JPH09159450A - Land surveying system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain a land surveying system by which the actual landing point to a ground surface of an earth and sand treatment part can be displayed. SOLUTION: A detection means such as a GPS (global positioning system) antenna 13 or the like which outputs position data with reference to a ground surface is attached to an earth and sand treatment part at a civil engineering machine 11, and output data by the detection means is extracted when the prescribed part of the earth and sand treatment part is landed on the ground surface. In addition, a correction which corresponds to the actual attachment position of the detection means to the earth and sand treatment part is added to the output data, and land surveying data is obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a system for geodesicing by a civil engineering machine equipped with a GPS receiver.

[0002]

2. Description of the Related Art Conventionally, GPS (Global Positioning System) antennas have been installed before, during and after construction.
After the construction is completed, it is set at a predetermined point on the ground surface, three-dimensional coordinate position data for each point on this ground surface is extracted and geodetic. Based on this geodetic data, before and after construction,
I was trying to measure the terrain on the way. In this system, the geodetic staff grips a GPS antenna attached to the tip of the pole, stands the pole at a predetermined point on the ground surface, and extracts the three-dimensional coordinate position of the GPS antenna when the pole was built. In this case, fixed station GP
The S antenna is provided, and the GPS antenna which is substantially erected on the ground surface by the geodetic person outputs the data of the three-dimensional coordinate position based on the position of the fixed station side antenna. In this way, if the three-dimensional position data obtained for each point and the predetermined correction for the length of the pole are displayed on the computer monitor as geodetic data, the topography of the ground surface can be accurately obtained. It is possible to know, and moreover, the progress of the construction can be known quickly, and it is possible to evaluate whether the construction is being carried out correctly.

[0003]

However, in the past, the geodetic person had to grasp and carry the pole to carry out the geodetic survey, so that the construction area is large and it is not so light when the construction ground is undulating. It was a heavy burden for the person in charge to perform geodetic measurement with a pole that was not present. Moreover, it is difficult or difficult to perform geodetic surveys in places near the volcano site, on the sea floor, and in extremely cold regions, where it is impossible or impossible for personnel to go to such places due to legal regulations.

The present invention has been made to solve the above-mentioned problems, and it is not necessary for a geodetic person to carry a pole having a GPS antenna, and the construction area is large, and even in a place where the undulations are severe, Furthermore, even in places where it is difficult for humans to approach, such as at the site of a volcano, it will be possible to perform geodetic measurement without difficulty.

[0005]

In the geodetic system of the present invention according to claim 1, a detecting means such as a GPS antenna 13 for outputting position data with respect to the ground surface is attached to the earth and sand processing section of the civil engineering machine 11, and The output data of the detection means when the predetermined portion of the processing unit is grounded on the ground surface is extracted, and the output data is corrected by a correction corresponding to the actual mounting position of the detection means to the sediment processing unit. It was obtained as geodetic data.

In the geodetic system of the invention according to claim 2, the bucket upper surface portion Ba of the backhoe, which is the earth and sand treatment section of the civil engineering machine 11, is grounded to the ground, and the vertical pole to the bucket B in this grounded state. GP that outputs position data with respect to the ground surface at the tip of this pole
The detection means such as the S antenna 13 is attached.

In the geodetic system according to the third aspect of the present invention, a weight is provided at the base end of the pole via a support rod projecting downward, and the base end of the pole can freely rotate the pole in the left-right and front-back directions. It is attached to a universal holding device that is supported by.

[0008]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. 1, FIG. 2 and FIG. 3 are views showing an embodiment of a geodetic system according to the present invention, FIG. 4 is a configuration diagram of a computer, FIG. 5, FIG. 6 and FIG. 7 are operation explanatory views, and FIG. In each drawing, reference numeral 11 is a radio controlled remote control type civil engineering machine comprising a backhoe, and 12 is a monitoring station. The civil engineering machine 11 constitutes a mobile station including a backhoe, for example,
S antenna 13 and GPS receiver 14 (see FIG. 3)
Is installed, and this receiver 14 is approximately 22000 km
US satellites in the sky (currently 24 satellites available)
Of the GPS antenna 13 by analyzing the code information by the computer 15 (actually, the back surface portion Ba of the bucket B by the processing described later).
Is detected in real time as three-dimensional coordinate data.

