＳのアンテナの地盤に対し
ての取付け高さを減じて算出している。そして、計測時
に於ける該ＧＰＳのアンテナを取付けた走行機械の姿勢
が前後方向或いは左右方向に傾斜しているときは、該Ｇ
ＰＳのアンテナと鉛直下方の地盤との高さは、前記走行
機械が水平姿勢のときに予め計測しておいた前記取付け
高さと異なることがある。このため、前記取付け高さを
減じて算出された路盤レベルは正確さに欠ける虞れがあ
る。In the conventional roadbed level measuring device, the mounting height of the GPS antenna to the ground is subtracted from the Z-axis coordinate value of the GPS antenna whose roadbed level is measured by GPS. It is calculated. When the posture of the traveling machine attached with the GPS antenna at the time of measurement is inclined in the front-rear direction or the left-right direction, the G
The height between the PS antenna and the ground vertically below may be different from the mounting height measured in advance when the traveling machine is in the horizontal posture. Therefore, the roadbed level calculated by subtracting the mounting height may be inaccurate.
【０００４】更に、前記ＧＰＳのアンテナは自動車のナ
ビゲーションシステムに用いられるように、走行機械の
上部に載置されているが、土木工事の現場等の起伏の多
い場所に於いては、前記走行機械の移動は制限されるの
で、計測したい地点の路盤の測定ができないという虞れ
がある。Further, the GPS antenna is mounted on the upper part of the traveling machine so that it may be used in a navigation system of an automobile. However, in a place with a lot of ups and downs such as a site of civil engineering, the traveling machine is used. Is restricted, so there is a risk that the roadbed at the point of interest cannot be measured.
【０００５】そこで、路盤レベルの測定精度を向上させ
るとともに、測定できない地点を削減するために解決す
べき技術的課題が生じてくるのであり、本発明は該課題
を解決することを目的とする。Therefore, there is a technical problem to be solved in order to improve the measurement accuracy of the roadbed level and reduce the number of points where measurement is not possible. The present invention aims to solve the problem.
【０００６】[0006]
【課題を解決するための手段】本発明は上記目的を達成
するために提案されたものであり、走行機械のアームの
先端部に水平出し装置を配設して、該水平出し装置の上
面にグローバル・ポジショニング・システムのアンテナ
を載置するとともに、下面に距離計測装置を垂設し、該
アンテナの位置及び高さの検出値に基づいて、該アンテ
ナの鉛直下方の路盤の位置データを演算する制御部を設
けたことを特徴とする路盤レベル測定装置を提供するも
のである。The present invention has been proposed in order to achieve the above object, and a leveling device is provided at the tip of an arm of a traveling machine, and the leveling device is provided on the upper surface of the leveling device. An antenna of the Global Positioning System is placed and a distance measuring device is hung vertically on the lower surface, and position data of the roadbed vertically below the antenna is calculated based on the detected values of the position and height of the antenna. The present invention provides a roadbed level measuring device having a control unit.
【０００７】[0007]
【作用】走行機械のアームの先端部に設けた水平出し装
置の上面へＧＰＳのアンテナを載置し、下面へ距離計測
装置を垂設したので、該ＧＰＳのアンテナと距離計測装
置の姿勢は前記水平出し装置にて夫々鉛直方向へ保持さ
れる。前記走行機械を路盤の計測地点の近傍へ移動し
て、該走行機械を操作すれば、前記ＧＰＳのアンテナが
計測地点の上方へ位置決めされる。そして、人工衛星か
ら受信した該ＧＰＳのアンテナの位置データが制御部へ
送られるとともに、前記距離計測装置にて計測された該
ＧＰＳのアンテナの路盤からの高さが制御部へ送られ
る。更に、該制御部が前記ＧＰＳのアンテナの位置デー
タから高さを減ずることにより、前記計測地点の位置デ
ータが算出される。The GPS antenna is placed on the upper surface of the leveling device provided at the tip of the arm of the traveling machine, and the distance measuring device is hung vertically on the lower surface. Therefore, the postures of the GPS antenna and the distance measuring device are as described above. They are held vertically by leveling devices. When the traveling machine is moved to the vicinity of the measurement point on the roadbed and the traveling machine is operated, the GPS antenna is positioned above the measurement point. Then, the position data of the GPS antenna received from the artificial satellite is sent to the control unit, and the height of the GPS antenna from the roadbed measured by the distance measuring device is sent to the control unit. Further, the control unit subtracts the height from the position data of the GPS antenna to calculate the position data of the measurement point.
【０００８】[0008]
【実施例】以下、本発明の一実施例を図１及び図２に従
って詳述する。図１に於いて、１は移動局の走行機械で
あり、２は固定局を示す。該走行機械１にはＧＰＳのア
ンテナ３及び受信機４を搭載しており、該受信機４にて
人工衛星の電波を受信し、コード情報をコンピュータ等
に設けられた制御部５にて解析することにより、前記Ｇ
ＰＳのアンテナ３の位置を三次元座標のデータとしてリ
アルタイムに検出する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described in detail below with reference to FIGS. In FIG. 1, 1 is a running machine of a mobile station, and 2 is a fixed station. The traveling machine 1 is equipped with a GPS antenna 3 and a receiver 4, the receiver 4 receives radio waves from an artificial satellite, and the code information is analyzed by a control unit 5 provided in a computer or the like. Therefore, the G
The position of the PS antenna 3 is detected in real time as three-dimensional coordinate data.
【０００９】本実施例ではＧＰＳによる計測精度の向上
及びリアルタイムな結果出力のために、相対測位法を使
用する。該相対測位法は複数の受信機により２点以上で
ＧＰＳ電波の受信を行い、既知点側の測位情報を未知点
側へ転送することにより、略リアルタイムで正確な計測
結果を得ることができる。In the present embodiment, the relative positioning method is used in order to improve the measurement accuracy by GPS and output the result in real time. According to the relative positioning method, a plurality of receivers receive GPS radio waves at two or more points, and the positioning information on the known point side is transferred to the unknown point side, whereby an accurate measurement result can be obtained in substantially real time.
【００１０】このため、前記固定局２に別のＧＰＳのア
ンテナ６及び受信機７を設置してある。該受信機７にて
受信した人工衛星からの測位情報は、無線送信機９によ
り走行機械１へ送られ、該走行機械１に搭載した無線受
信機１０によって受信される。更に、該無線受信機１０
にて受信された前記測位情報に基づいて、前記制御部５
が該走行機械１に搭載された前記ＧＰＳのアンテナ３で
受信した測位情報と合わせて、該アンテナ３の正確な三
次元座標がリアルタイムに算出される。Therefore, another GPS antenna 6 and receiver 7 are installed in the fixed station 2. The positioning information from the artificial satellite received by the receiver 7 is sent to the traveling machine 1 by the wireless transmitter 9 and received by the wireless receiver 10 mounted on the traveling machine 1. Further, the wireless receiver 10
Based on the positioning information received by the controller 5
An accurate three-dimensional coordinate of the antenna 3 is calculated in real time together with the positioning information received by the GPS antenna 3 mounted on the traveling machine 1.
【００１１】又、該走行機械１に超音波距離計等の距離
計測装置１１が搭載され、該距離計測装置１１にて計測
される路盤と前記アンテナ３との間の計測距離（高さ）
が前記制御部５へ送られる。そして、該制御部５が前記
アンテナ３の三次元座標のＺ軸座標値から該計測距離を
減ずることにより、計測地点の三次元座標が算出され
る。Further, a distance measuring device 11 such as an ultrasonic distance meter is mounted on the traveling machine 1, and a distance (height) measured between the roadbed measured by the distance measuring device 11 and the antenna 3 is measured.
Is sent to the control unit 5. Then, the control unit 5 subtracts the measurement distance from the Z-axis coordinate value of the three-dimensional coordinates of the antenna 3 to calculate the three-dimensional coordinates of the measurement point.
【００１２】図２は走行機械にＧＰＳのアンテナ及び超
音波距離計等を設けた実施例を示したものである。該走
行機械１には作業用のブーム２２、アーム２３が設けら
れている。そして、該アーム２３の先端部であり、通常
バケット等が取付けられている位置には、前記バケット
等に代えて、水平出し装置２４が配設されている。更
に、該水平出し装置２４の上面にＧＰＳのアンテナ３を
載置するとともに、下面に距離計測装置である超音波距
離計１１を垂設し、該超音波距離計１１を前記ＧＰＳの
アンテナ３の鉛直下方へ位置するように配設している。FIG. 2 shows an embodiment in which a traveling machine is provided with a GPS antenna, an ultrasonic range finder and the like. The traveling machine 1 is provided with a work boom 22 and an arm 23. A leveling device 24 is provided at the tip of the arm 23, where the bucket or the like is normally attached, instead of the bucket or the like. Further, the GPS antenna 3 is placed on the upper surface of the leveling device 24, and the ultrasonic range finder 11, which is a distance measuring device, is hung vertically on the lower surface of the leveling device 24. It is arranged so as to be positioned vertically below.
【００１３】尚、前記走行機械１が測定地点を走行中に
前後方向及び左右方向へ傾斜した場合、或いは、前記ブ
ーム２２及びアーム２３を上下方向等へ操作した場合に
於いても、前記水平出し装置２４は水平姿勢を保つよう
に構成されている。而して、該水平出し装置２４の上面
及び下面に配設された前記ＧＰＳのアンテナ３及び超音
波距離計１１の姿勢は常に鉛直方向に保持される。It should be noted that even when the traveling machine 1 is tilted in the front-rear direction and the left-right direction while traveling at the measurement point, or when the boom 22 and the arm 23 are operated in the up-down direction, etc. The device 24 is configured to maintain a horizontal position. Thus, the attitudes of the GPS antenna 3 and the ultrasonic range finder 11 arranged on the upper and lower surfaces of the leveling device 24 are always maintained in the vertical direction.
【００１４】更に、前記走行機械１にＧＰＳの受信機４
が搭載され、該受信機４は制御部が設けられているコン
ピュータ（図示せず）に接続されている。そして、前述
した相対測位法が用いられるので、固定局２から送信さ
れる位置データの測位情報を受信するための受信アンテ
ナ２５が立設されてコンピュータへ接続されている。Further, a GPS receiver 4 is attached to the traveling machine 1.
Is mounted, and the receiver 4 is connected to a computer (not shown) provided with a control unit. Since the relative positioning method described above is used, the receiving antenna 25 for receiving the positioning information of the position data transmitted from the fixed station 2 is erected and connected to the computer.
【００１５】一方、固定局２にはＧＰＳのアンテナ６と
受信機７とを配置し、そして、既知点である該固定局２
から位置データの測位情報を発信する送信アンテナ２６
を立設して、夫々コンピュータ（図示せず）に接続され
ている。該固定局２のＧＰＳの受信機７が人工衛星２７
からの電波を受信して、前記ＧＰＳのアンテナ６の三次
元座標を得ると、前記コンピュータは直前に受信した三
次元座標と、該アンテナ６を予め正確に計測したときの
三次元座標との差異を位置データの測位情報として算出
する。そして、該位置データの測位情報を前記送信アン
テナ２６から走行機械１へ向けて連続的に送信する。On the other hand, the fixed station 2 is provided with a GPS antenna 6 and a receiver 7, and the fixed station 2 is a known point.
Transmitting antenna 26 for transmitting positioning information of position data from the
Are erected and are respectively connected to a computer (not shown). The GPS receiver 7 of the fixed station 2 is an artificial satellite 27.
When the three-dimensional coordinate of the GPS antenna 6 is obtained by receiving the radio wave from the computer, the computer determines the difference between the three-dimensional coordinate received immediately before and the three-dimensional coordinate when the antenna 6 is accurately measured in advance. Is calculated as the positioning information of the position data. Then, the positioning information of the position data is continuously transmitted from the transmitting antenna 26 to the traveling machine 1.
【００１６】そこで、前記走行機械１を用いて路盤レベ
ルを測定するときには、先ず、計測すべき路盤２８の計
測する地点の近傍へ前記走行機械１を移動する。そし
て、該走行機械１のブーム２２及びアーム２３等を操作
して、該アーム２３の先端部へ設けた前記ＧＰＳのアン
テナ３を路盤２８の計測地点Ｋ1 の上方へ移動し、位置
Ｋ2 にて固定する。このとき、該計測地点Ｋ1 と位置Ｋ
2 との距離は、前記超音波距離計１１が計測可能である
距離内とする。Therefore, when the roadbed level is measured using the traveling machine 1, first, the traveling machine 1 is moved to the vicinity of the point on the roadbed 28 to be measured. Then, the boom 22 and the arm 23 of the traveling machine 1 are operated to move the GPS antenna 3 provided at the tip end of the arm 23 above the measurement point K 1 of the roadbed 28 to the position K 2 . To fix. At this time, the measurement point K 1 and the position K
The distance from 2 is within the distance that the ultrasonic range finder 11 can measure.
【００１７】そして、前記ＧＰＳの受信機４はアンテナ
３が固定された位置Ｋ2 の三次元座標のデータを人工衛
星２７から受信して、前記コンピュターへ送る。一方、
固定局２の送信アンテナ２６から送られた位置データの
測位情報が、前記受信アンテナ２５にて受信されると、
該測位情報が前記コンピュータへ送られる。Then, the GPS receiver 4 receives from the artificial satellite 27 the data of the three-dimensional coordinates of the position K 2 where the antenna 3 is fixed and sends it to the computer. on the other hand,
When the positioning information of the position data sent from the transmitting antenna 26 of the fixed station 2 is received by the receiving antenna 25,
The positioning information is sent to the computer.
【００１８】斯くして、該コンピュータが位置Ｋ2 の三
次元座標のデータを前記測位情報に従い補正して、位置
Ｋ2 の三次元座標値Ｋ2 （Ｘ2 ，Ｙ2 ，Ｚ2 ）が算出さ
れる。更に、前記超音波距離計１１は計測地点Ｋ1 と前
記ＧＰＳのアンテナ３の位置Ｋ2 との距離を計測して、
該距離の計測値ｈを前記コンピュータへ送る。而して、
該コンピュータが位置Ｋ2 の三次元座標値Ｋ2 （Ｘ2 ，
Ｙ2 ，Ｚ2 ）と、計測地点Ｋ1 と位置Ｋ2 との間の距離
ｈとを得るので、前記位置Ｋ2 の三次元座標のＺ軸座標
値Ｚ2 から距離ｈを減ずることにより、前記計測地点Ｋ
1 の三次元座標値Ｋ1 （Ｘ2 ，Ｙ2 ，Ｚ2 −ｈ）を算出
できる。[0018] Thus to and the computer corrects the data of the three-dimensional coordinates of the position K 2 in accordance with the positioning information, calculating the three-dimensional coordinate values K 2 position K 2 (X 2, Y 2 , Z 2) is To be done. Furthermore, the ultrasonic range finder 11 measures the distance between the measurement point K 1 and the position K 2 of the GPS antenna 3,
The measured value h of the distance is sent to the computer. Therefore,
3D coordinates K 2 (X 2 of the computer the position K 2,
Y 2 , Z 2 ) and the distance h between the measurement point K 1 and the position K 2 are obtained. Therefore, by subtracting the distance h from the Z-axis coordinate value Z 2 of the three-dimensional coordinate of the position K 2 , The measurement point K
1 of the three-dimensional coordinate values K 1 (X 2, Y 2 , Z 2 -h) can be calculated.
【００１９】尚、測定されて算出された計測地点の三次
元座標のデータは、走行機械に搭載したコンピュータへ
保存する方式の他に、該三次元座標のデータを該走行機
械から無線等にて固定局へ送信することにより、固定局
でリアルタイムに測定値を得ることもできる。The data of the three-dimensional coordinates of the measurement points calculated and calculated can be stored in a computer mounted on the traveling machine, or the data of the three-dimensional coordinates can be wirelessly transmitted from the traveling machine. By transmitting to the fixed station, the fixed station can also obtain the measured value in real time.
【００２０】而して、本発明は、本発明の精神を逸脱し
ない限り種々の改変をなすことができ、そして、本発明
が該改変されたものに及ぶことは当然である。Therefore, the present invention can be variously modified without departing from the spirit of the present invention, and it is a matter of course that the present invention covers the modifications.
【００２１】[0021]
【発明の効果】この発明は、上記一実施例にて詳述せる
如く、路盤のレベルを測定するＧＰＳのアンテナを走行
機械のアームの先端部に配設して移動自在としたため、
計測する路盤の形状に妨げられることなく、前記ＧＰＳ
のアンテナが計測地点の上方へ位置決めされるので、計
測ができない地点を可及的に削減することができる。As described in detail in the above-mentioned embodiment, the present invention has a GPS antenna for measuring the level of the roadbed installed at the tip of the arm of the traveling machine so that it can move freely.
The GPS is not affected by the shape of the roadbed to be measured.
Since the antenna of is positioned above the measurement point, the number of points where measurement cannot be performed can be reduced as much as possible.
【００２２】又、前記ＧＰＳのアンテナの下部に距離計
測装置を設け、該距離計測装置にて路盤から該ＧＰＳの
アンテナまでの高さを直接計測できるようにしたので、
該路盤のレベルを極めて正確に測定できる。更に、例え
ば無線操縦できる走行機械に本発明の路盤レベル測定装
置を配設し、該路盤レベル測定装置の測定を開始及び終
了させる操作を遠隔操作できるように構成すれば、遠隔
地から走行機械を無線操縦にて路盤を計測することが可
能となるので、災害地等の立ち入り禁止区域内での出来
形測量等の路盤の計測を安全、且つ、正確に行うことが
できる等、正に、諸種の効果を奏する発明である。Further, since a distance measuring device is provided below the GPS antenna and the distance measuring device can directly measure the height from the roadbed to the GPS antenna,
The level of the roadbed can be measured very accurately. Furthermore, for example, if the roadbed level measuring device of the present invention is provided in a traveling machine that can be wirelessly controlled and the operation for starting and ending the measurement of the roadbed level measuring device is configured to be remotely controllable, the traveling machine can be operated from a remote location. Since it is possible to measure the roadbed by radio control, it is possible to measure safely and accurately the roadbed such as performance measurement in a restricted area such as a disaster area. It is an invention that produces the effect of.
【図１】本発明の一実施例を示し、そのブロック図。FIG. 1 is a block diagram showing an embodiment of the present invention.
【図２】路盤を計測している状態を示し、その解説図。FIG. 2 is an explanatory diagram showing a state of measuring the roadbed.
１ 走行機械 ３，６ ＧＰＳのアンテナ ５，８ 制御部 １１ 距離計測装置 ２３ アーム ２４ 水平出し装置 ２８ 路盤 1 Traveling Machine 3,6 GPS Antenna 5,8 Control Unit 11 Distance Measuring Device 23 Arm 24 Leveling Device 28 Roadbed
Claims (1)
置を配設して、該水平出し装置の上面にグローバル・ポ
ジショニング・システムのアンテナを載置するととも
に、下面に距離計測装置を垂設し、該アンテナの位置及
び高さの検出値に基づいて、該アンテナの鉛直下方の路
盤の位置データを演算する制御部を設けたことを特徴と
する路盤レベル測定装置。1. A leveling device is provided at a tip of an arm of a traveling machine, an antenna of a global positioning system is mounted on an upper surface of the leveling device, and a distance measuring device is vertically provided on a lower surface of the leveling device. The roadbed level measuring device is provided with a control unit that calculates position data of a roadbed vertically below the antenna based on detected values of the position and height of the antenna.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20572194A JPH0868847A (en) | 1994-08-30 | 1994-08-30 | Roadbed level measuring apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP20572194A JPH0868847A (en) | 1994-08-30 | 1994-08-30 | Roadbed level measuring apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0868847A true JPH0868847A (en) | 1996-03-12 |
Family
ID=16511591
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP20572194A Pending JPH0868847A (en) | 1994-08-30 | 1994-08-30 | Roadbed level measuring apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0868847A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10232131A (en) * | 1997-02-19 | 1998-09-02 | Kajima Corp | Travel-type real-time surveying device |
| JP2011157187A (en) * | 2010-02-01 | 2011-08-18 | Nippon Steel Corp | Raw material heap measuring system of raw material yard, raw material heap measuring method of raw material yard and computer program |
| CN103278135A (en) * | 2013-06-25 | 2013-09-04 | 俞斌 | Accurate laser-level detection system |
-
1994
- 1994-08-30 JP JP20572194A patent/JPH0868847A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10232131A (en) * | 1997-02-19 | 1998-09-02 | Kajima Corp | Travel-type real-time surveying device |
| JP2011157187A (en) * | 2010-02-01 | 2011-08-18 | Nippon Steel Corp | Raw material heap measuring system of raw material yard, raw material heap measuring method of raw material yard and computer program |
| CN103278135A (en) * | 2013-06-25 | 2013-09-04 | 俞斌 | Accurate laser-level detection system |
| CN103278135B (en) * | 2013-06-25 | 2015-06-17 | 俞斌 | Accurate laser-level detection system |
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