KR101348500B1 - Gps surveying system based on robot - Google Patents

Abstract

The present invention relates to a GPS surveying system based on a robot and, more specifically, to a GPS surveying system based on a robot, capable of facilitating a GPS survey in a dangerous area by remotely controlling a surveying robot and receiving GPS measurement information through wireless communication between the surveying robot with rotating wheels and a GPS measurement unit and a remote smart device. [Reference numerals] (10) Robot for measurement; (110) Steering unit; (110a,110b,110c,110d) DC motor; (200) GPS measurement unit; (210) GPS receiving unit; (220) Track control unit; (230) Position correction unit; (300) Camera unit; (310) Front camera; (320) Bottom camera; (400) Main board unit; (410) DSP module; (420) Geomagnetic sensor; (430) Motor driver communications unit; (431) Motor driver; (440) Encoder data receiving unit; (441) Encoder; (450) Bluetooth module; (460) Power unit; (500) Gimbal unit; (600) Smart device; (AA) GPS satellite; (BB) Wireless communication

Description

Robot-based automated GPS surveying system {GPS surveying system based on Robot}

The present invention relates to a GPS surveying system, and more particularly, to a dangerous area by receiving remote control and GPS surveying information of a surveying robot through wireless communication between a four-wheel rotating surveying robot equipped with a GPS surveying unit and a remote smart device. The present invention relates to a robot-based automated GPS surveying system that facilitates GPS surveying.

In general, for the design and construction of civil engineering, construction, etc., geodetic surveying of a feature is required as a preliminary work to obtain numerical data on the feature. It is displayed numerically.

However, the geodetic survey is performed by a worker having geodetic survey equipment such as a total station, a global positioning system (GPS) instrument, a staff, a tripod, and the like. Since the installation and surveying process is repeated while moving to the point and the target point, and the surrounding features are surveyed, the surveying accuracy and the time and work required for the survey are inferior, and the surrounding environment is dark, such as at night. If there was a problem that can not measure the feature.

In addition, the geodetic survey needs to be surveyed even in areas where landmines are buried, areas where landslides are expected, and areas where rockfall is expected, and disaster areas where ground subsidence may occur again. have.

Accordingly, in order to solve the problems of the conventional geodetic surveying operation, there is a need for a geodetic surveying and surveying system of the terrain as well as geodetic surveying with improved accuracy.

For example, the Republic of Korea Patent Publication No. 10-1223177 (2013. 01. 10.) GPS satellites; GPS unit 1211 for receiving and analyzing GPS information into location information, a central control unit 1212 for receiving GPS information and monitoring each function unit, a recording unit 1213 for storing location information, and wirelessly transmitting location information to a designated party. And a built-in driving motor block 1220 composed of a mobile communication unit 1214 and a first to fourth motor units 1221 to 1224 and the measurement circuit unit for receiving a movement command, thereby protecting against external shock. And a cylindrical box having a cylindrical shape, a first rotating shaft and a first rotating hole for rotating the antenna part and the lower part of the circuit box part, which are commonly used for the circuit box part, the GPS part, and the mobile communication part, toward the ground surface. And a robot frame portion consisting of a support portion forming a second pivot shaft and a second pivot hole protruding from the outer circumferential surface of the pivot frame and a body portion having a rectangular shape. The staff robots; Level of dangerous area using an automated robot including a mobile communication system wirelessly connecting the staff robot with a mobile communication method and a survey server for remotely inputting a movement command for controlling the direction and distance of the staff robot and receiving and storing location information. A surveying system has been proposed (see FIG. 1).

However, the proposed technique allows level surveying of a dangerous area through a staff robot equipped with a surveying circuit unit having a GPS part, but merely a GPS information signal received through the GPS part provides a level measurement and a position of the staff robot. There is a limit to perform the control, the center of gravity is formed at the bottom and still there is a problem that can not expect the accurate reception of the GPS information signal with the stepped circuit box part rotated to the left and right by the rotating shaft.