In the first embodiment, as shown in FIG. 3, separately from the receiver 14 mounted on the civil engineering machine 11, a fixed station 40 provided on the ground as shown in FIG.
And a GPS receiver 17 are installed. The receiver 1
The radio signal of the artificial satellite received at 7 is transmitted by the wireless transmitter 18
From the antenna 18a to the antenna 1 of the civil engineering machine 11.
It is sent to the civil engineering machine 11 via 9a and received by the wireless receiver 19 mounted on the civil engineering machine 11. And G
Based on the code information received by the PS receivers 14 and 17, the computer 15 detects the accurate three-dimensional coordinate position of the GPS antenna 13 mounted on the civil engineering machine 11.

Further, a magnetic azimuth sensor or a gyrocompass (not shown) is mounted on the civil engineering machine 11, and the azimuth (traveling direction) of the vehicle body of the civil engineering machine 11 is detected based on the rotation angle of the magnetic azimuth sensor. . The GPS antenna 13
Position data of the wireless receiver (transceiver) 22 from the antenna 21a via the antenna 22a of the monitoring station 12,
The data sent from the civil engineering machine 11 is received, and this data is processed by the computer 23 which is the control unit shown in FIG. Data of the construction schedule plan is recorded in advance in the memory of the computer 23, and based on this data, the monitor 24 in the monitoring station 12 is based on the output of the construction schedule management means 23a of the computer 23 of FIG. The planned construction plan 24a as shown in FIG. 5 is displayed. The data of the three-dimensional coordinate position of the GPS antenna 13 is detected by the GPS antenna position detecting means 23b in the computer 23, and the GPS antenna position detecting means 2 is detected.
Bucket upper part position detecting means 23c for processing the signal of 3b
Accordingly, the position display portion 13a indicating the position of the back surface portion Ba of the bucket B is displayed. A click switch 12k shown in FIG. 4 is provided in the monitoring station 12, and the click switch 12k is turned on when the instep surface Ba is in contact with a predetermined point P1 on the ground surface, thereby the geodetic data managing means 23d. As shown in FIG. 5, the point P1 of the ground contact position is displayed (marked with Δ) on the basis of the output of the above, and the three-dimensional coordinate position data (x
1, y1, z1) can be picked up and displayed as a display F on the screen near the point P1. Other points P2
Similarly, when grounded at P3, the points P2, P3
At the same time, coordinate position data is picked up and displayed in the vicinity thereof. The coordinate position data F for these points P1 to P3 are stored and saved in a table as shown in FIG. In FIG. 5, the construction schedule planning management means 23a for displaying the construction schedule planning drawing 24a on the monitor 24 can display the XY screen of the construction schedule planning drawing 24a as shown in the figure. A normal CAD system may also be used in which the cross-sectional shape of the line segment connecting these two points can be displayed by designating.

As shown in FIG. 2, the civil engineering machine 11 is equipped with a surveillance camera 11f for taking an image of the entire vicinity of the bucket B, and the screen imaged by the surveillance camera 11f is a surveillance monitor provided on the surveillance station 12 side. It is sent to 12p and displayed. As the monitoring station 12, a large vehicle is used in the first embodiment as shown in FIG. 1 so as to accommodate a plurality of workers and control devices. The civil engineering machine 11 in the construction site can be operated based on the radio control unit outside. In the case shown in FIG. 1, the work site can be, for example, near the volcano site. Since the traveling road J is provided in the vicinity of such a site and the monitoring station 12 can travel on the traveling road J, it can travel on the traveling road J and easily evacuate to a safe area in case of volcanic activity.

FIGS. 8A and 8B show the GP to the bucket B.
It is a figure which shows the attachment state of the S antenna 13, and in the figure, the bucket B supported by the arm 60 and the rod 61.
Is a state in which the upper surface part Ba is in contact with the ground surface,
A vertical pole 62 is fixed to a side surface 64 via a bracket 63, and a GPS as a detecting means is attached to the tip of the pole 62.
The antenna 13 is attached.

