JPH0921635A - Survey robot system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten the survey time and improve the workability, by calculating the photodetecting time interval of turning laser lights of photosensors with a photodetecting time interval-measuring means. SOLUTION: Turning laser lights turning within a horizontal plane are sequentially input to three photosensors 42. A photodetecting time interval-measuring means 46b calculates the photodetecting time interval of laser lights of sensors 42, and an area-judging means 46c detects, from the photodetecting time interval, at which of areas divided in the height direction of the sensors 42 a laser light 20 is detected. Moreover, a buzzer 44 generates an identification signal different in every divided area based on output of the judging means 46c. Which area of the sensors 42 the laser light hits is easily confirmed from a lighthouse in accordance with the identification signal generated from the buzzer 44 of a moving robot, without requiring a laser level sensor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surveying robot system for performing level surveying of an underlayer using a turning laser beam.

[0002]

2. Description of the Related Art Conventionally, as shown in FIGS. 4 to 7, a surveying robot system of this type has been installed at a reference point on a ground layer 1 such as a road surface or a field having a height difference such as a drainage gradient. The rotating laser light 3 emitted from the lighthouse 2 is supplied to the underlayer 1.
From the light receiving time information obtained by receiving light by at least three optical sensors 5 mounted on the mobile robot 4 autonomously traveling above and the light receiving position information on the optical sensors 5 obtained by the output from each of these optical sensors 5. , Level measurement of the underlayer 1 is performed.

In this case, while the mobile robot 4 moves while moving independently, the turning laser beam 3 is controlled by a laser level sensor so that the turning laser beam 3 does not fall outside the measurement range of the optical sensor 5. The position of the optical sensor 5 is confirmed. That is, in the case of FIG.
As shown in FIG. 5, the height of the lighthouse 2 (the height of the laser turning surface) is adjusted to be low so that the turning laser beam 3 hits the lower side of the optical sensor 5 in consideration of the inclination state of the underlayer 1. In the case of FIG. 6, as shown in FIG. 7, the height of the lighthouse 2 is adjusted high so that the orbiting laser beam 3 hits the upper side of the optical sensor 5 in consideration of the inclination state of the underlayer 1. This is done, for example, by manually adjusting the opening of the tripod below the lighthouse 2.

Incidentally, such a technique is described in, for example, "Construction Robot Symposium Paper, pp. 345-678", 1993.
It was disclosed to Sekisui Chemical Co., Ltd. on October 17, 2010.

[0005]

However, the present inventors have found that the surveying robot system described above has the following problems. That is, the work for confirming which position of the optical sensor 5 the turning laser beam 3 hits is carried out by the laser level sensor on the side of the mobile robot 4, while the height adjustment of the lighthouse 2 is performed away from the mobile robot 4. Since it is necessary to perform the operation on the side of the lighthouse 2 that is located, a worker is arranged on each of the mobile robot 4 side and the lighthouse 2 side, or the worker moves the mobile robot 4
It is necessary to go back and forth between the side and the lighthouse 2 side. Therefore, labor and time are required and workability is reduced.

The object of the present invention is to solve the above-mentioned problems.
It is an object of the present invention to provide a surveying robot system that can shorten the surveying time, reduce the surveying labor, and improve the workability. The above and other objects and novel features of the present invention will become apparent from the description of the present specification and the accompanying drawings.

[0007]

The outline of the invention disclosed in the present application will be briefly described as follows.
The surveying robot system of the present invention is installed at one reference point on the underlayer and emits a turning laser beam that turns in a horizontal plane at a predetermined turning angular velocity and the turning laser beam is emitted in a specific direction. At this time, a lighthouse having a transmitter for transmitting an omnidirectional signal, and at least 3 for outputting a signal including information on an irradiation position and irradiation time of the turning laser light.
The mobile robot has an optical sensor and a receiver that receives the omnidirectional signal, and is a mobile robot that autonomously travels on the underlayer. The reception time of the turning laser light of the optical sensor and the omnidirectionality In a surveying robot system that measures the level of the underlayer from the difference between the signal reception time and the light receiving position of the turning laser light on the optical sensor, calculates the light receiving time interval of the turning laser light between the optical sensors. From the light-receiving time interval measuring means to, the region determination means for determining in which region the turning laser light is received in the height direction of the optical sensor, from the light-receiving time interval,
An identification signal generating means for generating an identification signal different for each of the divided areas according to the output of the area determining means is provided.