Therefore, the present invention improves the measurement accuracy and robot position control accuracy through the GPS surveying unit consisting of a geomagnetic sensor, a trajectory control unit, and position correction for azimuth detection to improve the problems of the proposed technique, and the X-axis, Y of the GPS receiver We propose a robot-based automated GPS surveying system consisting of a gimbal unit with two DC motors to control the axes.

Therefore, an object of the present invention has been devised to solve the above problems, and more specifically, the remote control of the surveying robot through the wireless communication between the four-wheel rotary surveying robot and a remote smart device equipped with a GPS surveying unit and An object of the present invention is to provide a robot-based automated GPS surveying system that receives GPS surveying information and facilitates GPS surveying of dangerous areas.

According to a feature of the present invention for achieving the above object, using a surveying robot In the robot-based automated GPS surveying system, the surveying robot 10 is provided with a steering unit 110 made of four wheels that are remotely controlled to be autonomous or manual driving to a survey point by a remote smart device. A robot body 100; The surveying robot calculates a trajectory to the current position and the surveying point of the surveying robot by using the GPS position information received through the GPS receiver 210 installed on the upper surface of the robot body and the azimuth data detected by the geomagnetic sensor. A GPS surveying unit 200 programmed to travel to a surveying point; Camera unit that provides vision information (vision data) photographing the front and bottom of the robot body to the remote device to reduce the position error of the surveying robot driven to the surveying point through the GPS surveying unit to move to the accurate surveying point. 300; The DSP module (410) with the program of the GPS surveying unit is installed, and the main board unit 400 is provided with devices for wireless communication, power supply, and overall control of the robot body with the smart device. ; The GPS receiver 210 is installed to be fixed to the upper surface of the robot body portion 100 and two DC to control the X-axis, Y-axis so that the GPS receiver is controlled in a horizontal upright state for accurate GPS position information reception A gimbal unit 500 including the motors 510a and 510b and the angle adjusting units 520a and 520b is included, and the camera unit 300 is connected through the main board of the surveying robot 10. Robot-based automated GPS surveying, characterized in that it further comprises a smart device 600 for receiving the GPS position information and azimuth data of the GPS measurement unit 200 and transmits a remote control command to the steering unit. Provide a system.

Preferably, the GPS surveying unit 200, the current position and direction data of the surveying robot received and detected through the GPS receiver 210 and the geomagnetic sensor 420 and the coordinate data of the surveying point previously input It is characterized in that the trajectory control unit 220 to recognize the current position of the surveying robot for controlling the trajectory so that the surveying robot can autonomously run to the survey point.

Preferably, the GPS surveying unit 200, the position correction unit using a Kalman filter (Kalman filter) to correct the position information error of the current position of the surveying robot received through the GPS receiver 210 ( 230 is provided.

Preferably, the camera unit 300, the front camera 310 to collect the front vision information of the robot body portion 100, and the robot body portion to be located on a vertical line with the GPS receiver 210 It is installed on the bottom and consists of a bottom camera 320 for collecting the bottom vision information of the robot body, the front camera and the bottom camera is characterized in that the RF wireless camera having a CCD image sensor (CCD image sensor).

Preferably, the main board unit 400, the geomagnetic sensor 420 for detecting the azimuth angle of the surveying robot to transmit to the DSP module 410, and the drive of the DC motor provided in the steering unit 110 A motor driver communication unit 430 communicating with the motor driver 431 for control, an encoder data receiving unit 440 for receiving a measurement value of the encoder 441 for measuring the rotational speed of the DC motor provided in the steering unit; In addition, a smart module and a Bluetooth module (Bluetooth module, 450) for wireless communication, and the power supply unit 460 consisting of a battery having a 14.6V, 5,600mAh for supplying power to the overall robot body 100 is further included It is characterized by.

Preferably, the gimbal unit 500 includes an IMU (Inertial Measurement Unit, 530) for detecting the X-axis and Y-axis angle information of the GPS receiver 210, and the IMU A system board having an MCU (Micro Controller Unit, Microcontroller, 541) which receives the detected value and controls the DC motors 510a and 510b of the X and Y axes so that the GPS receiver is controlled in a horizontal upright state. 540 is further characterized.

Preferably, the gimbal unit 500, the GPS receiver from the upper surface of the robot body portion 100 by the angle change through the two DC motors (510a, 510b) for controlling the X-axis, Y-axis of the GPS receiver. The height detection unit 550 for detecting a change in height between the 210 and transmits the detection value to the DPS module 410 of the main board unit 400 is further provided.

According to the robot-based automated GPS surveying system of the present invention, the following effects are obtained.

 GPS surveying unit consisting of geomagnetic sensor, trajectory control unit, and position correction unit for azimuth detection, and a robot for surveying equipped with a gimbal unit equipped with two DC motors controlling the X and Y axes of the GPS receiver By being configured to wirelessly communicate with smart devices,

(1) As the surveying robot moves to the surveying point and performs the survey by remote control, automated surveying of dangerous area is possible, and the survey manpower and time can be drastically reduced. Surveying is possible by controlling the surveying robot directly in the field.

(2) The GPS surveying unit and the geomagnetic sensor composed of the trajectory control unit and the position correction unit can simultaneously receive and detect the GPS position information and the azimuth information to improve the surveying accuracy and the position control precision of the surveying robot.

(3) It is possible to control the position of the GPS receiver through the gimbal provided with two DC motors, so that accurate GPS location information can be received.

1 is a view showing a leveling system of a dangerous area using a conventional automated robot
2 is a block diagram showing the overall configuration of a robot-based automated GPS surveying system according to a preferred embodiment of the present invention.
Figure 3 is a view showing the overall picture of the robot for surveying robot-based automated GPS surveying system according to a preferred embodiment of the present invention
Figure 4 is a view showing a photograph of the inside of the housing portion of the surveying robot according to an embodiment of the present invention
5 is a view showing a picture for explaining the installation position of the bottom camera of the surveying robot according to an embodiment of the present invention;
6 is a view showing a surveying robot and a surveying point expressed in a Cartesian coordinate system for explaining the detailed configuration of the GPS surveying unit according to a preferred embodiment of the present invention;
7 is a view showing a picture for explaining the detailed configuration of the motherboard according to an embodiment of the present invention
8A and 8B are enlarged photographs and driving views of a gimbal part according to a preferred embodiment of the present invention.
9 is a block diagram showing the detailed configuration of the gimbal portion according to an embodiment of the present invention;

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, like reference numerals refer to like elements throughout. Although the same reference numerals are used in the different drawings, the same reference numerals are used throughout the drawings. The prior art should be interpreted by itself. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

2 to 9, the present invention is a main technical configuration means of the robot-based automated GPS surveying system according to a preferred embodiment, the robot body (Robot body, 100), GPS surveying unit 200, the camera unit 300, the motherboard 400, the gimbal unit (gimbal unit, 500) is composed of a surveying robot 10, a smart device 600, each configured.

First, referring to Figure 2, the robot body portion (Robot body, 100) of the surveying robot 10, the four wheels are remotely controlled to be autonomous driving or manual driving to the measurement point by a remote smart device 600 The steering unit 110 is made of a rotary robot of a vehicle shape.

Here, the steering unit is composed of four 300W class DC motors (110a to 110d) for driving the four wheels, the DC motor is connected to the motor drive motor driver 431 is a remote control command of a remote smart device It is delivered to the motor driver to be controlled by autonomous driving or manual driving.

In addition, the interior of the robot body portion 100 is formed with an empty housing 120 therein so that the main board unit 400 to be described later is built, the front of the robot body to enable the opening and closing of the housing And rear opening and closing means (130a, 130b) are respectively installed.

Referring back to FIG. 2, the GPS surveying unit 200 is configured by GPS position information received through the GPS receiver 210 installed on the upper surface of the robot body and azimuth data detected through the geomagnetic sensor 420. The GPS surveying means is programmed to calculate the trajectory of the surveying robot 10 to the current position and the surveying point so that the surveying robot can travel to the surveying point.

The GPS receiver 210 is a three-frequency GPS receiver that is easy for precision surveying, and is transmitted from at least three or more GPS satellites among 24 GPS (Global Positioning System) satellites arranged over the earth. Receiving the GPS location information radio wave can determine the current position, the GPS location information radio wave includes data such as longitude, latitude, sea level, time of the current location .

In addition, the GPS surveying unit 200 analyzes current position and direction data of the surveying robot received and detected through the GPS receiver 210 and the geomagnetic sensor 420 and coordinate data of a surveying point previously input. The trajectory control unit 220 is provided to recognize the current position of the surveying robot and to control the trajectory so that the surveying robot can autonomously travel to the surveying point.

로 표현되며, 측량지점의 위치도 GPS 위치정보에 의해 벡터

로 표현되고,

는 측량용 로봇의 현재위치의 중앙 좌표를 나타내고,

는 기준좌표

축에 대한 측량용 로봇의 방위각을 나타낸다.Here, the locus control unit 220 is a vector of the current position and direction of the mobile robot by the GPS position information and the azimuth angle of the geomagnetic sensor

The location of the survey point is also represented by the GPS location information.

Lt; / RTI >

Represents the central coordinate of the current position of the surveying robot,

Is the reference coordinate

The azimuth angle of the surveying robot relative to the axis.

6 is a diagram illustrating a surveying robot and a surveying point expressed in a rectangular coordinate system in order to explain the detailed configuration of the GPS surveying unit 200.

과 좌측 바퀴 선속도

은 아래 식 1과 같이 비례제어기로 설정한다.In addition, in order to control the running of the surveying robot when the surveying robot travels to the surveying point, a proportional controller based on a distance and an angle error is used.

And left wheel linear speed

Set as proportional controller as in Equation 1 below.

(1)

(One)

가 필요하며, 와 는 아래 식 2와 같이 주어진다.Here, the difference in distance between the control point survey point and the surveying robot d and the azimuth difference between the surveying robot and the surveying point

And are given by Equation 2 below.

(2)

는 측량용 로봇이 바라보는 방향과 지구자기장 북극인 자북 사이의 각도이며,

는 측량용 로봇이 바라보아야할 측량지점과 지리상의 기준을 따른 지구의 북쪽인 진북 사이의 각도를 나타내는 것으로, 도 6은 기준좌표

축을 자북 및 진북과 같다는 가정 하에 도시된 것이다.From above expression 2

Is the angle between the surveying robot's direction and the magnetic north pole of the Earth's magnetic field,

Is the angle between the survey point that the surveying robot should look at and true north, which is the north of the earth according to geographical standards.

It is shown on the assumption that the axis is the same as magnetic north and true north.

와

는 측량용 로봇과 측량지점 사이의 수평거리와 수직거리이며, 아래 식 3과 같이 주어진다.Also, in Equation 2

Wow

Is the horizontal distance and the vertical distance between the surveying robot and the survey point, and is given by Equation 3 below.

(3)

(3)

와

는 측량지점의 경도와 위도이며,

와

는 측량용 로봇의 경도와 위도이고, R은 지구의 반지름을 나타낸다.here,

Wow

Is the longitude and latitude of the survey point,

Wow

Is the longitude and latitude of the survey robot, and R is the radius of the earth.

와

를 통해 측량지점과 측량용 로봇 사이의 거리 는 아래 식 4와 같이 주어진다.Also,

Wow

The distance between the survey point and the survey robot is given by Equation 4 below.

(4)

(4)

In addition, the GPS surveying unit 200, the position correction unit 230 using a Kalman filter to correct the position information error of the current position of the surveying robot received through the GPS receiver 210 Is provided.

In general, since the position information of the GPS received through the GPS receiver 210 includes error information having a different error range according to the GPS received data, it is necessary to correct the GPS position information error for accurate GPS surveying. have.

Here, the Kalman filter of the position correction unit 230 is used for a linear gaussian system, and has a feature of a recursive function called from itself.

In addition, in order to apply the Kalman filter, the modeling of the system model is required, and the system modeling consists of the system equation and the observation equation. Here, the position information of the surveying robot is a system state variable to be optimized by applying a Kalman filter, and is given by Equation 5 below.

(5)

(5)

In addition, the system equation of the Kalman filter applying the system state variable given in Equation 5 is given as Equation 6 below.

(6)

(6)

은 시스템 상태변수인 측량용 로봇의 위치정보이며,

는 공정오차를 나타내고,

는 시스템의 변화를 표현한다. 그리고 관측방정식은 아래 식 7과 같이 주어진다.here,

Is the location information of the surveying robot, a system state variable.

Indicates a process error,

Represents a change in the system. The observation equation is given by Equation 7 below.

(7)

(7)

는 측정값을 나타내며,

은 측정된 GPS의 위도와 경도 정보이고,

는 GPS에 의해 측정된 위치정보인 위도와 경도의 오차정보를 나타낸다. 그리고

는 측정값과 상태변수의 관계를 나타낸다. 이러한 시스템 방정식과 관측방정식을 사용하여 예측부분은 아래 식 8과 같이 주어진다.here,

Represents the measurement,

Is the latitude and longitude information of the measured GPS,

Denotes error information of latitude and longitude, which are position information measured by GPS. And

Represents the relationship between the measured value and the state variable. Using this system equation and observation equation, the prediction part is given by Equation 8 below.

(8)

(8)

와

는 각각 위치와 오차 공분산의 예측값을 나타내며, 업데이트 부분은 아래 식 9와 같이 주어진다.here,

Wow

Denote the predicted values of position and error covariance, respectively, and the update part is given by Equation 9 below.

(9)

(9)

는 칼만필터의 이득이며,

은 위치정보의 추정값이다. 그리고

는 오차 공분산 값을 나타낸다.here,

Is the gain of the Kalman filter,

Is an estimated value of location information. And

Represents the error covariance value.

On the other hand, in order to apply the Kalman filter of the position correction unit 230, it is obvious that the kinematics of the surveying robot is required.

As described above, GPS position information and azimuth information are simultaneously received and detected through the GPS measurement unit and the geomagnetic sensor configured as the locus control unit and the position correction unit, thereby improving the measurement accuracy and the position control precision of the surveying robot.

2 to 5, the camera unit 300, the robot body to reduce the position error of the surveying robot that was driven to the surveying point via the GPS surveying unit 200 to move to the accurate surveying point ( It is a video signal providing means for providing the vision information (vision data) of the front and the bottom of the 110 to the remote smart device 600.

Here, the camera unit 300, the front camera 310 to collect the front vision information of the robot body portion, and is installed on the bottom of the robot body portion to be located on a vertical line with the GPS receiver and the bottom surface of the robot body portion It is composed of the bottom camera 320 to collect the vision information, so that the survey operator checks the vision information of the front camera and the bottom camera through a remote smart device to be able to move accurately to the surveying point by remotely controlling the robot body.

On the other hand, the front camera 310 and the bottom camera 320 is an RF wireless camera having a CCD image sensor having a better image quality and less noise than other image sensors, the CCD image, Since the sensor and the RF wireless camera are well known technologies, detailed descriptions thereof will be omitted.

Referring to FIGS. 2 and 7, the mainboard unit 400 includes a digital signal processor module 410 in which a program of the GPS surveying unit 200 is installed, and a power supply and a robot body. A circuit board is provided with devices for controlling the entire unit.

In addition, the main board unit 400, the geomagnetic sensor 420 for detecting the azimuth angle of the surveying robot to be transmitted to the DSP module 410, and the speed and direction of the DC motor provided in the steering unit 110 A motor driver communication unit 430 for communicating with the motor driver 431 for controlling the controller, an encoder data receiver 440 for receiving a measured value of an encoder for measuring the rotational speed of the DC motor provided in the steering unit, and a smart A power supply unit 460 including a Bluetooth module 450 for wireless communication with the device and a battery having a power of 14.6 V and 5,600 mAh for supplying power to the robot body 100 is further included.

The digital signal processor (DSP) module 410 may be a floating-point unit (FPU) capable of performing high-speed processing of small-scale data in hardware and a direct memory (DMA) which may reduce the burden on the CPU in data processing. Access) is built-in and has a computing capacity of up to 150MHz / 150MMACS, and it is possible to process small data of up to 300MFLOPS through dedicated instructions. In the present invention, the DSP module having such a computing capability and a memory function includes a program of the GPS surveying unit that calculates GPS position information and receives azimuth data detected through a geomagnetic sensor to a current position and a surveying point of the robot body. Calculate the trajectory. The DSP module may control four DC motors provided in the steering unit based on the motor driver data received through the motor driver communication unit described later.

In other words, the DSP module controls the surveying robot to autonomously or manually drive to a survey point according to a remote control command received from a smart device at a remote location, and such autonomous or manual driving of the steering unit operates a smart device. Can be selected by the operator.

The geomagnetic sensor 420 detects an azimuth angle in order to know a direction in which the surveying robot travels, and is detected by calculating a direction of a vertical element of the earth's magnetic field using two magnetic field sensors arranged at right angles. The value is transmitted to the DSP module through an interface of pulse width modulation (PWM) and inter-intergrated circuit (I2C).

The motor driver 431 communicating with the motor driver communication unit 430 is installed in the accommodating part 120 of the robot body part and controls driving of four DC motors 110a to 110b provided in the steering part 110. DCDM2430 for DC motor control is used for ease of operation.

Here DCDM2430S can control DC motor speed of 100W ~ 700W class. Available voltage is 15V ~ 36V, maximum instantaneous current is 100A, maximum continuous current is 30A, and it controls two 300W DC motors. Two can be configured to control the four 300W class DC motor configured in the steering unit.

In addition, the motor driver and the motor driver communication unit communicate with each other via an RS232 interface.

Accordingly, the robot for surveying may be moved to a desired point, that is, a surveying point, according to a remote control command received from a remote device via a motor driver communication unit provided in the motor driver and the main board.

The encoder 441 which transmits the rotation speed measurement value of the DC motors 110a to 110d to the encoder data receiver 440 is respectively provided to the four DC motors 110a to 110d provided in the steering unit 110. When installed, AvaGo's HEDS-9040 optical encoder can be used, and the speed measurement of the DC motor through the encoder is measured by the number of pulses output per revolution of the DC motor.

The Bluetooth module 450 is a wireless interface that enables wireless communication between information communication devices such as personal computers, printers, telephones, faxes, and mobile phones. In the present invention, the smart device 600 and the survey robot are used. It is used for wireless communication between the main board unit 400 of (10) and when transmitting the remote control command or survey point of the steering unit 110 to the surveying robot wirelessly, smart coordinates of the current position of the surveying robot Used to check the location by sending to the device. In addition, the Bluetooth module of the present invention has an operating power of 3.3V and uses an RS232 interface, so that the minimum communication distance can be used to extend up to 1,000m at the additional connection of the antenna 451 at 100m.

Referring to FIGS. 8 and 9, the gimbal unit 500 is installed so that the GPS receiver 210 may be fixed to the upper surface of the robot body 100 and GPS for accurate GPS location information reception. As a means for controlling the receiver to a horizontal upright state, two DC motors 510a and 510b and angle adjusting units 520a and 520b for controlling the X and Y axes of the GPS receiver are provided.

Here, the two DC motors (510a, 510b) and the angle adjuster (520a, 520b) provided in the gimbal portion, and the angle adjuster (520a) connected to the rotating shaft of the DC motor (510a) for the X-axis control. The Y-axis control is driven by the rotation of the two DC motors (510a, 510b) through the angle adjuster (520b) connected to the rotation axis of the DC motor (510b), respectively, so that the GPS receiver It can be controlled to the horizontal upright state (see Fig. 7 (a), (b)).

In addition, the gimbal unit 500, an IMU (Inertial Measurement Unit, 530) for detecting the X-axis, Y-axis angle information of the GPS receiver, and receives the detection value of the IMU X-axis, The system board 540 further includes a microcontroller unit (Microcontroller Unit, 541) for controlling the DC motor (510a, 510b) of the Y-axis so that the GPS receiver 210 is controlled in a horizontal upright state. do.

The IMU 530 is fixed to the angle adjuster 520b connected to the rotation shaft of the DC motor 510b, and the system board 540 is embedded in the housing 120 of the robot body 100.

In addition, the system board 540 is further provided with a separate power supply for supplying power to the gimbal.

In addition, the gimbal unit, by detecting the change in height between the GPS receiver from the upper surface of the robot body by the angle change through the two DC motors for controlling the X axis and the Y axis of the GPS receiver, and the detected value DPS The height detector 550 is further provided to transmit to the module 410.

In other words, the height detection unit 550 is provided in the gimbal part because the GPS receiver receives the radio wave transmitted from the GPS satellite during GPS surveying and derives a coordinate value based on the distance between the GPS satellite and the GPS receiver. This is to improve the accuracy of GPS surveying by keeping the GPS receiver in a horizontal upright position and transmitting the height detection value of the GPS receiver changed by the two DC motors provided in the gimbal to the DPS module.

Lastly, referring to FIG. 2, the smart device 600 may include the vision information of the camera unit 300 and the GPS location information of the GPS survey unit 200 through the Bluetooth module 450 of the main board unit 400. And a device for receiving azimuth data and transmitting a remote control command to the steering unit 110 to enable monitoring and control of the surveying robot 10 at a remote location.

Here, it is obvious that the smart device has a built-in Bluetooth function for wireless communication with the robot body, and a portable PC such as a smart phone and a notebook computer is used. Lose.

On the other hand, in relation to autonomous driving and manual driving control of the surveying robot, first, the autonomous driving control is a GPS provided to the surveying robot by wireless communication when the operator inputs coordinate values of the surveying point in advance through the smart device. The trajectory control unit of the surveying unit is performed to autonomously drive from the current position of the surveying robot to the surveying point, and the manual driving control monitors the vision data of the camera unit, and the operator manipulates the smart device to steer the surveying robot. To allow remote control.

The autonomous driving and manual driving control may be automatically selected according to the input of the survey point coordinates, or may have an input means such as a mode selector to allow the operator to manually select and control the manual manually. Surveying can be done by selecting and surveying a point or by controlling a surveying robot directly in the field.

As such, the robot-based automated GPS surveying system according to a preferred embodiment of the present invention is configured to control a GPS surveying unit consisting of a geomagnetic sensor, a trajectory control unit, and a position correction unit for detecting azimuth, and an X-axis and a Y-axis of the GPS receiver. Since the surveying robot equipped with a gimbal unit equipped with two DC motors is configured to communicate wirelessly with a remote smart device, the surveying robot moves to the surveying point by remote control and performs a survey. Automated surveying of the area is possible, and the survey manpower and time can be drastically reduced. Survey points can be selected in advance or surveyed by controlling the surveying robot directly in the field.

In addition, GPS location information and azimuth sensor can simultaneously receive and detect GPS location information and azimuth information to improve the measurement accuracy and positioning control accuracy of the robot for surveying. It is possible to control the upright state of the receiver, so that accurate GPS location information can be received, thereby improving the measurement accuracy.

The foregoing description is merely illustrative of the technical idea of the present invention and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10: surveying robot 100: robot body (Robot body)
110: steering unit 110a to 110d: four DC motor
120: accommodating portion 130a, 130b: opening and closing means
200: GPS measurement unit 210: GPS receiver
220: trajectory control unit 240: position correction
300: camera unit 310: front camera
320: bottom camera 400: motherboard
410: DSP module (digital signal processor module)
420: geomagnetic sensor 430: motor driver communication unit
431: motor driver 440: encoder data receiver
441: encoder 450: Bluetooth module
451: antenna 460: power supply
500: gimbal unit 510a, 510b: two DC motors
520a, 520b: angle adjuster
530: Inertial Measurement Unit (IMU)
541: micro controller unit (MCU)
540: system board
550: height detection unit 600: smart device