In this case, the bucket upper part position detecting means 23c in the computer 23 is the GPS antenna position detecting part corresponding to the coordinate position data of the actual mounting position of the antenna 13 with respect to the upper surface part Ba which is measured and obtained in advance. Data offset from the three-dimensional coordinate position data of the GPS antenna 13 obtained in 23b is output as the position data of the back surface part Ba, and the position display unit 1 uses this position data.
3a is displayed. That is, normally the GPS antenna 1
Although the three-dimensional position coordinate data of No. 3 is output and the position data of the upper surface part Ba is not output, the GPS antenna 1
The coordinate position data of No. 3 is corrected based on the coordinates of the mounting position of the GPS antenna 13, and the three-dimensional coordinate position data of the upper surface part Ba is indexed and output, whereby the points corresponding to the upper surface part Ba are displayed on the monitor 24. 13a is displayed. Further, while observing the situation in the vicinity of the bucket B on the monitor 12p, the civil engineering machine 11 is operated by a radio control, and after adjusting the bucket B by swinging it in the front-back, left-right, and rotation directions,
The bucket B is lowered, and the upper surface portion Ba thereof is shown in FIGS.
As shown in (3), when the user touches a predetermined geodesic point P1 on the ground surface, by turning on the click switch 12k, the three-dimensional position coordinate data F corresponding to the geodesic point P1 can be displayed together with the point P1.

In this case, by clicking the planning point Pa near the geodesic point P1 in the planned construction plan 24a with the cursor to display the three-dimensional position coordinate data Fm, these three-dimensional position coordinate data F, Three
Based on the dimensional position coordinate data Fm, the amount of deviation of the actual work completion plan from the plan can be determined, and the work can be managed.

Geodesic points P2, P as the construction progresses
If you perform the same measurement in 3, you can grasp the progress of the construction.
You can know the progress of the construction. Moreover, in the first embodiment, the geodetic points P1, P2, P3 where the geodetic completion is completed.
Since points are displayed on the screen, it is possible to prevent duplication of geodetic points.

In the above structure, the operation is as follows. That is, as shown in FIG. 5, in the state where the construction schedule plan 24a is displayed on the monitor 24, the position display portion 13a corresponding to the upper surface portion Ba of the bucket B is displayed on the monitor 24. Now, for example, when it is desired to know the geodetic data of the position of the geodetic point P1, the civil engineering machine 11 is driven to the vicinity of the geodetic point P1. This operation is performed while observing the position display portion 13a in the monitor 24 or observing the vicinity of the bucket B of the civil engineering machine 11 (in front of the civil engineering machine 11) displayed on the monitoring monitor 12p. When the vehicle is not far away, you may drive while watching the civil engineering machine 11 directly from the vehicle of the monitoring station 12. Next, the bucket B of the civil engineering machine 11 is monitored by the monitoring monitor 12p.
The geodesic point P1 is searched while looking at the neighborhood (in this case, since the geodesic point P1 does not have any mark, it is searched for while looking at the terrain on the monitor 12p), and the bucket B is operated by the radio control. The bucket B is lowered with the upper surface facing downward and stopped at the grounding position of the geodesic point P1, and the click switch 12
Click k to take in the three-dimensional coordinate position data at the position of this geodetic point P1 and
At the same time, this data F is displayed in the vicinity thereof. This 3
It is possible to know from the dimensional coordinate position data F whether or not the sediment processing (refilling in this example) has been performed by the height and amount as planned.

If necessary, the designated point Pa in the planned construction plan 24a corresponding to the geodetic point P1 is designated by a cursor outside the figure and clicked to display the three-dimensional position coordinate data Fm. By comparing, it is possible to know how much the finished shape of the geodesic point P1 deviates from the plan. If such an operation is performed every time a certain period of work is completed, for example, at P2 and P3, the progress status of the work can be determined. Moreover, in the first embodiment, the geodetic data management unit 23d is used to display the geodetic points P1, P2, P3 of the geodetic completion on the monitor 24, so that the geodetic points can be prevented from being duplicated. .