[0008]

[Operation] According to the above-mentioned means, the light receiving time interval measuring means calculates the light receiving time interval of the turning laser light between the optical sensors, and the area determining means determines the turning laser light from the optical sensor based on the light receiving time interval. It is determined which area is divided in the height direction of the received light. Further, the identification signal generation means generates different identification signals for each divided area according to the output of the area determination means. Therefore, the turning laser light is emitted from the optical sensor by the identification signal generated by the identification signal generation means of the mobile robot. An operator on the lighthouse side can easily recognize which area is hit. Therefore, the height of the lighthouse can be easily set by only the lighthouse-side operator.

[0009]

BEST MODE FOR CARRYING OUT THE INVENTION

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. Here, FIG. 1 is a schematic configuration diagram of a surveying robot system according to one embodiment of the present invention, FIG. 2 is an explanatory diagram of an optical sensor of the surveying robot system according to one embodiment of the present invention, and FIG. The block diagram of the signal processor of the surveying robot system which concerns on an Example is shown. Also, components having the same function are denoted by the same reference symbols throughout the drawings for describing the embodiments, and the repetitive description thereof will be omitted.

In FIG. 1, the surveying robot system is
A swirling laser beam 2 which is erected at one measurement reference point on the underlayer 10 and rotates or scans in a horizontal plane at a predetermined swiveling angular velocity.
It is composed of a lighthouse 30 that emits 0 and an autonomous mobile mobile robot 40 that moves on the underlayer 10. Lighthouse 3
0 has a light emitter 31 that emits the turning laser light 20 and a transmitter 32 that emits an omnidirectional reference azimuth signal when the turning laser light 20 is emitted in a specific direction.

The mobile robot 40 is mounted on the upper part of the carriage 41.
Three optical sensors 42 that receive the turning laser light 20 and output a signal including information on the irradiation position and the irradiation time of the turning laser light 20 are mounted, and a side direction of the carriage 41 receives the reference direction signal. A receiver 43 and an identification signal generating means for issuing an identification signal, for example, a buzzer 44 are mounted respectively, and traveling wheels 45 are pivotally mounted on the lower portion of the carriage 41.

A signal processor 46 for detecting the light receiving position of the turning laser beam 20 is provided inside the carriage 41.
A calculation unit (not shown) for internally calculating the level of the underlayer 10 from the difference between the time when the turning laser light 20 is received by the optical sensor 42 and the time when the reference azimuth signal is received and the position where the turning laser light 20 is received is internally provided. . As shown in FIG. 2, the three photosensors 42 are formed into an N-shape as a whole, and are divided into regions A, B, and C according to their heights.
2 is a range for identifying the area above 2, and area B is a range for identifying the area below photosensor 42.

As shown in FIG. 3, the signal processor 46 includes a light receiving circuit 46a individually connected to each optical sensor 42, a light receiving time interval measuring means 46b to which these light receiving circuits 46a are respectively connected, and a buzzer 44. The turning laser light 20 is connected to the areas A, B, C of the optical sensor 42 depending on the light receiving time.
Area determination means 4 for determining which area of the
6c.

Next, the operation of the surveying robot system thus constructed will be described. First, the turning laser light 20 turning in a horizontal plane sequentially enters the three optical sensors 42. With respect to the orbiting laser light 20 sequentially incident on the three optical sensors 42, the light receiving time interval measuring means 46b measures the light receiving time intervals t ₁ and t ₂ . The area determination means 46c calculates t ₁ / t ₂ , which is the time ratio of the light receiving time intervals t ₁ and t ₂ , and determines which of the areas A, B and C the value corresponds to.
For example, when the width w of the N-shaped sensor is 500 mm, the length h of the A region and the B region is 10 mm, and the length of the C region is 380 mm, the time ratio t ₁ / t ₂ and the respective regions A, B,
The relationship of C is as shown in Table 1 below.

[0015]

[Table 1]

Therefore, the area determining means 46c refers to the above table 1 and, based on the time ratio t ₁ / t ₂ , each area A, B, C.
Determine which area of the area. Based on the determination result, the buzzer 44 emits different audible sounds as the identification signal for each of the areas A, B, and C. At this time, the areas A, B, and C are identified by the difference in the intermittent (on / off time) of the buzzer sound, as shown in Table 2 below. If even one of the three optical sensors 42 does not receive the turning laser light 20, it is regarded as outside the sensor and the buzzer 44 does not sound.

