JPH10260039A - Surveying equipment for gps - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure GPS even when a tall obstruction such as a forest exists around an observation point. SOLUTION: In the surveying equipment 1 for GPS, an antenna attaching body 4 which has a GPS antenna 3 is fixed to the top of a boom 2 through a connecting mechanism 5 which contains built-in servo-motors 8, 10 as rotation driving devices. The antenna attaching body 4 includes a positioning laser 12, a light wave range finder 13, and two-axial inclinometers 14, 15 which measure attitude of the antenna attaching body 4, and the connecting mechanism 5 has a built-in controller 18 which controls driving of servo-motors 8, 10 using data measured by two-axial inclinometers 14, 15.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a GPS surveying instrument used in so-called GPS surveying.

[0002]

2. Description of the Related Art A positioning system capable of determining its own position by receiving a radio signal from a GPS satellite has been developed for the purpose of navigation (navigation support) of a moving object such as an aircraft and providing time information. However, it is now widely used in the field of surveying.

[0003] In particular, GPS surveying using the interferometric positioning method can determine the relative positional relationship between two points with high accuracy, does not require line-of-sight between observation points, is not affected by the weather, Due to its features such as the ability to observe over very long distances, it has attracted much attention as an innovative surveying method.

[0004]

Here, when performing a GPS survey, as described above, the observation points do not need to be able to see each other, but, of course, the distance between the GPS satellites and each observation position is not limited. There is a restriction that there must be no obstacles.

[0005] For this reason, for example, even if it is attempted to measure a point located between forests by GPS, trees and forests become obstacles and cannot receive radio waves from GPS satellites. As a result, GPS surveying becomes impossible. Problem.

The present invention has been made in view of the above circumstances, and provides a GPS surveying instrument capable of performing GPS surveying even when a tall obstacle such as a forest exists around an observation point. The purpose is to:

[0007]

In order to achieve the above object, a GPS surveying instrument according to the present invention has an antenna mounted with a GPS antenna, a positioning laser and an optical distance meter. And a connecting mechanism for connecting the antenna mounting body to an ascending / descending part such as an aerial work vehicle, the connecting mechanism is configured such that the irradiation direction of the positioning laser and the distance measuring direction of the optical distance meter are vertically downward. , So that the posture of the antenna mounting body can be held freely.

Further, in the GPS surveying instrument of the present invention, a spherical convex surface is provided on a lower surface of the antenna mounting body, and the spherical convex surface is mounted on a spherical concave surface formed in the coupling mechanism, whereby the antenna mounting body is mounted. The antenna is slidably supported by the spherical concave surface, and a weight for holding a posture is provided below the antenna mounting body.

Further, in the GPS surveying instrument of the present invention, a rotation driving means for rotating the antenna mounting body around two axes which are not parallel to each other is provided in the coupling mechanism, and the attitude measuring device mounted on the antenna mounting body is provided. And a control means for controlling the driving of the rotation driving means using the measurement data of the means.

[0010] In the GPS surveying instrument of the present invention, one end of the connection mechanism is connected to an ascending / descending portion such as an aerial work vehicle. Then, the elevating part of the aerial work vehicle or the like is raised to such a height that trees and forests standing around the point where the GPS survey is performed do not become obstacles.

At this time, in parallel with or before or after the ascending operation of the GPS surveying device, the positioning of the GPS surveying device and the survey points on the ground is performed. That is, the positioning laser provided on the antenna mounting body is operated to irradiate the laser light, and the horizontal position of the GPS surveying instrument is adjusted so that the laser light is irradiated to the surveying point.

Here, since the position of the antenna mounting body to which the positioning laser is mounted is held by the connecting mechanism so that the irradiation direction of the laser is directed vertically downward, the laser beam emitted from the positioning laser is Will always be illuminated vertically downward regardless of the position of the ascending and descending parts of the aerial work vehicle and the coupling mechanism, and the horizontal coordinate component of the survey point is
It becomes equal to the horizontal coordinate component of the laser beam irradiation position.

When the positioning is completed, the vertical distance between the antenna mounting body and the observation point is measured by a lightwave distance meter, and the antenna installation position is measured by using the GPS radio wave received by the GPS antenna. Then, the horizontal coordinate component at the observation point on the ground surface is calculated using the horizontal coordinate component at that position, and the vertical coordinate at the observation point is obtained by subtracting the vertical distance measured by the lightwave distance meter from the vertical coordinate component at the position. Calculate the components.

Any type of positioning laser or lightwave distance meter can be used, and a laser having both functions may be used.

The antenna mounting body may be of any structure as long as the GPS antenna, the positioning laser and the optical distance meter can be integrally fixed.

The connecting mechanism may be any as long as it can maintain the attitude of the antenna mounting body so that the irradiation direction of the positioning laser and the distance measuring direction of the lightwave distance meter point vertically downward. By providing a spherical convex surface on the lower surface of the body and mounting the spherical convex surface on the spherical concave surface formed in the coupling mechanism, the antenna mounting body is slidably supported by the spherical concave surface, and the antenna mounting body is provided below the antenna mounting body. Providing a weight for holding the attitude allows the antenna mounting body to be held in a vertical attitude with a relatively simple structure.

In addition, a rotation driving means for rotating the antenna mounting body around two axes which are not parallel to each other is provided in the above-mentioned coupling mechanism, and the rotation driving means is provided by using the measurement data of the attitude measuring means mounted on the antenna mounting body. Is provided with a control means for driving and controlling the antenna, it is possible to control the attitude of the antenna mounting body with high accuracy.

The rotary drive means can be appropriately selected from any type of drive such as hydraulic pressure, pneumatic pressure, electric drive, and the like. For example, an electric drive, particularly, a servo motor or a stepping motor can be selected. Also, the attitude measuring means can be arbitrarily selected from measuring means such as a capacitance inclinometer and a laser gyro.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a GPS surveying instrument according to the present invention will be described below with reference to the accompanying drawings.

(First Embodiment) FIG. 1 is an overall perspective view of a GPS surveying instrument according to the present embodiment.
As can be seen from the figure, the GPS surveying instrument 1 of the present embodiment
In FIG. 2, an antenna mounting body 4 to which a GPS antenna 3 is mounted is attached to a tip end of a boom 2 of an aerial work vehicle (not shown) serving as an elevating part via a connecting mechanism 5.

The connecting mechanism 5 is generally composed of an L-shaped fixed base 6 fixed to the end of the boom 2 and a U-shaped movable support member 7 connected to the fixed base. The movable support member 7 is rotated around an axis 9 by a built-in servo motor 8 as a rotary drive unit, and the servo motor 1 as a rotary drive unit built in the movable support member 7 is provided.
At 0, the antenna mounting body 4 is rotated about an axis 11 orthogonal to the axis 9.

On the other hand, the antenna mounting body 4 incorporates a semiconductor laser 12 and a lightwave distance meter 13 as a positioning laser, as can be clearly understood from FIG.
At the position where the PS antenna 3 faces vertically upward, the irradiation direction of the laser and the distance measuring method of the distance meter are disposed so as to face vertically downward. When positioning the GPS surveying instrument 1, the laser light emitted from the semiconductor laser 12 is aligned with a target 16 installed at a surveying point on the ground, and the light emitted from the optical distance meter 13 is The light strikes a reflection sheet 17 for an electro-optical distance meter attached to the target and is reflected.

The antenna mount 4 has a two-axis inclinometer 14 as attitude measuring means for measuring the attitude of the antenna mount 4 with reference to when the line passing through the GPS antenna 3 and the semiconductor laser 12 is vertical. , 15 are mounted, and the movable support member 7 incorporates a controller 18 as control means for controlling the servomotor 8 and the servomotor 10 using the measurement data of the two-axis inclinometer as can be seen in FIG. I have. In addition, the biaxial inclinometer 14 is ± 1.
The two-axis inclinometer 15 should preferably be capable of measuring within an error range of about ± 3 °. For example, a capacitance-type inclinometer can be used.

FIG. 3 is a block diagram of a GPS surveying instrument according to the present embodiment. As you can see in the figure,
The GPS antenna 3 is connected to a GPS controller 22 as a receiver mounted on an aerial work vehicle (not shown),
The controller receives GPS radio waves, and the controller 22, together with the controller 18, the semiconductor laser 12, and the lightwave distance meter 13, are also connected to a personal computer 21 mounted in, for example, a driver's cab of an aerial work vehicle. The personal computer is connected, and is configured to control each device and perform calculation, analysis, and storage of received data and measured data.

Next, a procedure for surveying survey points 32 surrounded by a forest 31 shown in FIG. 4 using the GPS surveying instrument 1 of the present embodiment will be described. First, the aerial work vehicle 33 is installed at an appropriate position, the boom 2 of the work vehicle is extended, and the GPS surveying instrument 1 attached to the tip is raised. The required climb height is appropriately set so that the surrounding forest 31 does not become an obstacle for receiving radio waves from the GPS satellites 34.

Next, the semiconductor laser 12 provided on the antenna mounting body 4 is operated to irradiate a laser beam, and the GPS surveying instrument 1 is positioned so that the laser beam hits the survey point 32. When performing positioning, the attitude of the antenna mounting body 4 is automatically controlled to direct the irradiation direction of the laser beam vertically downward.

That is, the attitude of the antenna mount is measured by the two-axis inclinometers 14 and 15 attached to the antenna mount 4, and the servo motors 8 and 10 are driven and controlled by the controller 18 using the measured data as a control amount. . Then, the movable support member 7 and the antenna mounting body 4 are rotated around the axes 9 and 11 in necessary directions as necessary, and the irradiation direction of the semiconductor laser 12 is directed vertically downward.

With the laser beam radiated vertically downward in this way, the positioning of the GPS surveying instrument 1 is performed so that the laser beam is radiated to a predetermined point of the target 16 installed at the surveying point 32, After a while, lightwave distance meter 1
At 3, the vertical distance between the antenna mount 4 and the survey point 32 is measured. The positioning of the GPS surveying instrument 1 can be performed by extending or retracting or turning the boom 2.

On the other hand, using the GPS radio waves received by the GPS antenna 3 and the GPS controller 22, the coordinates at the place where the GPS antenna 3 is arranged are analyzed by the personal computer 21 to specify the position. Where GP
As the surveying method using the S radio wave, for example, an observation method called a kinematic method may be adopted from a known observation method. That is, a GPS (not shown) in another place
A receiver is installed to serve as a fixed station, and G in this embodiment is used.
The GPS surveying device 1 is regarded as a mobile station and performs GPS surveying.

When the coordinates at the location of the GPS antenna 3 are specified, the two horizontal coordinate components of the coordinate values are used as the two horizontal coordinate components at the observation point 32 on the ground, and the lightwave distance from the vertical coordinate component is calculated. The vertical coordinate component at the observation point 32 is calculated by subtracting the vertical distance measured by the total 13. In calculating these coordinate components, the relative positional relationship between the GPS antenna 3 and the semiconductor laser 12 or the optical distance meter 13 is appropriately considered as necessary.

As described above, G according to the present embodiment is
According to the PS surveying instrument 1, the antenna mounting body 4 on which the GPS antenna 3 is mounted is mounted on the end of the boom 2 via the connecting mechanism 5, and the irradiation direction of the semiconductor laser 12 mounted on the antenna mounting body is vertical. Since the attitude of the antenna mounting body 4 is automatically controlled so as to face downward, the inclination of the ground surface where the aerial work vehicle 33 is installed and the boom 2
Irrespective of the angle or the attitude of the coupling mechanism 5, the laser light will accurately indicate the position vertically below the GPS antenna 3. Therefore, if the laser beam is aligned with the survey point 32, the horizontal coordinate position obtained by the GPS survey can be used as the horizontal coordinate component of the survey point 32.

Since the distance measuring direction of the lightwave distance meter 13 is directed vertically downward similarly to the semiconductor laser 12, the vertical distance measured by the distance meter is the distance between the antenna mounting body 4 and the survey point 32 on the ground surface. The vertical distance of the vehicle. Therefore, the vertical coordinate component of the survey point 32 can be easily calculated by subtracting the vertical distance measured by the lightwave distance meter 13 from the vertical coordinate position obtained by the GPS survey.

Thus, the GPS arranged above the ground surface
It is possible to accurately associate the positional relationship between the antenna 3 and the survey point 32 on the ground surface.
According to the present embodiment, even in a case where GPS surveying is impossible due to the presence of an obstacle around 2, the GPS surveying is performed and the survey points on the ground surface are determined using the data obtained by the surveying. Coordinate values can be obtained easily and accurately. In addition, even at a point where GPS radio waves cannot be received, it is possible to enjoy the advantage of GPS surveying that more accurate surveying can be performed with less personnel.

Further, according to the present embodiment, the servomotors 8 and 10 are built in the coupling mechanism 5, and the servomotors are driven and controlled using data obtained by the two-axis inclinometer as a control amount. In addition, the attitude of the antenna mounting body 4 can be controlled with high accuracy, and the coordinate values obtained by the GPS survey can be converted into the coordinate values on the ground surface without lowering the accuracy of the coordinate values.

In the present embodiment, the tip of the telescopic boom of the aerial work vehicle is set as the elevating part. However, the method of selecting the elevating part is arbitrary. Needless to say, if it can be supported and supported, for example, it may be a bending / extending boom type, or a general crane may be used instead of a so-called aerial work vehicle.

In this embodiment, the application in the forest has been described. However, the present invention can be applied to, for example, surveying a place between valleys of a building.

In the present embodiment, the horizontal alignment is performed after the completion of the lifting operation of the GPS surveying equipment. Alternatively, the horizontal positioning may be performed in parallel with the lifting operation. Orientation may be performed in the direction, and thereafter, the GPS surveying instrument may be raised vertically using the vertical lifting function of the aerial work vehicle.

Further, in this embodiment, the positioning laser and the lightwave distance meter are separate devices, but a device having these functions may be used.

Further, in the present embodiment, the attitude of the antenna mounting body is held vertically by controlling the driving of the servo motor built in the coupling mechanism. However, for example, feedback control is performed as the rotation driving means. Needless to say, no stepping motor may be used. Furthermore, it is not always necessary to provide such a rotation driving means in the connecting means. In short, the antenna mounting body is so arranged that the irradiation direction of the positioning laser and the distance measuring direction of the lightwave distance meter point vertically downward. Any object can be used as long as the posture can be maintained.

FIG. 5 is a sectional view showing such a modification. As can be seen from the figure, the GPS surveying instrument 41 according to the modification has a spherical convex surface 43 in which a circular opening 46 is formed at the center on the lower surface of an antenna mounting body 42 to which the GPS antenna 3 is mounted. A spherical concave surface 45 is formed on the upper surface of a pedestal 44 serving as a coupling mechanism fixed to the fixed base 6, and the spherical convex surface 43 of the antenna mounting body 42 is mounted on the concave surface. At the edge of the circular opening 46, a weight 47 for holding the posture is attached.

In this modified example, since the antenna mount 42 is slidably supported on the spherical concave surface 45 of the pedestal 44, the antenna mount is mounted on the boom 2 as shown in FIG. Is held vertically even if the angle changes. Note that the weight 47 is such that the antenna mounting body 42 is
It also plays the role of a guide to prevent it from dropping out.

Therefore, in this modified example, in addition to having substantially the same operation and effect as the above-described embodiment, another effect that the antenna mounting body can be vertically held with a relatively simple structure is also obtained.

[0043]

As described above, according to the GPS surveying instrument of the present invention according to the first aspect, it is impossible to perform the GPS surveying because the obstacle is present around the surveying point in the related art. Even so, according to the present invention, it is possible to easily and accurately calculate a survey point on the ground surface using a GPS survey and using data obtained by the survey.

Further, according to the GPS surveying instrument of the present invention according to claim 2, in addition to the effect of claim 1, another advantage is that the antenna mounting body can be vertically held with a relatively simple structure. Also has the effect.

According to the GPS surveying instrument of the present invention according to the third aspect, in addition to the effect of the first aspect, the attitude of the antenna mounting body can be controlled with high accuracy.
There is also an effect that the high-precision survey data obtained by the S survey can be transformed into the survey data on the ground surface with the same accuracy.

[0046]

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a GPS surveying instrument according to an embodiment.

FIG. 2 is an overall perspective view of an antenna mounting body.

FIG. 3 is a block diagram of a GPS surveying instrument according to the embodiment.

FIG. 4 is an explanatory diagram showing a usage state of the GPS surveying instrument according to the embodiment.

FIGS. 5A and 5B show a GPS surveying instrument according to a modified example, in which FIG. 5A is a side view partially showing a cross section, and FIG.

[Explanation of symbols]

1, 41 GPS surveying equipment 2 Boom of aerial work vehicle (elevating part) 3 GPS antenna 4, 42 Antenna mount 5 Connecting mechanism 6 Fixed base (connecting mechanism) 7 Movable support member (connecting mechanism) 8, 10 Servo motor (Rotation driving means) 12 Semiconductor laser (Laser for positioning) 13 Lightwave distance meter 14, 15 Biaxial inclinometer (Attitude measurement means) 16 Target 17 Reflection sheet for Lightwave distance meter 18 Controller (Control means) 43 Spherical convex surface 44 Base (Connecting mechanism) 45 Spherical concave surface 47 Weight for holding posture

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Shigeru Kayamoto, Inventor 2-3-3 Kandaji-cho, Chiyoda-ku, Tokyo Co., Ltd. Obayashi Corporation Tokyo Head Office (72) Inventor Akira Tomioka 2-3-3, Kandaji-cho, Chiyoda-ku, Tokyo Obayashi Corporation Tokyo head office (72) Inventor Hiroshi Ohno 2-3-3 Kandajicho, Chiyoda-ku, Tokyo Obayashi Tokyo office

Claims (3)

[Claims] 1. An antenna mounting body on which a GPS antenna, a positioning laser and a lightwave distance meter are mounted, and a connecting mechanism for connecting the antenna mounting body to an ascending / descending part of a high-altitude work vehicle or the like. Is a GPS surveying instrument characterized in that the position of the antenna mounting body can be freely held such that the irradiation direction of the positioning laser and the distance measuring direction of the lightwave distance meter point vertically downward. 2. The antenna mounting body is slidable on the spherical concave surface by providing a spherical convex surface on a lower surface of the antenna mounting body and mounting the spherical convex surface on a spherical concave surface formed on the coupling mechanism. The GPS surveying instrument according to claim 1, further comprising a weight for supporting and holding a posture below the antenna mounting body. 3. The connecting mechanism is provided with rotation driving means for rotating the antenna mounting body around two axes not parallel to each other, and the rotation is performed by using measurement data of attitude measuring means mounted on the antenna mounting body. 2. The GP according to claim 1, further comprising control means for controlling driving of the driving means.
Surveying equipment for S.