Although it has been described that the three-dimensional coordinate position of the ground contact position of the upper surface portion Ba is displayed near each of the geodesic points P1, P2, P3, displaying this makes the display contents of the screen complicated. In such a case, the table shown in FIG. 7 may be displayed on a screen different from that of the planned construction plan 24a or in a separate window on the same screen as the planned construction plan. In addition, for each construction plan, the planning point P
Although the geodetic points P1, P2, P3 corresponding to a have been described as geodetic points, as shown in FIG. 9, a plurality of points P1a are geodesiced before, after, and during construction, and the points P1a are displayed, You can know the finished shape (terrain) W. In this way, by combining the geodetic points described above according to the purpose, it is possible to accurately know the finished product, the progress, and the like.

As shown in FIG. 9, when performing geodetic measurement at a plurality of locations, the planned geodetic point display means 23e in the computer 23 is operated based on the input of a key operation and a mouse operation, and the geodetic planned points Ma and Mb are preliminarily set. ...
. May be displayed on the screen of the monitor 24 one by one. According to this, the planned geodetic point Ma on the screen,
The civil engineering machine 11 is guided so as to match Mb, Mc, ... And the position display portion 13a is displayed on the planned geodesic points Ma, Mb ,.
When the click switch 12k is clicked after matching with Mc ..., the geodesic planned points Ma, Mb, Mc
... 3D position coordinate data can be obtained for each.

In this case, the planned geodetic point display means 23
A division display means 23f is provided in e. As shown in FIG. 10, when two geodesic points Ma and Me are displayed based on the input of key operation and mouse operation,
A straight line connecting the geodesic planned points Ma and Me is divided into, for example, four, and another geodesic planned point Mb is placed at this division point.
It has a function of displaying ~ Md. According to this, since the geodesic planned points Ma to Me can be displayed at points where the straight line connecting the two points is automatically divided at equal intervals, the time and effort to display the geodesic planned points Ma to Me at equal intervals one by one can be saved. It becomes possible to omit. The number of divisions is selectable.

In addition to the function of dividing a straight line as described above, the division display means 23f is selected and switched based on the control of a key operation or the like. The arc line connecting the points Ma and Me is divided into, for example, four, and the planned geodetic point M is set at the divided points.
It also has a function of displaying b to Md. According to this, planned geodetic points Ma to Me can be freely set on the arc line, and by combining with the linear display divided display shown in FIG. 10, various planned geodetic points can be set.

As shown in FIG. 12, FIG. 13, FIG. 14, and FIG. 15, the weight holding rod 62 is downward from the pole 62.
a is projected, and the weight 62b is fixed slightly above the lower end of the weight holding rod 62a.
It is held by the axis horizontal holding device 62c. 2-axis horizontal holding device 6
2c is a bearing 62d for rotatably holding the pole 62,
62d is supported by a frame 62e, and this frame 62e
Is supported by a bearing 62h extending in a direction perpendicular to the bearing 62d, so that the pole 62 is supported by the bearings 62d and 62h.
It is rotatable in both x and y directions (front and rear, left and right) via. The frame 62e is fixed to the side surface 64 of the bucket B via the bracket 62f.

With such a structure, the pole 62 can be held vertically by the weight of the weight 62b regardless of the inclination of the bucket B on the ground. When the bucket B lands, if the tip 62g of the weight holding rod 62a penetrates into the ground, the height of the antenna becomes constant. The base of the pole 62 is not limited to being held by the biaxial horizontal holding device 62c, but may be held by a spiral spring.

As described above, this newly developed geodetic system is used in civil engineering machinery 11 equipped with a GPS receiver.
It is possible to grasp the exact position of the in real time through a computer at a distant place, and it is possible to obtain a great result when it is adopted for the debris flow stone removing work at a volcanic site.

Normally, the unmanned construction area of the volcanic site construction is closed to the public all day, and it is impossible to manually measure the finished terrain. For this reason, a GPS receiver is mounted on an unmanned civil engineering machine (for example, a backhoe) operated by radio control, and the position data is wirelessly transmitted while the unmanned civil engineering machine is moved, so that the computer of the mobile station can perform measurement in real time. it can.