[0017]

[Table 2]

Thereafter, the height of the lighthouse 30 is adjusted based on the light receiving position information of the optical sensor 42 and the inclination state of the underlayer 10, and the light receiving time of the turning laser light 20 of the optical sensor 42 and the reception of the reference azimuth signal. Based on the difference from the time and the light receiving position of the turning laser light 20 on the optical sensor 42, the level measurement of the underlayer 10 is performed. Thus, according to the present embodiment,
The light receiving time interval measuring means 46b calculates the light receiving time interval of the turning laser light 20 between the optical sensors 42, and the area determining means 4
6c determines from which light receiving time interval the turning laser light 20 is received in which of the areas A, B, C divided in the height direction of the optical sensor 42. Further, the buzzer 44 outputs the divided areas A, B, and
Since a different identification signal is generated for each C, the mobile robot 4
With the identification signal emitted from the buzzer 44 of 0, it is possible to easily confirm on the lighthouse 30 side which region A, B, C of the optical sensor 42 the turning laser light 20 hits, without the need for a laser level sensor. It

As described above, the invention made by the present inventor is
Although the present invention has been specifically described based on the embodiments, it goes without saying that the present invention is not limited to the embodiments and various modifications can be made without departing from the scope of the invention.
In the present embodiment, the buzzer 44 is used as the identification signal generating means, but the identification signal generating means is not limited to this and may be any means that can be identified by the operator. In the case where the lamp or the operator carries a wireless device, Alternatively, wireless radio waves may be used.

Further, the identification signal generating means such as the buzzer 44 is operated during the automatic measurement of the underlayer 10 to detect an abnormality such as when the turning laser light 20 is out of the optical sensor 42 or when the lamp of the lighthouse 30 runs out of battery. It can also be useful.

[0021]

The effects obtained by the invention disclosed in the present application will be briefly described as follows.
According to the present invention, the light receiving time interval measuring means calculates the light receiving time interval of the turning laser light between the optical sensors, and the area determining means determines the turning laser light in the height direction of the optical sensor from the light receiving time interval. It is determined in which divided area the light is received. Further, the identification signal generation means generates different identification signals for each divided area according to the output of the area determination means, so that the height of the lighthouse is adjusted only on the lighthouse side based on the identification signal. Therefore, it is possible to reduce the work effort required to adjust the height of the lighthouse and to reduce the work time by only changing the software, and thus it is possible to improve the workability.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of a surveying robot system that is an embodiment of the present invention.

FIG. 2 is an explanatory diagram of an optical sensor of the surveying robot system that is an embodiment of the present invention.

FIG. 3 is a block diagram of a signal processor of a surveying robot system that is an embodiment of the present invention.

FIG. 4 is a diagram illustrating height adjustment of a lighthouse in a conventional surveying robot system.

FIG. 5 is a diagram illustrating height adjustment of a lighthouse in a conventional surveying robot system.

FIG. 6 is a diagram illustrating height adjustment of a lighthouse in a conventional surveying robot system.

FIG. 7 is a diagram illustrating height adjustment of a lighthouse in a conventional surveying robot system.

[Explanation of symbols]

 10 Underlayer 20 Swirling laser light 30 Lighthouse 31 Light emitter 32 Transmitter 40 Mobile robot 41 Carriage 42 Optical sensor 43 Receiver 44 Buzzer 45 Wheel 46 Signal processor 46a Light receiving circuit 46b Light receiving time interval measuring means 46c Area judging means A, B , C area

Claims (1)

[Claims] 1. An emitter, which is installed at one reference point on the underlayer and emits a turning laser beam that turns in a horizontal plane at a predetermined turning angular velocity, and when the turning laser beam is emitted in a particular direction, A lighthouse having a transmitter for transmitting a directional signal, at least three optical sensors for outputting a signal including information on the irradiation position and irradiation time of the turning laser light, and a receiver for receiving the omnidirectional signal are provided. A mobile robot autonomously traveling on the underlayer, the difference between the reception time of the turning laser light of the optical sensor and the reception time of the omnidirectional signal, and the turning laser light on the optical sensor. In a surveying robot system for performing level measurement of the underlayer from the light receiving position of the underlayer, and a light receiving time interval measuring means for calculating a light receiving time interval of the turning laser light between the respective optical sensors; From the interval, the turning laser light, the area determination means for determining in which area is divided in the height direction of the optical sensor, and the output of the area determination means, for each of the divided areas A surveying robot system, comprising: identification signal generating means for generating different identification signals.