Claims (7)

Using a surveying robot In robot-based automated GPS surveying system,
The surveying robot 10 includes a robot body 100 having a steering unit 110 made up of four wheels remotely controlled to be autonomous or manual driving to a surveying point by a remote smart device. ;
The surveying robot calculates a trajectory to the current position and the surveying point of the surveying robot by using the GPS position information received through the GPS receiver 210 installed on the upper surface of the robot body and the azimuth data detected by the geomagnetic sensor. A GPS surveying unit 200 programmed to travel to a surveying point;
Camera unit that provides vision information (vision data) photographing the front and bottom of the robot body to the remote device to reduce the position error of the surveying robot driven to the surveying point through the GPS surveying unit to move to the accurate surveying point. 300;
The DSP module (410) with the program of the GPS surveying unit is installed, and the main board unit 400 is provided with devices for wireless communication, power supply, and overall control of the robot body with the smart device. ;
The GPS receiver 210 is installed to be fixed to the upper surface of the robot body portion 100 and two DC to control the X-axis, Y-axis so that the GPS receiver is controlled in a horizontal upright state for accurate GPS position information reception A gimbal unit 500 including motors 510a and 510b and angle adjusters 520a and 520b is included.
In addition, smart to receive the vision information of the camera unit 300, the GPS position information and the azimuth angle data of the GPS measurement unit 200 through the main board of the surveying robot 10, and transmits a remote control command to the steering unit. Robot-based automated GPS surveying system, characterized in that the device further comprises 600.
The method according to claim 1,
The GPS surveying unit 200 surveys by analyzing current position and direction data of a surveying robot received and detected through the GPS receiver 210 and the geomagnetic sensor 420 and coordinate data of a surveying point previously input. Robot-based automated GPS surveying system characterized in that the trajectory control unit 220 for recognizing the current position of the robot for controlling the trajectory so that the surveying robot can autonomously travel to the survey point.
The method according to claim 1,
The GPS survey unit 200 is provided with a position correction unit 230 using a Kalman filter to correct the position information error of the current position of the surveying robot received through the GPS receiver 210. Robot-based automated GPS surveying system, characterized in that.
The method according to claim 1,
The camera unit 300 is installed on the bottom of the robot body so that the front camera 310 to collect the front vision information of the robot body 100 and the GPS receiver 210 can be located on a vertical line. A robot-based GPS surveying system comprising a bottom camera 320 for collecting the bottom vision information of the robot body, wherein the front camera and the bottom camera are RF wireless cameras having a CCD image sensor. .
The method according to claim 1,
The main board unit 400 is a geomagnetic sensor 420 for detecting the azimuth angle of the surveying robot and transmitting it to the DSP module 410, and the motor for controlling the drive of the DC motor provided in the steering unit 110 A motor driver communication unit 430 for communicating with the driver 431, an encoder data receiving unit 440 for receiving a measured value of the encoder 441 for measuring the rotational speed of the DC motor provided in the steering unit, and a smart device; Bluetooth module for wireless communication (450) and a power supply unit 460 consisting of a battery having a 14.6V, 5,600mAh for supplying power to the overall robot body portion 100 is further included and installed Robot-based GPS surveying system.
The method according to claim 1,
The gimbal unit 500 receives an IMU (Inertial Measurement Unit) for detecting X and Y axis angle information of the GPS receiver 210 and a detection value of the IMU. System board (540) having an MCU (Micro Controller Unit, microcontroller, 541) to control the DC motor (510a, 510b) of the X-axis, Y-axis so that the GPS receiver is controlled in a horizontal upright position. Robot-based GPS surveying system, characterized in that provided.
The method of claim 6,
The gimbal unit 500 is a change between the GPS receiver 210 from the upper surface of the robot body 100 by the angle change through the two DC motors (510a, 510b) for controlling the X-axis, Y-axis of the GPS receiver. Robot-based GPS surveying system, characterized in that the height detection unit 550 is further provided for detecting the height to be transmitted to the DPS module (410) of the main board unit 400.

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