In ordinary real-time kinematic surveying, positioning data is output once a second continuously, resulting in enormous positioning data, which requires a great deal of labor for data analysis. Since it is an interactive type with two-way communication and it is possible to measure only the data of the required place, it is necessary to select and measure the change points of the terrain such as the shoulders and the hips necessary for the finished shape survey. You can

Further, at this time, if an omnidirectional specific low-power radio is used for data communication and a GPS antenna is installed in a bucket of a civil engineering machine (backhoe), the bucket can be freely moved by utilizing the swinging / extending function of the boom. It can be moved to and can accurately capture the changing point of the terrain.

With this system, the existing topographic survey before the start of construction and the finished topographic survey during construction are carried out, and the obtained finished work information is imported into the earthwork management system to calculate the quantity of finished products and By outputting cross-sectional views and contour maps, it is possible to achieve great results in excavation planning and volume management. The present invention is not limited to backhoes and can be applied to shovel loaders and wheel excavators.

[Brief description of the drawings]

FIG. 1 is a diagram showing an embodiment of a geodetic system of the present invention.

FIG. 2 is a diagram showing an embodiment of a geodetic system of the present invention.

FIG. 3 is a configuration diagram showing an embodiment of a geodetic system of the present invention.

FIG. 4 is a configuration diagram showing a computer of an embodiment of a geodetic system of the present invention.

FIG. 5 is a diagram showing a monitor screen of one embodiment of the geodetic system of the present invention.

FIG. 6 is a diagram showing a monitor screen of an embodiment of the geodetic system of the present invention.

FIG. 7 is a diagram showing a monitor screen of one embodiment of the geodetic system of the present invention.

FIG. 8 is a diagram showing a mounting state of the GPS antenna of the bucket according to the embodiment of the geodetic system of the present invention.

FIG. 9 is a diagram showing geodetic data of an embodiment of the geodetic system of the present invention.

FIG. 10 is a diagram showing geodetic data of an embodiment of the geodetic system of the present invention.

FIG. 11 is a diagram showing geodetic data in one embodiment of the geodetic system of the present invention.

FIG. 12 is an explanatory diagram illustrating an example of attaching a pole to a bucket in the geodetic system of the present invention.

FIG. 13 is an explanatory view illustrating a state in which the pole is kept vertical in the geodetic system of the present invention.

FIG. 14 is an explanatory view illustrating a specific example of a mechanism for keeping the pole vertical in the geodetic system of the present invention.

FIG. 15 is an explanatory diagram illustrating a specific example of a mechanism for keeping the pole vertical in the geodetic system of the present invention.

[Explanation of symbols]

 11 Civil Engineering Machinery 11f Surveillance Camera 12 Surveillance Station 12k Click Switch 12p Surveillance Monitor 13,16 GPS Antenna 14,17,19 Receiver 15,23 Computer 18 Radio Transmitter 18a, 19a, 22a Antenna 22 Radio Receiver 23a Construction Schedule Management Means 23b GPS antenna position detection means 23c Bucket instep position detection means 23d Geodesic data management means 23e Geodesic planned point display means 23f Divided display means 24 Monitor 24a Construction schedule plan 40 Fixed station 50 Mobile station 60 Arm 61 Rod 62 Pole 63 Bracket 64 Side B Bucket Ba Back J Road

Claims (3)

[Claims] 1. A G for outputting position data with respect to the ground surface
A detection means such as a PS antenna is attached to the earth and sand treatment section of the civil engineering machine, and output data of the detection means when a predetermined portion of the earth and sand treatment section is grounded is extracted, and the output data is A geodetic system characterized in that correction is made corresponding to an actual mounting position of the detecting means to the earth and sand processing section to obtain geodetic data. 2. The sediment treatment section is a backhoe bucket, and the instep surface of the bucket is grounded to the ground. A vertical pole is provided for the grounded bucket, and the detection means is provided at the tip of the pole. The geodetic system according to claim 1, further comprising: 3. A weight is provided at the base end of the pole via a support rod projecting downward, and the base end of the pole is attached to a universal holding device that supports the pole so as to be rotatable in the left-right and front-back directions. The geodetic system according to claim 2, wherein: