WO2018078742A1 - Sensor terminal installation device and method - Google Patents

Sensor terminal installation device and method Download PDF

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Publication number
WO2018078742A1
WO2018078742A1 PCT/JP2016/081717 JP2016081717W WO2018078742A1 WO 2018078742 A1 WO2018078742 A1 WO 2018078742A1 JP 2016081717 W JP2016081717 W JP 2016081717W WO 2018078742 A1 WO2018078742 A1 WO 2018078742A1
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WO
WIPO (PCT)
Prior art keywords
sensor terminal
installation
area
unit
determination unit
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PCT/JP2016/081717
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French (fr)
Japanese (ja)
Inventor
悠介 森脇
前木　陽
荒澤　伸幸
光一 寺田
健二 藤平
Original Assignee
株式会社日立製作所
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Application filed by 株式会社日立製作所 filed Critical 株式会社日立製作所
Priority to PCT/JP2016/081717 priority Critical patent/WO2018078742A1/en
Publication of WO2018078742A1 publication Critical patent/WO2018078742A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V1/00—Seismology; Seismic or acoustic prospecting or detecting
    • G01V1/16—Receiving elements for seismic signals; Arrangements or adaptations of receiving elements
    • G01V1/20—Arrangements of receiving elements, e.g. geophone pattern

Definitions

  • the present invention relates to a technique for installing a sensor terminal for seismic exploration.
  • Sensor terminals such as geophones and MEMS sensors are used for seismic exploration.
  • the number of sensor terminals used for seismic exploration is increasing in order to grasp the state of strata and resources with higher accuracy.
  • exploration using hundreds of thousands to millions of sensor terminals is expected. Therefore, automation of installation of sensor terminals is required.
  • Patent Document 1 discloses an apparatus for installing a sensor terminal.
  • the installer When installing sensor terminals one by one with human hands, the installer can visually check for obstacles existing on the ground surface, or reaction force transmitted from the soil when digging holes for sensor installation by hand. It is judged whether the sensor terminal can be installed in a normal state by confirming the hardness of the soil.
  • the installation device When automating the installation of sensor terminals, the installation device needs a function to replace them. Without such a function, the accuracy of the sensor terminal installation posture and the coupling state will vary, and the signal quality obtained from the sensor terminal will deteriorate, or the sensor terminal can only be installed under limited conditions. Problems occur.
  • Patent Document 1 installs a sensor terminal without checking the soil environment. Therefore, depending on the environment of the soil such as obstacles and geology, the sensor terminal can not be installed normally, re-installation will reduce the throughput of installation, shorten the life of the cultivation mechanism to maintain the soil, There is a possibility that the accuracy of the installation posture is lowered.
  • the present invention is to provide a technology that enables normal installation of sensor terminals in various soil environments.
  • a sensor terminal installation device that installs a sensor terminal for measuring vibration, wherein the sensor terminal is moved and installed at a predetermined installation position; and And a determination unit that determines whether the sensor terminal can be normally installed or whether the sensor terminal is normally installed at the predetermined position.
  • the present invention it is possible to ensure that the sensor terminal is normally installed by checking before installation or after installation, so that the sensor terminal can be normally installed in various soil environments.
  • FIG. 1 It is a block diagram which shows the basic composition of the sensor terminal installation apparatus by this embodiment. It is the schematic of the sensor terminal installation apparatus by Example 1.
  • FIG. 2 is a flowchart which shows the operation
  • 6 is a diagram illustrating an example of an image captured by the imaging unit 4 in Embodiment 1.
  • FIG. It is the schematic of the sensor terminal installation apparatus in Example 2.
  • FIG. 10 is a diagram illustrating an example of an image photographed by the photographing unit 4 in the third embodiment. It is the schematic of the sensor terminal installation apparatus in Example 4.
  • FIG. It is a flowchart which shows the operation
  • FIG. It is a figure which shows an example of the unevenness
  • FIG. It is a flowchart which shows the operation
  • FIG. It is a flowchart which shows the operation
  • FIG. It is a flowchart which shows the operation
  • FIG. 1 is a block diagram showing a basic configuration of a sensor terminal installation apparatus according to the present embodiment.
  • the center terminal installation device 90 is a device that installs a sensor terminal for measuring elastic wave vibration on the ground or in the ground.
  • the sensor terminal installation device 90 includes a determination unit 91, an installation unit 92, a notification unit 93, a cultivation unit 94, and a recording unit 95.
  • the installation unit 92 moves the sensor terminal and installs it at a predetermined installation position.
  • the determination unit 91 determines whether the sensor terminal can be normally installed at the installation position, or whether the sensor terminal is normally installed at the predetermined position. According to this, it is possible to ensure that the sensor terminal is normally installed by checking before installation or after installation, so that the sensor terminal can be normally installed in various soil environments.
  • the determination unit 91 may determine an installable area where the sensor terminal can be installed, and the installation unit 92 may move and install the sensor terminal to the installable area. Since the sensor terminal is installed after confirming the position where it can be installed, the sensor terminal can be normally installed in various soil environments.
  • the notification unit 93 notifies the operator of the completion of installation when the installation unit 92 installs the sensor terminal, and notifies the operator that the installation is impossible when the determination unit 91 cannot find the installation possible area. Since the operator can be notified of the completion of installation or the installation is impossible, the operator can normally install the sensor terminal in an area having a good soil environment by relying on the notification.
  • the cultivating section 94 cultivates the ground so that the sensor terminal can be installed. If there is no installable region, the determination unit 91 finds an improveable region that can be improved so that the sensor terminal can be installed by cultivation, and causes the cultivation unit 94 to cultivate the improveable region. Install the sensor terminal in the area that can be improved after cultivation. Even if there is no installable area, it is possible to cultivate the improveable area and install the sensor terminal, so that the sensor terminal can be normally installed by searching for or creating a good soil environment.
  • the determination unit 91 captures an image of the ground, estimates an installable region based on the image, measures the hardness of the ground in the region estimated as the installable region, and if the hardness is equal to or less than a predetermined threshold value. For example, the estimated area is determined as the installable area. Since the installable area is determined based on the ground image and the hardness measurement, the area where the sensor terminal can be installed can be selected more reliably.
  • the determination unit 91 causes the cultivation unit 94 to cultivate the estimated area, and the installation unit 92 estimates the sensor terminal. Let the area install. Even in an area where the installation seemed possible on the image, but the hardness of the ground is hard and the sensor terminal cannot be installed, it can be cultivated and improved, and the sensor terminal can be installed.
  • the determination unit 91 captures an image of the ground, estimates an installable area based on the image, measures the flatness of the ground in the area estimated as the installable area, and determines the flatness. If is more than a predetermined threshold value, the estimated area may be determined as the installable area. Since the installable area is determined based on the ground image and the flatness measurement, it is possible to select an area in which the sensor terminal can be installed more reliably.
  • the installation unit 92 installs the sensor terminal at a predetermined position, and the determination unit 91 determines whether or not the installed sensor terminal is normally installed. If not installed, the installation unit 91 may improve the installation of the sensor terminal. The determination of whether or not the installation is normal may be made based on whether or not a predetermined normal installation condition is satisfied. For normal installation conditions, as an example, if vibration is applied to the ground near the sensor terminal and the elastic wave vibration measured at the sensor terminal exceeds a predetermined threshold, it is determined that the normal installation condition is satisfied. Good. For example, the improvement of the installation is to push the installed sensor terminal again to improve the installation state. As another example of improving the installation, the installed sensor terminal may be picked up and installed again. In that case, the installation unit 91 may be provided with a mechanism for picking up the installed sensor terminal and installing it again. Since the installation is improved if the sensor terminal is not normally installed, the sensor terminal can be normally installed in various soil environments.
  • the determination unit 91 applies vibration to the ground having a predetermined positional relationship with the installed sensor terminal, acquires the value of elastic wave vibration measured by the sensor terminal, and based on the elastic wave vibration, It may be determined whether or not the terminal is normally installed. Since vibration is applied and measured with a sensor terminal, it is determined from the obtained value whether the sensor terminal is normally installed. Therefore, whether the sensor terminal is normally installed in various soil environments is determined. Appropriate judgment can be made after the fact.
  • the determination unit 91 may correct the installation state of the sensor terminal when the elastic wave vibration measured by the sensor terminal is less than a predetermined threshold.
  • the modification of the installation state is to push the installed sensor terminal again. Since the installation state is corrected and the elastic wave vibration is measured again, the sensor terminal can be normally installed in various soil environments.
  • the recording unit 95 records identification information that uniquely identifies the installed sensor terminal and position information of the position where the sensor terminal is installed in association with each other. Since the information of the installed sensor terminal can be acquired and stored using the function of the device for installing the sensor terminal, the information of the sensor terminal can be easily stored.
  • the installation unit 92 and the determination unit 91 are vehicles that can travel independently, and when the installation unit 92 is installing a certain sensor terminal, the determination unit 91 executes a determination regarding another sensor terminal. It may be. Since installation of a certain sensor terminal and determination regarding another sensor terminal can be performed in parallel, work can be efficiently performed when a plurality of sensor terminals are installed.
  • Example 1 is an example in which the position where a sensor terminal is installed is determined using image processing, and the sensor terminal installation device 90 moves by automatic operation to install the sensor terminal.
  • FIG. 2 is a schematic diagram of the sensor terminal installation apparatus according to the first embodiment.
  • the sensor terminal installation device 90 is a device that installs the sensor terminal 5 in the ground or on the ground surface.
  • the sensor terminal installation device 90 includes a vehicle 1, an automatic vehicle driving device 2, an installation sequence determination unit 3, a photographing unit 4, a push-in mechanism 6, and a robot arm 7.
  • the vehicle 1, the automatic vehicle driving device 2, the pushing mechanism 6, and the robot arm 7 correspond to the installation unit 92 described above, and the installation sequence determination unit 3 and the imaging unit 4 correspond to the determination unit 91 described above.
  • the vehicle 1 is driven by a power unit (not shown), and can be moved by the automatic vehicle driving device 2 based on information on a predetermined installation position of the sensor terminal 5 and a traveling pattern.
  • the automatic vehicle driving device 2 is equipped with a position detection function such as GPS for grasping the position of the vehicle 1, and the automatic vehicle driving device 2 moves the vehicle 1 to a target position based on the detected position information.
  • the sensor terminal 5 is equipped with a sensor that detects at least one axis of acceleration and velocity and a peripheral circuit that drives them, and can detect vibrations and shocks in the ground and on the ground. Seismic exploration may only detect vibrations and shocks in the vertical direction (Z-axis) with respect to the ground surface, but when detecting the tilt direction of the vibration and sensor terminal posture (tilt), the horizontal direction (X-axis, Y-axis) ) Vibration and shock can be detected.
  • the installation sequence determination unit 3 is connected to the automatic vehicle driving device 2, the photographing unit 4, the push-in mechanism 6, and the robot arm 7 so that the installation sequence for installing the sensor terminal 5 can be determined. Further, the installation sequence determination unit 3 has a transmission means for transmitting a signal to a wireless communication unit (not shown) corresponding to the notification unit 93 and can notify the remote operator of the state of the installation sequence.
  • the installation sequence determination unit 3 determines an installation sequence for appropriately installing the sensor terminal 5 using the soil image information acquired by the photographing unit 4, and the automatic vehicle driving device 2, push-in along the installation sequence Commands are given to the mechanism 6 and the robot arm 7, respectively.
  • the image capturing unit 4 is an apparatus that captures an image by being arranged vertically downward of the soil or at an angle that includes the ground surface within the image capturing field angle.
  • the imaging unit 4 has an object of acquiring a ground obstacle that obstructs the installation of the sensor terminal 5 and a concave surface such as a hole. For this reason, the imaging unit 4 only needs to have a resolution that allows the obstacle to be detected.
  • photography part 4 may have the resolution which makes it possible to see the particle shape of soil. Thereby, it is also possible to estimate the hardness of the soil.
  • the photographing unit 4 may irradiate the ground surface with a light source (not shown) to increase the brightness of the image and the edge detection accuracy of the obstacle.
  • the photographing unit 4 may include a shielding wall (not shown) in order to keep the photographing condition constant, and may shield light from the outside to the portion where the soil is photographed.
  • the robot arm 7 has a transfer function of moving the sensor terminal 5 to the coordinate position commanded from the installation sequence determination unit 3.
  • the robot arm 7 can position the sensor terminal 5 with higher accuracy than the movement of the sensor terminal 5 due to the movement of the vehicle 1.
  • the automatic vehicle driving device 2 can replace the function of the robot arm 7.
  • the robot arm 7 includes a terminal holding portion 7a, an arm 7b, and an actuator 7c.
  • the power source of the actuator 7c may be hydraulic, pneumatic, or electric. It is desirable that the drive shaft of the actuator 7c can be driven in a total of three axes, one vertical axis and two horizontal axes.
  • the stroke length of the drive shaft is desirably a length that allows the sensor terminal 5 to move to arbitrary coordinates within the range of an image that can be acquired by the imaging unit 4.
  • the actuator 7c is driven by a driver or a control unit (not shown).
  • the container unit 9 has a space where a plurality of sensor terminals 5 can be mounted, and the sensor terminal 5 mounted on the container unit 9 is moved to the commanded coordinates on the ground surface by the robot arm 7.
  • the pushing mechanism 6 is a mechanism for embedding the sensor terminal 5 in the ground by applying a load or impact in the pushing direction to the sensor terminal 5 as a pushing operation. It is desirable that the drive shaft of the actuator of the push-in mechanism 6 can control the tilt direction according to the inclination of the ground. It is desirable that the pushing force required for the actuator is larger than the necessary pushing force calculated from the hardness of the soil, the shape of the sensor terminal 5, and the like. However, the pushing force should not be larger than the load resistance or impact resistance of the sensor terminal 5.
  • the pushing operation of the pushing mechanism 6 may be performed by driving the robot arm 7. However, in that case, in order to obtain a desired pushing force, a force stronger than the force necessary for transporting the sensor is required, and a large actuator is required.
  • the actuator 7c of the robot arm 7 controls the stroke amount and position
  • the force and stroke amount required for each actuator can be individually designed.
  • the actuators separately it is possible to easily perform the impact in such a state that the tip of the sensor terminal 5 is in contact with the soil. It becomes possible to efficiently crush hard soil that has been compacted.
  • the push mechanism 6 may be provided with a tilt mechanism that adjusts the angle, and the tilt mechanism may be used to adjust the angle of the push mechanism 6.
  • the command value of the tilt angle may be calculated from the tilt angle of the vehicle 1 by mounting a level meter on the vehicle 1.
  • the acceleration detection means mounted on the sensor terminal 5 installed by the sensor terminal installation apparatus 90 having the above-described configuration it is desirable to use a MEMS (Micro Electrical Mechanical System) capable of detecting vibration with stable performance.
  • MEMS Micro Electrical Mechanical System
  • a geophone that mechanically captures vibration with a coil and a magnet may be used.
  • the horizontal movement of the sensor terminal 5 to the position where the sensor terminal 5 is installed is performed by coarse movement due to movement of the vehicle 1 and fine movement by the robot arm 7.
  • the vehicle 1 may be moved to a position where the vehicle is installed by moving the vehicle 1 under the control of the automatic vehicle driving device 2. In that case, the positioning accuracy of the movement of the vehicle 1 may be equal to the positioning accuracy of the robot arm 7.
  • FIG. 3 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the first embodiment.
  • the flowchart of FIG. 3 shows the process from installing one sensor terminal 5 to installing the next sensor terminal 5 in the process of installing a plurality of sensor terminals 5.
  • the sensor terminal installation device 90 determines a position (hereinafter referred to as “target position”) as a candidate for installing the sensor terminal 5 based on GPS information, information on a traveling pattern set in advance, or the like by the installation sequence determination unit 3. (Step 101).
  • the target position is preferably a predetermined position that is not far away from the position where the vehicle 1 is currently located.
  • the map may be divided into a plurality of unit areas that are large enough to obtain an image by the photographing unit 4 in a vertical and horizontal mesh, and in step 101, the area adjacent to the current area may be set as the target position.
  • the sensor terminal installation device 90 is automatically driven by the vehicle automatic driving device 2 and moves the vehicle 1 to the target position (step 102). Moreover, what is necessary is just to move the vehicle 1 within the range of the error accept
  • the sensor terminal installation device 90 uses the photographing unit 4 to acquire an image of the soil used for examining the soil state (step 103). Furthermore, the sensor terminal installation device 90 detects an area free from obstacles such as stones and holes by analyzing the acquired image in the installation sequence determination unit 3 (step 104).
  • the sensor terminal installation apparatus 90 determines whether or not there is an installable area by the installation sequence determination unit 3 (step 105). At that time, when the sensor terminal 5 is installed in an area free of obstacles, if there is an area larger than the area of the soil that the sensor terminal 5 contacts, that area is set as an installable area.
  • the sensor terminal installation device 90 causes the installation sequence determination unit 3 to install coordinates (hereinafter referred to as “installation coordinates”) for installing the sensor terminal 5 in the installable area. Furthermore, the sensor terminal installation device 90 moves the sensor terminal 5 to the installation coordinates by the robot arm 7 (step 107). Subsequently, the sensor terminal installation device 90 pushes the installed sensor terminal 5 into the ground by the pushing mechanism 6 (step 108). The sensor terminal 5 may be pushed by the robot arm 7 instead of the pushing mechanism 6.
  • the sensor terminal installation device 90 proceeds to a process for installing the next sensor terminal 5.
  • the sensor terminal installation device 90 may record the coordinates of the position where the sensor terminal 5 is installed in association with the terminal ID of the center terminal 5.
  • the center terminal installation device 90 can calculate the position where the center terminal 5 is installed based on the position information of the vehicle 1 and the relative position information of the robot arm 7 with respect to the vehicle 1.
  • the sensor terminal installation device 90 causes the installation sequence determination unit 3 to store the coordinate range included in the image as an installation additional area (step 109).
  • the information on the installation impossible area is accumulated in the installation sequence determination unit 3.
  • the sensor terminal installation device 90 determines whether or not there is an area that has not yet been searched for an installable area within a range (hereinafter referred to as “search range”) that is predetermined as a range for searching for an installable area. (Step 110). For example, it is only necessary to determine whether or not the search of all the unit areas included in the search range has been completed by setting the above-described unit area to a range of 3 ⁇ 3 in the search range.
  • the sensor terminal installation device 90 causes the installation sequence determination unit 3 to return to step 101 and move the vehicle 1 to the unsearched unit area. On the other hand, if there is no unsearched unit area in the search range, the sensor terminal installation device 90 causes the installation sequence determination unit 3 to stop the sensor terminal installation device 90 and send an alert to a remote operator (step) 111), the process is terminated.
  • FIG. 4 is a diagram illustrating an example of an image photographed by the photographing unit 4 in the first embodiment. An image acquired from the imaging unit 4 will be described with reference to FIG.
  • the purpose of photographing an image with the photographing unit 4 is to detect an area without obstacles or irregularities in the soil.
  • the image acquired by the imaging unit 4 is required to have a resolution that can detect the rock 8a, the pebbles 8b, and the hole 8c regardless of the size.
  • the range of soil from which an image can be acquired, the resolution for detecting the size of the obstacle 8, and the like vary depending on the height at which the camera of the photographing unit 4 is installed. What is necessary is just to determine the height of a camera with the performance of the imaging
  • the sensor terminal installation device 90 installs the area without the obstacle 8. A possible area 11 is assumed. The sensor terminal installation device 90 determines the horizontal coordinate of the installable area 11 in the area where the image is acquired by the imaging unit 4, and moves the sensor terminal 5 using the robot arm 7 using the horizontal coordinate as a command value. .
  • the vehicle automatic driving device 2 automatically drives the vehicle 1
  • the present invention is not limited to this.
  • the driver may drive the vehicle 1 instead of the automatic vehicle driving device 2 and move it to the target position.
  • a driving device may be provided remotely, connected to the vehicle 1 by wireless communication, and the operator may drive the vehicle 1 by a remote operation.
  • the sensor terminal 5 when the sensor terminal 5 is automatically installed, even if there is an obstacle 8 in the soil, the sensor terminal 5 can be appropriately installed avoiding the obstacle 8. . Moreover, when trying to install the sensor terminal 5 in the soil with many obstacles 8, it can notify a remote operator with an alert early that it is difficult to install. As a result, the operator can take an appropriate measure against the obstacle 8 at an early stage.
  • Example 2 shows an example in which the operator operates the sensor terminal installation device 90 and moves the sensor terminal 5 to a position where the sensor terminal 5 is installed, instead of automatic driving.
  • the parts denoted by the same reference numerals as those in the first embodiment are the same as those in the first embodiment, and thus the description thereof will be omitted, and the parts unique to the second embodiment will be mainly described.
  • FIG. 5 is a schematic diagram of the sensor terminal installation apparatus according to the second embodiment.
  • the sensor terminal installation device 90 shown in FIG. 5 includes the vehicle cab 16, the vehicle operation unit 15, the alert notification unit 13, and the terminal installation operation panel 14 in place of the automatic vehicle driving device 2, in the implementation shown in FIG. Different from Example 1.
  • the vehicle operation unit 15 and the terminal installation operation panel 14 are included in the installation unit 92 in FIG. 1, and the alert notification unit 13 corresponds to the notification unit 93.
  • the vehicle 1 is driven by the operator using the vehicle operation unit 15 in the vehicle cab 16 instead of the vehicle automatic driving device 2.
  • the alert notification unit 13 and the terminal installation operation panel 14 are connected to the installation sequence determination unit 3 and transmit / receive predetermined information according to the progress of the installation sequence. For example, the operator knows information notified from the installation sequence determination unit 3 to the alert notification unit 13, and the operator drives the vehicle 1 using the vehicle operation unit 15 based on the information, and the terminal installation operation panel 14 is used to install the sensor terminal 5.
  • the alert notification unit 13 As a means for the alert notification unit 13 to notify the operator of an alert, for example, a visual display device such as a lamp or an LED panel is preferable. However, an audible notification means such as a buzzer can also be used.
  • the vehicle operation unit 15 and the terminal installation operation panel 14 may be operable from a remote place by an operator.
  • a device that performs mutual communication with a remote system (not shown) operated by an operator is used as the sensor terminal installation device 90.
  • FIG. 6 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation device according to the second embodiment.
  • the processing of the second embodiment shown in FIG. 6 differs from the processing of the first embodiment shown in FIG. 3 in that the vehicle 1 is moved to the target position by the operator's operation (step 201), set by the operator's command There is a process for starting the sequence (step 202) and a process for notifying the operator that the installation of the sensor terminal 5 has been completed (step 203).
  • the flowchart of FIG. 6 shows a sequence from the installation of one sensor terminal 5 to the installation of the next sensor terminal 5 in the process of installing a plurality of sensor terminals 5 as in the first embodiment. .
  • sensor terminal installation apparatus 90 moves vehicle 1 to the target position by driving using the vehicle operation unit 15 of the operator (step 101). Step 201). Thereafter, when the operator operates the terminal installation operation panel 14, the sensor terminal installation device 90 issues an instruction to start the installation sequence (step 202).
  • the sensor terminal installation device 90 acquires an image of soil using the photographing unit 4 (step 103) and calculates a region where the sensor terminal 5 can be installed, as in the first embodiment. (Step 104). Further, as in the first embodiment, the sensor terminal installation device 90 determines whether there is an installable area (step 105). If there is an installable area, the sensor terminal 5 moves (steps 106 to 107) and pushes in. The sensor terminal 5 is installed by operation (step 108).
  • Example 2 after the sensor terminal 5 is installed, the sensor terminal installation device 90 notifies the operator that the installation of the sensor terminal 5 is completed by the alert notification unit 13 (203).
  • step 105 When it is determined in step 105 that there is no installable area, the sensor terminal installation device 90 notifies the operator that the installation is impossible by the alert notification unit 13 (step 204).
  • the operator can easily install the sensor terminal 5 while avoiding obstacles. Further, by notifying the operator whether or not the sensor terminal 5 can be installed, an early countermeasure can be taken.
  • Example 3 shows an example in which the soil can be cultivated and improved, and the sensor terminal 5 can be installed.
  • the parts denoted by the same reference numerals as those in the first and second embodiments are the same as those in the first and second embodiments, so that the description thereof will be omitted, and the parts unique to the third embodiment will be mainly described.
  • FIG. 7 is a schematic diagram of the sensor terminal installation apparatus according to the third embodiment.
  • the sensor terminal installation device 90 shown in FIG. 7 is different from that of the first embodiment shown in FIG.
  • the cultivation mechanism 17 corresponds to the cultivation unit 94 of FIG.
  • the cultivation mechanism 17 has a cultivation part 17a, a vertical movement mechanism 17b, and a horizontal movement mechanism (not shown).
  • the cultivation part 17a is a hammer drill as an example, and not only rotates but also can be subjected to vertical vibration.
  • the area of the soil that can be excavated by the hammer drill is preferably equal to the bottom area of the portion of the sensor terminal 5 entering the ground.
  • the amount of stroke that the cultivating part 17a can move up and down is determined by the up and down movement mechanism 17b.
  • the stroke amount may be determined based on the height of the vertical movement mechanism 17b from the ground, the total vertical length of the sensor terminal 5, and the depth to be buried in the ground. Further, the stroke amount and the movable range of the horizontal movement mechanism are preferably equal to those of the robot arm 7.
  • FIG. 8 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the third embodiment.
  • the processing of the third embodiment shown in FIG. 8 is different from the processing shown in FIG. 3 and FIG. 6, the processing for calculating the coordinates of the position where the small obstacle is located (step 301), and the processing for determining the improvement possible region ( Step 302) and a process of cultivating the soil (Step 303).
  • steps 101 to 105 are the same as those in the first embodiment. If it is determined in step 105 that there is no installable area, the sensor terminal installation device 90 is not currently an installable area by the installation sequence determination unit 3 in this embodiment. Based on the above, a region where the obstacle 8 is small is calculated (step 301). The size of the obstacle 8 is calculated from the image, and a region without the obstacle 8 having a size exceeding the threshold may be extracted.
  • the obstacle 8 showing an area smaller than the size of the bottom area of the cultivation unit 17 is defined as a small obstacle.
  • the sensor terminal installation device 90 determines whether there is an improvement possible region.
  • the area that can be improved is an area that can be improved to an installable area by farming. For example, a region where the obstacle 8 is small may be set as a region that can be improved.
  • the sensor terminal installation apparatus 90 uses the cultivation mechanism 17 to cultivate the soil in the area that can be improved (step 303). Subsequently, the sensor terminal installation device 90 proceeds to step 106 and determines installation coordinates. After that, as in the first embodiment, the sensor terminal 5 is moved to the installation coordinates and installed (step 107), and the installation is completed by pushing it into the ground (step 108).
  • step 302 If the improvement possible area cannot be detected in step 302, the sensor terminal installation device 90 proceeds to step 109. Subsequent processing is the same as in the first embodiment.
  • FIG. 9 is a diagram illustrating an example of an image photographed by the photographing unit 4 in the third embodiment. An image acquired from the imaging unit 4 will be described with reference to FIG.
  • the hammer drill is illustrated as the cultivation mechanism 17 in this embodiment as described above, the present invention is not limited to this.
  • obstacles such as pebbles 8 may be removed using a rake or a fence.
  • the area having only a small obstacle such as the pebbles 8 b can be improved to the installable area.
  • the possibility that it can be installed can be increased.
  • in order to determine the position to be excavated by the cultivation mechanism 17 from the image of the soil it is possible to prevent excavation of a region with a large obstacle such as the hard rock 8a to wear or destroy the cultivation unit 17a. it can.
  • the sensor terminal 5 can be changed to a soil where the sensor terminal 5 can be easily installed. Therefore, the actuator of the pushing mechanism 6 can be reduced in size.
  • Example 4 shows an example in which not only the soil image but also the soil hardness is measured and used to determine the position where the sensor terminal is installed.
  • the parts denoted by the same reference numerals as those in the first to third embodiments are the same as those in the first to third embodiments. Therefore, the description thereof will be omitted, and the parts peculiar to the fourth embodiment will be mainly described.
  • FIG. 10 is a schematic diagram of the sensor terminal installation apparatus according to the fourth embodiment.
  • the soil hardness meter 19 is a device for measuring the hardness of the soil.
  • the soil hardness meter 19 is a penetrating soil hardness meter.
  • the penetrating portion 19a, the vertical movement mechanism 19b, and soil hardness information (not shown) are input to the installation sequence determining portion 3. It has a transmission part to transmit.
  • the soil altimeter 19 measures the hardness of the soil by sliding the penetration portion 19a up and down and inserting it into the soil using the vertical movement mechanism 19b.
  • the depth in which the obstacle terminal 8 can be detected in the ground is determined by the depth of the penetration portion 19a buried in the ground, and the depth of the penetration portion 9a is determined by the shape of the penetration portion 9a.
  • the shape of the penetration part 19a may be determined according to the above.
  • the soil hardness can be estimated based on the relationship between the pushing force and the stroke amount when the sensor terminal 5 is pushed by the pushing mechanism 6. For example, when the stroke amount of the push-in mechanism 6 is small with respect to the commanded push-in force, it is determined that the soil hardness is high or the obstacle 8 exists in the ground. In that case, the sensor terminal installation apparatus 90 should just transfer to another installation sequence.
  • FIG. 11 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation device according to the fourth embodiment.
  • the processing of Example 4 shown in FIG. 11 differs from the processing shown in FIG. 3, FIG. 6 or FIG. 8 in the processing of measuring the soil hardness by the soil hardness meter 19 (step 401), and the hardness is set to a predetermined value.
  • This is a process for determining whether or not the value is equal to or less than the value (step 402).
  • This predetermined set value is a threshold value for determining whether the hardness of the soil can push the sensor terminal 5 into the ground by the pushing mechanism 6.
  • the sensor terminal installation device 90 measures the soil hardness with the soil hardness meter 19 in the area where it is determined in step 105 that the sensor terminal 5 can be installed based on the soil image (step 401). . Furthermore, the sensor terminal installation device 90 determines whether or not the measured soil hardness is equal to or lower than a predetermined set value by the installation sequence determination unit 3 (step 402).
  • the sensor terminal installation device 90 determines that the sensor terminal 5 can be installed in the region, and the process proceeds to Step 106. Transition.
  • the processing after step 106 is the same as that in the first embodiment.
  • the sensor terminal installation device 90 installs the sensor terminal 5 in that region. If it is determined that it cannot be performed, the process proceeds to step 109.
  • the processing after step 109 is the same as that in the first embodiment.
  • the present invention is not limited to this.
  • the soil hardness range in which the sensor terminal 5 can be installed is set according to the cultivation capability of the cultivation mechanism, and if the measured value of the soil hardness is within the range, the soil is improved using the cultivation mechanism. If the measured value is out of the range, the sensor terminal 5 may be installed in another area.
  • the present embodiment it becomes possible to detect hard soil and obstacles in the ground, and there is an effect that the sensor terminal 5 can be installed avoiding the hard soil and obstacles in the ground. Thereby, it is possible to reduce the failure of the sensor terminal 5 by pushing the hard soil or the obstacle in the ground and promoting the wear of the cultivation mechanism.
  • Example 5 shows an example in which the position where the sensor terminal is installed is determined using not only the planar image of the soil but also information on the unevenness of the soil.
  • the parts denoted by the same reference numerals as those in the first to fourth embodiments are the same as those in the first to fourth embodiments, and thus the description thereof will be omitted.
  • the parts peculiar to the fifth embodiment will be mainly described.
  • FIG. 12 is a schematic diagram of a sensor terminal installation apparatus according to the fifth embodiment.
  • the distance sensor 20 is, for example, an ultrasonic type or laser type rangefinder. It is desirable to be able to obtain distance information on a two-dimensional surface such as a band laser that irradiates a band-shaped laser beam. As another example, a stereo camera may be used for the photographing unit 4 to enable measurement of the distance to the ground.
  • the distance sensor 20 is disposed downward so that the distance to the ground in the vertical direction can be measured.
  • FIG. 13 is a diagram illustrating an example of unevenness of the ground calculated from information acquired by the distance sensor 20 in the fifth embodiment.
  • the distance sensor 20 measures the distance in the vertical direction.
  • the sensor terminal installation device 90 can calculate the uneven shape of the soil based on the distance information measured by the distance sensor 20. For example, the distance sensor 20 measures the distance from the distance sensor 20 to the ground in the soil as shown in FIG.
  • the sensor terminal installation device 90 can calculate the uneven shape of the soil having a cross-sectional shape as shown in FIG.
  • the sensor terminal installation device 90 classifies the region where the uneven shape is calculated by the installation sequence determination unit 3 into the uneven surface 31, the inclined surface 32, and the horizontal surface 33.
  • the horizontal plane 33 can be determined as the installable area. In that case, the uneven surface 31 and the inclined surface 32 are determined as an installation impossible area.
  • the installation sequence determination unit 3 uses the inclination angle of the slope where the sensor terminal 5 can be installed as a threshold value, and if the ground inclination exceeds the threshold value, determines the ground surface as the inclined surface 32, If the slope of is less than or equal to the threshold, the ground is determined as the horizontal plane 33.
  • a uniaxial distance sensor 20 may be used.
  • two-dimensional distance information may be obtained by causing the distance sensor 20 to stroke a plurality of times in the horizontal direction using a horizontal movement mechanism or the like.
  • a plurality of uniaxial distance sensors 20 may be provided, and a plurality of distances may be measured simultaneously.
  • FIG. 14 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the fifth embodiment. 14 is a process in which the distance sensor 20 measures the height from the ground to the distance sensor 20 as a part different from the process shown in FIG. 3, FIG. 6, FIG. 8, or FIG. 501) and processing for determining whether or not the ground on which the sensor terminal 5 is installed is horizontal (step 502).
  • the sensor terminal installation device 90 further increases the height from the ground to the distance sensor 20 by the distance sensor 20 in the area where it is determined in step 105 that the sensor terminal 5 can be installed based on the soil image. Is measured (step 501).
  • the sensor terminal installation device 90 divides the range in which the height is measured by the installation sequence determination unit 3 on the basis of the measured height information into each of the uneven surface 31, the inclined surface 32, and the horizontal surface 33. Then, it is determined whether or not there is a horizontal surface 33 on which the sensor terminal 5 can be installed (step 502).
  • the sensor terminal installation device 90 proceeds to step 106 and determines the position where the sensor terminal 5 is installed in the horizontal plane 33 as an installable region.
  • the subsequent processing is the same as in the first embodiment. If there is not a sufficient horizontal surface 33 for installing the sensor terminal 5 in step 502, the sensor terminal installation device 90 proceeds to step 109.
  • the subsequent processing is the same as in the first embodiment.
  • the place where the sensor terminal 5 is installed is determined in consideration of the unevenness and the inclination of the soil that cannot be understood only by the planar image. can do.
  • Example 6 shows an example in which it is determined whether or not the sensor terminal is successfully installed, and the push-in is repeated.
  • the parts denoted by the same reference numerals as those in the first to fifth embodiments are the same as those in the first to fifth embodiments, so that the description thereof will be omitted and the parts unique to the sixth embodiment will be mainly described.
  • FIG. 15 is a schematic diagram of the sensor terminal installation apparatus according to the sixth embodiment.
  • the components different from those of the first to fifth embodiments in the sensor terminal installation device 90 of the sixth embodiment shown in FIG. 15 are a vibration device 21, a receiver 23, and an installation determination unit 24.
  • the sensor terminal 5 includes a transmitter 22 that transmits information of measurement values.
  • the vibration device 21 is a device that receives vibration from the installation sequence determination unit 3 and applies vibration to the soil.
  • the vibration device 21 includes a vertical movement mechanism that generates vibration in the vertical direction. At the time of vibration, the tip of the vibration device 21 is brought into contact with the soil, and the tip is vibrated by the vertical movement mechanism based on a command from the installation sequence determination unit 3 to vibrate the ground.
  • the vibration device 21 can apply vibration of an arbitrary frequency to the ground. It is desirable that the vibration applied to the ground after installing the sensor terminal 5 is a frequency band used for actual seismic exploration.
  • the power of the vibration device 21 is a hydraulic linear actuator. However, it is not limited to that.
  • an electric rotary motor in which an eccentric load is installed on the rotary shaft may be the power of the vibration device 21.
  • the vibration applied to the ground is detected by the sensor terminal 5, converted into an electrical signal indicating vibration information, and sent out.
  • the sensor terminal 5 is provided with a transmitter 22.
  • the sensor terminal 5 that has detected the vibration outputs an electrical signal indicating vibration information as an example from the transmitter 2 by radio waves.
  • the electrical signal of the vibration information is received by the receiver 23, and the vibration information is transmitted to the installation determination unit 24.
  • the installation determination unit 24 determines the success or failure of the installation of the sensor terminal 5 based on the vibration information from the sensor terminal 5. Specifically, the vibration detected by the sensor terminal 5 when correctly installed is measured in advance, and based on the value of the vibration, a reference value for determining success or failure of the installation of the sensor terminal 5 is determined, A reference value is set in advance. Thereafter, the sensor terminal installation device 90 installs the sensor terminal 5 and applies vibration to the ground. The vibration information notified from the sensor terminal 5 at that time is compared with a reference value. If the vibration value indicated by the vibration information from the sensor terminal 5 is greater than or equal to the reference value, it is determined that the sensor terminal 5 has been successfully installed.
  • the above-mentioned reference value is a plurality of measurements from the sensor terminal 5 by properly installing the sensor terminal 5 in a soil state that can be correctly installed as a calibration operation before the installation sequence, and applying vibration to the ground multiple times.
  • a value may be acquired and calculated based on the plurality of measurement values.
  • FIG. 16 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the sixth embodiment.
  • the processing of Example 6 shown in FIG. 16 is different from the processing shown in FIG. 3, FIG. 6, FIG. 8, FIG. 11 or FIG.
  • a process for calculating the amplitude value of the vibration step 602
  • a process for determining whether or not the sensor terminal 5 has been successfully installed step 603
  • a process for recording the number of times of failure determination when the installation is defective Step 604
  • processing for comparing the number of times of defect determination with a threshold Step 605
  • step 108 in FIG. 16 The processing up to step 108 in FIG. 16 is the same as in the first embodiment.
  • the sensor terminal installation device 90 applies vibration to the soil in the vicinity of the sensor terminal 5 by the vibration device 21 (step 601).
  • a vibration signal indicating vibration is transmitted from the sensor terminal 5 that has detected vibration to the sensor terminal installation device 90 via the transmitter 22 and the receiver 23.
  • the sensor terminal installation device 90 calculates an amplitude value of vibration based on the vibration information by the installation determination unit 24 (step 602). Furthermore, the sensor terminal installation device 90 determines whether or not the sensor terminal 5 is normally installed by the center installation determination unit 24 (step 603). At that time, the installation determination unit 24 compares the amplitude value with a predetermined reference value, and determines that the sensor terminal 5 is normally installed if the amplitude value is greater than or equal to the reference value.
  • step 603 If it is determined in step 603 that the installation is not successful, that is, it is defective, the sensor terminal installation device 90 counts up the number of times determined to be defective (number of times of defect determination) by the installation determination unit 24 and stores it. (Step 604).
  • the sensor terminal installation device 90 uses the installation determination unit 24 to compare the number of determinations with a predetermined threshold (step 605). In the example of FIG. If the defect determination count exceeds the threshold value, the sensor terminal installation device 90 outputs an alert indicating that the sensor terminal 5 has not been installed normally (step 111). It is conceivable that the sensor terminal 5 could not be installed due to a disturbance such as an unexpected obstacle. If the number of defect determinations is less than or equal to the threshold value, the sensor terminal installation device 90 returns to step 108 and repeats pushing of the sensor terminal 5.
  • the present invention is not limited to this.
  • the pressing force may be increased according to the number of defect determinations, or the pressing method may be changed according to the number of defect determinations.
  • the upper limit of the pushing force depends on the load resistance and impact resistance of the sensor terminal 5.
  • the threshold value for the number of defect determinations is set to two, but the number can be freely set.
  • an alert is output when the number of defect determinations exceeds a threshold value.
  • the sensor terminal 5 may be collected by the robot arm 7 or the like. It is possible to collect the sensor terminal 5 and install it again in another installable area. In that case, you may provide the step which collect
  • the vibration device 21 performs vibration using, for example, a sine waveform of an arbitrary frequency as a command value. However, it is not limited to that. As another example, sweep excitation or impulse excitation having a wide frequency band may be performed. In this case, not only the amplitude of the time response waveform but also the change of the vibration detection characteristic with respect to the vibration frequency of the sensor terminal 5 can be confirmed, and the accuracy of confirming the success or failure of the installation is improved.
  • the installation determination unit 24 may have a calculation unit for the frequency domain such as fast Fourier transform.
  • the transmitter 22 and the receiver 23 are wireless communication devices. However, it is not limited to this.
  • Information on whether or not the installation is successful may be transmitted between the transmitter 22 and the receiver 23 by an optical element such as an LED.
  • the installation determination part 24 is mounted in the sensor terminal 5, the installation success / failure is determined from the obtained vibration information, and when the installation is established, the LED of the transmitter 22 is turned on.
  • the receiver 23 having the light receiving element recognizes the lighting of the LED, and transmits the information of establishment establishment to the installation sequence determination unit 3. According to this configuration, by using the LED, an operator or the like can confirm the success or failure of the installation visually.
  • the vibration device 21 is mounted on the vehicle 1
  • the present invention is not limited to this.
  • the vibration device 21 may be mounted on a vehicle different from the sensor terminal installation device 90.
  • the sensor terminal 5 since vibration is actually applied to the soil and the sensor terminal 5 is examined to determine whether the vibration can be detected satisfactorily, rather than determining the success or failure of the installation only by the attitude of the sensor terminal 5, The success or failure of installation can be accurately determined. For example, it is assumed that the posture with the sensor terminal 5 installed is normal, but the coupling with the soil is not sufficient. In that case, resonance may occur or sensitivity may be lowered. According to the present embodiment, it is possible to actually check whether the sensor terminal 5 can correctly detect vibration by applying vibration to the soil by using the vibration device 21. Therefore, it is possible to determine with higher accuracy as to whether or not the installed sensor terminal 5 is successful.
  • the coupling state between the sensor terminal 5 and the ground can be confirmed at an early stage, so that the sensor terminal 5 can be immediately installed again or an alert is notified. Measures can be implemented. As a result, rework in the entire series of exploration operations can be reduced, and the lupus can be improved. Moreover, since the quality of the vibration signal from the sensor terminal 5 can be confirmed, highly accurate seismic exploration can be performed.
  • the vibration exciting device 21 Since the vibration exciting device 21 is mounted on the vehicle 1, it can apply vibration in the vicinity of the installed sensor terminal 5. Therefore, the required performance such as the excitation force of the excitation device 21 may be smaller than that used in the seismic survey. Further, the positional relationship between the vibration device 21 serving as the vibration source and the position of the sensor terminal 5 can be made constant, and there is no need to correct the amplitude value based on the distance between the vibration source and the sensor position.
  • Example 7 shows an example in which the sensor terminal installation device is physically composed of two vehicles.
  • the parts denoted by the same reference numerals as those in the first to sixth embodiments are the same as those in the first to sixth embodiments. Therefore, the description thereof will be omitted, and portions unique to the seventh embodiment will be mainly described.
  • FIG. 17 is a schematic diagram of a sensor terminal installation apparatus according to the seventh embodiment.
  • the sensor terminal installation device includes a sensing vehicle 1a and an installation vehicle 1b.
  • the sensing vehicle 1 a includes an automatic vehicle driving device 2, an installation sequence determination unit 3, a photographing unit 4, and a communication device 25.
  • the installation vehicle 1 b includes an automatic vehicle driving device 2, an installation sequence determination unit 3, a push-in mechanism 6, a robot arm 7, and a container unit 9.
  • the installation sequence for installing the sensor terminal 5 is determined by the installation sequence determination unit 3 disposed in each of the sensing vehicle 1a and the installation vehicle 1b. Further, between the sensing vehicle 1a and the installation vehicle 1b, vehicle position information and installation sequence information are exchanged by both communication devices 25.
  • FIG. 18 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation device according to the seventh embodiment.
  • FIG. 18 shows a processing group 901 executed by the sensing vehicle 1a and a processing group 902 executed by the installed vehicle 1b.
  • the installation sequence determination unit 3 determines a target position for moving the vehicle (step 101), and the automatic vehicle driving device 2 moves the sensing vehicle 1a to the target position (step 101). 102), the installation sequence determination unit 3 acquires an image of the soil (step 103), calculates the coordinates of the position where the sensor terminal 5 can be installed based on the image (step 104), and determines whether there is an installable area. (Step 105).
  • Each processing content is the same as that of the first embodiment.
  • step 105 If it is determined in step 105 that there is no installable area, the installation sequence determination unit 3 records information on the non-installable area (step 109), and the subsequent processing is the same as that of the sensor terminal installation apparatus 90 of the first embodiment. It is.
  • the installation sequence determination unit 3 of the sensing vehicle 1a transmits information indicating the coordinates of the target position of the installable area to the installation apparatus 1b using the communication device 25. (Step 701).
  • the installed vehicle 1b receives a signal from the sensing vehicle 1a through the communication device 25 (step 702). Furthermore, the installed vehicle 1b moves to the target position by automatic driving by the automatic vehicle driving device 2 (step 102). Thereafter, the installation apparatus 1b moves to the target position by the automatic vehicle driving apparatus 2 (step 102), determines the coordinates of the position where the sensor terminal 5 is installed by the installation sequence determination unit 3, and moves the sensor terminal 5 by the robot arm 7. The sensor terminal 5 is moved to the installation coordinates (step 107), and the sensor terminal 5 is pushed by the pushing mechanism 6 (step 108).
  • the processing of the processing group 901 by the sensing vehicle 1a and the processing of the processing group 902 by the installation vehicle 1b can be performed independently and in parallel. For example, when performing the process of pushing the sensor terminal 5 with the installed vehicle 1b (step 108), it is possible to perform the process (step 103) of acquiring the soil image with the sensing vehicle 1a.
  • soil sensing and sensor terminal 5 installation can be performed in parallel. For example, as a result, the throughput of the entire installation sequence can be improved. Moreover, since the function of the sensor terminal installation device is divided and mounted on two vehicles, the vehicle size can be reduced, and in a large vehicle such as the sensor terminal installation device 90 of the first embodiment, it is difficult to enter due to obstacles or the like. It can also invade places and perform sensing and installation.
  • cultivation unit 17b ... vertical movement mechanism, 18 ... excavation area, 19 ... soil hardness meter, 19a ... penetration part, 19b ... vertical movement mechanism, 20 ... distance sensor, 21 ... vibration device, 22 ... transmitter, 23 ... receiver, 24 ... installation judgment part, 25 ... communication device

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Abstract

A sensor terminal installation device for installing a sensor terminal for measuring vibration has an installation unit and a determination unit. The installation unit moves the sensor terminal and installs the sensor terminal at a prescribed installation position. The determination unit determines whether the sensor terminal can be correctly installed at the installation position or whether the sensor terminal has been correctly installed at the prescribed position. This invention makes it possible to correctly install a sensor terminal in a variety of soil environments.

Description

センサ端末設置装置および方法Sensor terminal installation apparatus and method
　本発明は、地震探査のためのセンサ端末を設置する技術に関する。 The present invention relates to a technique for installing a sensor terminal for seismic exploration.
　石油やガスをはじめとする資源の探査において、弾性波を用いた地震探査が行われている。地震探査には、ジオフォン、ＭＥＭＳセンサなどのセンサ端末が利用される。近年、より高精度で地層や資源の状態を把握するために、地震探査に使用するセンサ端末の数が増大している。今後、数十万～百万個のセンサ端末を用いた探査が想定されている。そのため、センサ端末の設置の自動化が求められている。 In the exploration of resources such as oil and gas, seismic exploration using elastic waves is performed. Sensor terminals such as geophones and MEMS sensors are used for seismic exploration. In recent years, the number of sensor terminals used for seismic exploration is increasing in order to grasp the state of strata and resources with higher accuracy. In the future, exploration using hundreds of thousands to millions of sensor terminals is expected. Therefore, automation of installation of sensor terminals is required.
　また、探査に多数のセンサ端末を用いると、探鉱の期間が長期化したり、センサ端末の設置および回収に要する工数が増大したりすることが懸念される。そのためセンサ端末のオペレーションを効率化することが求められている。 Also, if a large number of sensor terminals are used for exploration, there is a concern that the exploration period may be prolonged or the man-hours required to install and collect the sensor terminals may increase. Therefore, it is required to improve the operation of the sensor terminal.
　また、資源は生産が開始されると、その後は枯渇に向かっていくため、さらなる資源の探査を続けることが必要である。しかし、採掘が容易なフィールドは既に開発に着手されている場合が多い。そのため、近年の探査オペレーションにおいては、砂漠、ツンドラ、森林、ジャングルなど採掘が容易でない様々な自然環境下での探査が要求される。 Also, once the production of resources starts, it will continue to deplete, so it is necessary to continue exploring resources. However, there are many cases where the field that is easy to mine has already been developed. Therefore, recent exploration operations require exploration in various natural environments where mining is not easy, such as deserts, tundra, forests, and jungles.
　このような様々な環境下でセンサ端末を設置するためにもセンサ端末の自動化が求められる。 In order to install the sensor terminal in such various environments, automation of the sensor terminal is required.
　特許文献１にセンサ端末を設置する装置が開示されている。 Patent Document 1 discloses an apparatus for installing a sensor terminal.
米国特許公報ＵＳ６８１４１６０Ｂ１US Patent Publication US6814160B1
　地面から伝わる弾性波振動を正確に測定するためには、センサ端末の設置姿勢の精度を確保し、地面との正しいカップリングを実現する必要がある。センサ端末の設置状態に影響する土壌条件として、地表や地中の障害物、土壌の堅さ、地表面の傾き等がある。 In order to accurately measure the elastic wave vibration transmitted from the ground, it is necessary to ensure the accuracy of the installation posture of the sensor terminal and realize the correct coupling with the ground. As soil conditions that affect the installation state of the sensor terminal, there are the ground surface, obstacles in the ground, soil hardness, inclination of the ground surface, and the like.
　人の手でひとつずつセンサ端末を設置する場合、設置者は、地表に存在する障害物を目視で確認したり、手でセンサ設置用の穴を掘ったときの土から手に伝わる反力などの感覚で土壌の固さを確認したりして、センサ端末を正常な状態に設置できるかどうか判断している。 When installing sensor terminals one by one with human hands, the installer can visually check for obstacles existing on the ground surface, or reaction force transmitted from the soil when digging holes for sensor installation by hand. It is judged whether the sensor terminal can be installed in a normal state by confirming the hardness of the soil.
　センサ端末の設置を自動化する場合、設置装置にはそれらに代わる機能が必要となる。そのような機能がないと、センサ端末の設置姿勢の精度やカップリング状態にばらつきが生じ、センサ端末から得られる信号品質が低下したり、あるいは限られた条件でしかセンサ端末を設置ができなかったり等の問題が生じる。 When automating the installation of sensor terminals, the installation device needs a function to replace them. Without such a function, the accuracy of the sensor terminal installation posture and the coupling state will vary, and the signal quality obtained from the sensor terminal will deteriorate, or the sensor terminal can only be installed under limited conditions. Problems occur.
　特許文献１に開示された装置は土壌環境を確認せずにセンサ端末を設置する。そのため、障害物や地質などの土壌の環境によっては、センサ端末を正常に設置できず、設置しなおしにより設置のスループットが低下したり、土壌を整備するための耕作機構の寿命を短くしたり、設置姿勢の精度が低下したりする可能性があった。 The apparatus disclosed in Patent Document 1 installs a sensor terminal without checking the soil environment. Therefore, depending on the environment of the soil such as obstacles and geology, the sensor terminal can not be installed normally, re-installation will reduce the throughput of installation, shorten the life of the cultivation mechanism to maintain the soil, There is a possibility that the accuracy of the installation posture is lowered.
　本発明は、様々な土壌環境においてセンサ端末の正常な設置を可能にする技術を提供することである。 The present invention is to provide a technology that enables normal installation of sensor terminals in various soil environments.
　本発明の一態様によれば、振動を測定するためのセンサ端末を設置するセンサ端末設置装置であって、前記センサ端末を移動させ、所定の設置位置に設置する設置部と、前記設置位置に前記センサ端末が正常に設置できるか否か、あるいは前記所定位置に前記センサ端末が正常に設置されているか否かを判断する判断部と、を有している。 According to one aspect of the present invention, there is provided a sensor terminal installation device that installs a sensor terminal for measuring vibration, wherein the sensor terminal is moved and installed at a predetermined installation position; and And a determination unit that determines whether the sensor terminal can be normally installed or whether the sensor terminal is normally installed at the predetermined position.
　本発明によれば、設置前あるいは設置後の確認によりセンサ端末が正常に設置されたことを担保することができるので、様々な土壌環境においてセンサ端末の正常な設置が可能となる。 According to the present invention, it is possible to ensure that the sensor terminal is normally installed by checking before installation or after installation, so that the sensor terminal can be normally installed in various soil environments.
本実施形態によるセンサ端末設置装置の基本構成を示すブロック図である。It is a block diagram which shows the basic composition of the sensor terminal installation apparatus by this embodiment. 実施例１によるセンサ端末設置装置の概略図である。It is the schematic of the sensor terminal installation apparatus by Example 1. FIG. 実施例１によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。It is a flowchart which shows the operation | movement which the sensor terminal installation apparatus by Example 1 installs a sensor terminal. 実施例１にて撮影部４により撮影される画像の一例を示す図である。6 is a diagram illustrating an example of an image captured by the imaging unit 4 in Embodiment 1. FIG. 実施例２におけるセンサ端末設置装置の概略図である。It is the schematic of the sensor terminal installation apparatus in Example 2. FIG. 実施例２によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。It is a flowchart which shows the operation | movement which the sensor terminal installation apparatus by Example 2 installs a sensor terminal. 実施例３におけるセンサ端末設置装置の概略図である。It is the schematic of the sensor terminal installation apparatus in Example 3. FIG. 実施例３によるセンサ端末設置装置がセンサ端末を設置する動作示すフローチャートである。It is a flowchart which shows the operation | movement which the sensor terminal installation apparatus by Example 3 installs a sensor terminal. 実施例３にて撮影部４により撮影される画像の一例を示す図である。FIG. 10 is a diagram illustrating an example of an image photographed by the photographing unit 4 in the third embodiment. 実施例４におけるセンサ端末設置装置の概略図である。It is the schematic of the sensor terminal installation apparatus in Example 4. FIG. 実施例４によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。It is a flowchart which shows the operation | movement which the sensor terminal installation apparatus by Example 4 installs a sensor terminal. 実施例５におけるセンサ端末設置装置の概略図である。It is the schematic of the sensor terminal installation apparatus in Example 5. FIG. 実施例５にて距離センサ２０で取得される情報から算出される地面の凹凸の一例を示す図である。It is a figure which shows an example of the unevenness | corrugation of the ground calculated from the information acquired with the distance sensor 20 in Example 5. FIG. 実施例５によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。It is a flowchart which shows the operation | movement which the sensor terminal installation apparatus by Example 5 installs a sensor terminal. 実施例６のセンサ端末設置装置の概略図である。It is the schematic of the sensor terminal installation apparatus of Example 6. FIG. 実施例６によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。It is a flowchart which shows the operation | movement which the sensor terminal installation apparatus by Example 6 installs a sensor terminal. 実施例７におけるセンサ端末設置装置の概略図である。It is the schematic of the sensor terminal installation apparatus in Example 7. FIG. 実施例７によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。It is a flowchart which shows the operation | movement which the sensor terminal installation apparatus by Example 7 installs a sensor terminal.
　本発明の実施形態について図面を参照して説明する。 Embodiments of the present invention will be described with reference to the drawings.
　図１は、本実施形態によるセンサ端末設置装置の基本構成を示すブロック図である。センタ端末設置装置９０は、地面または地中に弾性波振動を測定するためのセンサ端末を設置する装置である。センサ端末設置装置９０は判断部９１、設置部９２、通知部９３、耕作部９４、および記録部９５を有している。 FIG. 1 is a block diagram showing a basic configuration of a sensor terminal installation apparatus according to the present embodiment. The center terminal installation device 90 is a device that installs a sensor terminal for measuring elastic wave vibration on the ground or in the ground. The sensor terminal installation device 90 includes a determination unit 91, an installation unit 92, a notification unit 93, a cultivation unit 94, and a recording unit 95.
　設置部９２は、センサ端末を移動させ、所定の設置位置に設置する。判断部９１は、設置位置にセンサ端末が正常に設置できるか否か、あるいは所定位置にセンサ端末が正常に設置されているか否かを判断する。これによれば、設置前あるいは設置後の確認によりセンサ端末が正常に設置されたことを担保することができるので、様々な土壌環境においてセンサ端末の正常な設置が可能となる。 The installation unit 92 moves the sensor terminal and installs it at a predetermined installation position. The determination unit 91 determines whether the sensor terminal can be normally installed at the installation position, or whether the sensor terminal is normally installed at the predetermined position. According to this, it is possible to ensure that the sensor terminal is normally installed by checking before installation or after installation, so that the sensor terminal can be normally installed in various soil environments.
　なお、判断部９１が、センサ端末を設置することができる位置である設置可能領域を決定し、設置部９２が、その設置可能領域にセンサ端末を移動させて設置するものであってもよい。設置できる位置を確認してからセンサ端末を設置するので、様々な土壌環境においてセンサ端末の正常な設置が可能となる。 The determination unit 91 may determine an installable area where the sensor terminal can be installed, and the installation unit 92 may move and install the sensor terminal to the installable area. Since the sensor terminal is installed after confirming the position where it can be installed, the sensor terminal can be normally installed in various soil environments.
　また、その場合、通知部９３は、設置部９２がセンサ端末を設置したときには設置完了を操作者に通知し、判定部９１が設置可能領域を見つけられないときには設置不可を操作者に通知する。設置完了や設置不可を操作者に通知できるので、操作者は通知を頼りに土壌環境のよい領域にセンサ端末を正常に設置することができる。 In this case, the notification unit 93 notifies the operator of the completion of installation when the installation unit 92 installs the sensor terminal, and notifies the operator that the installation is impossible when the determination unit 91 cannot find the installation possible area. Since the operator can be notified of the completion of installation or the installation is impossible, the operator can normally install the sensor terminal in an area having a good soil environment by relying on the notification.
　また、耕作部９４は、地面を耕作してセンサ端末を設置できるようにする。判断部９１は、設置可能領域がなければ、耕作によりセンサ端末を設置できるように改善することが可能な改善可能領域を見つけて、その改善可能領域を耕作部９４に耕作させ、設置部９２にセンサ端末を耕作後の改善可能領域に設置させる。設置可能領域がなくても改善可能領域を耕作し、センサ端末を設置することができるので、土壌環境のよい領域を探し、あるいは作り出して、センサ端末を正常に設置することができる。 Also, the cultivating section 94 cultivates the ground so that the sensor terminal can be installed. If there is no installable region, the determination unit 91 finds an improveable region that can be improved so that the sensor terminal can be installed by cultivation, and causes the cultivation unit 94 to cultivate the improveable region. Install the sensor terminal in the area that can be improved after cultivation. Even if there is no installable area, it is possible to cultivate the improveable area and install the sensor terminal, so that the sensor terminal can be normally installed by searching for or creating a good soil environment.
　また、判断部９１は、地面の画像を撮影し、その画像に基づいて設置可能領域を推定し、設置可能領域と推定された領域の地面の硬度を測定し、硬度が所定の閾値以下であれば、推定された領域を設置可能領域と決定する。地面の画像と硬度の測定に基づいて設置可能領域を決定するので、より確実にセンサ端末の設置が可能な領域を選択することができる。 The determination unit 91 captures an image of the ground, estimates an installable region based on the image, measures the hardness of the ground in the region estimated as the installable region, and if the hardness is equal to or less than a predetermined threshold value. For example, the estimated area is determined as the installable area. Since the installable area is determined based on the ground image and the hardness measurement, the area where the sensor terminal can be installed can be selected more reliably.
　また、判断部９１は、設置可能領域と推定された領域の地面の硬度が閾値を超えていたら、耕作部９４にその推定された領域を耕作させ、設置部９２にセンサ端末をその推定された領域に設置させる。画像上では設置が可能に見えたが地面の硬度が硬くてセンサ端末を設置できない領域であっても、耕作して改善し、センサ端末を設置することができる。 Further, if the ground hardness of the area estimated as the installable area exceeds the threshold value, the determination unit 91 causes the cultivation unit 94 to cultivate the estimated area, and the installation unit 92 estimates the sensor terminal. Let the area install. Even in an area where the installation seemed possible on the image, but the hardness of the ground is hard and the sensor terminal cannot be installed, it can be cultivated and improved, and the sensor terminal can be installed.
　また、本実施形態では、判断部９１は、地面の画像を撮影し、その画像に基づいて設置可能領域を推定し、設置可能領域と推定された領域の地面の平坦度を測定し、平坦度が所定の閾値以上であれば、推定された領域を設置可能領域と決定することにしてもよい。地面の画像と平坦度の測定に基づいて設置可能領域を決定するので、より確実にセンサ端末の設置が可能な領域を選択することができる。 In the present embodiment, the determination unit 91 captures an image of the ground, estimates an installable area based on the image, measures the flatness of the ground in the area estimated as the installable area, and determines the flatness. If is more than a predetermined threshold value, the estimated area may be determined as the installable area. Since the installable area is determined based on the ground image and the flatness measurement, it is possible to select an area in which the sensor terminal can be installed more reliably.
　また、本実施形態では、設置部９２はあらかじめ定められた位置にセンサ端末を設置し、判断部９１は、設置されたセンサ端末が正常に設置されているか否か判定し、センサ端末が正常に設置されていなければ、設置部９１は、センサ端末の設置を改善することにしてもよい。正常に設置されているか否かの判定は、所定の正常設置条件が満たされているか否かにより判定することとすればよい。正常設置条件については、一例として、センサ端末の近傍の地面に振動を加え、センサ端末で測定される弾性波振動が所定の閾値を超えていたら、正常設置条件が満たされていると判定すればよい。設置の改善は、一例として、設置したセンサ端末を再び押し込んで設置状態を改善することである。設置の改善の他の例として、設置したセンサ端末を取り上げて再び設置することにしてもよい。その場合、設置部９１に、設置したセンサ端末を取り上げて再び設置する機構を備えればよい。センサ端末が正常に設置されていなければ設置を改善するので、様々な土壌環境においてセンサ端末の正常な設置が可能となる。 In the present embodiment, the installation unit 92 installs the sensor terminal at a predetermined position, and the determination unit 91 determines whether or not the installed sensor terminal is normally installed. If not installed, the installation unit 91 may improve the installation of the sensor terminal. The determination of whether or not the installation is normal may be made based on whether or not a predetermined normal installation condition is satisfied. For normal installation conditions, as an example, if vibration is applied to the ground near the sensor terminal and the elastic wave vibration measured at the sensor terminal exceeds a predetermined threshold, it is determined that the normal installation condition is satisfied. Good. For example, the improvement of the installation is to push the installed sensor terminal again to improve the installation state. As another example of improving the installation, the installed sensor terminal may be picked up and installed again. In that case, the installation unit 91 may be provided with a mechanism for picking up the installed sensor terminal and installing it again. Since the installation is improved if the sensor terminal is not normally installed, the sensor terminal can be normally installed in various soil environments.
　また、本実施形態では、判断部９１は、設置したセンサ端末と所定の位置関係の地面に振動を加え、センサ端末で測定された弾性波振動の値を取得し、弾性波振動に基づき、センサ端末が正常に設置されているか否か判定することにしてもよい。振動を加えてそれをセンサ端末で測定し、得られた値から、センサ端末が正常に設置されているか否か判定するので、様々な土壌環境においてセンサ端末が正常に設置されているか否かを事後的に適切に判断することができる。 In the present embodiment, the determination unit 91 applies vibration to the ground having a predetermined positional relationship with the installed sensor terminal, acquires the value of elastic wave vibration measured by the sensor terminal, and based on the elastic wave vibration, It may be determined whether or not the terminal is normally installed. Since vibration is applied and measured with a sensor terminal, it is determined from the obtained value whether the sensor terminal is normally installed. Therefore, whether the sensor terminal is normally installed in various soil environments is determined. Appropriate judgment can be made after the fact.
　また、判断部９１は、センサ端末で測定された弾性波振動が所定の閾値に満たない場合、センサ端末の設置状態を修正することにしてもよい。設置状態の修正は一例として、設置されたセンサ端末を再び押し込むことである。設置状態を修正して弾性波振動を測定し直すので、様々な土壌環境においてセンサ端末の正常な設置が可能となる。 Further, the determination unit 91 may correct the installation state of the sensor terminal when the elastic wave vibration measured by the sensor terminal is less than a predetermined threshold. As an example, the modification of the installation state is to push the installed sensor terminal again. Since the installation state is corrected and the elastic wave vibration is measured again, the sensor terminal can be normally installed in various soil environments.
　また、本実施形態では、記録部９５は、設置されたセンサ端末を一意に特定する識別情報と、センサ端末が設置された位置の位置情報とを対応づけて記録する。センサ端末を設置する装置の機能を利用して、設置したセンサ端末の情報を取得し、蓄積することができるので、センサ端末の情報を容易に蓄積することができる。 Further, in the present embodiment, the recording unit 95 records identification information that uniquely identifies the installed sensor terminal and position information of the position where the sensor terminal is installed in association with each other. Since the information of the installed sensor terminal can be acquired and stored using the function of the device for installing the sensor terminal, the information of the sensor terminal can be easily stored.
　また、設置部９２と判断部９１がそれぞれ独立して走行可能な車両であり、設置部９２が、あるセンサ端末を設置しているとき、判断部９１は他のセンサ端末に関する判断を実行することにしてもよい。あるセンサ端末の設置と他のセンサ端末に関する判断を並行して実施することができるので、複数のセンサ端末を設置するときに効率よく作業を進めることができる。 In addition, the installation unit 92 and the determination unit 91 are vehicles that can travel independently, and when the installation unit 92 is installing a certain sensor terminal, the determination unit 91 executes a determination regarding another sensor terminal. It may be. Since installation of a certain sensor terminal and determination regarding another sensor terminal can be performed in parallel, work can be efficiently performed when a plurality of sensor terminals are installed.
　以下、より具体的な各種実施例について説明する。 Hereinafter, more specific various examples will be described.
　実施例１は画像処理を用いてセンサ端末を設置する位置を決め、センサ端末設置装置９０が自動運転により移動してセンサ端末を設置する例である。 Example 1 is an example in which the position where a sensor terminal is installed is determined using image processing, and the sensor terminal installation device 90 moves by automatic operation to install the sensor terminal.
　図２は、実施例１によるセンサ端末設置装置の概略図である。上述したようにセンサ端末設置装置９０はセンサ端末５を地中あるいは地表に設置する装置である。図２に示すように、センサ端末設置装置９０は、車両１、車両自動運転装置２、設置シーケンス判断部３、撮影部４、押込み機構６、およびロボットアーム７を有している。車両１、車両自動運転装置２、押込み機構６、およびロボットアーム７は、上述した設置部９２に対応し、設置シーケンス判断部３および撮影部４は上述した判断部９１に対応する。 FIG. 2 is a schematic diagram of the sensor terminal installation apparatus according to the first embodiment. As described above, the sensor terminal installation device 90 is a device that installs the sensor terminal 5 in the ground or on the ground surface. As shown in FIG. 2, the sensor terminal installation device 90 includes a vehicle 1, an automatic vehicle driving device 2, an installation sequence determination unit 3, a photographing unit 4, a push-in mechanism 6, and a robot arm 7. The vehicle 1, the automatic vehicle driving device 2, the pushing mechanism 6, and the robot arm 7 correspond to the installation unit 92 described above, and the installation sequence determination unit 3 and the imaging unit 4 correspond to the determination unit 91 described above.
　車両１は、不図示の動力部により駆動され、予め定められたセンサ端末５の設置位置及び走行パターンの情報を基に、車両自動運転装置２により移動が可能である。車両自動運転装置２には車両１の位置を把握するＧＰＳなどの位置検出機能を搭載しており、車両自動運転装置２は、検出した位置情報を基に目的の位置に車両１を移動する。 The vehicle 1 is driven by a power unit (not shown), and can be moved by the automatic vehicle driving device 2 based on information on a predetermined installation position of the sensor terminal 5 and a traveling pattern. The automatic vehicle driving device 2 is equipped with a position detection function such as GPS for grasping the position of the vehicle 1, and the automatic vehicle driving device 2 moves the vehicle 1 to a target position based on the detected position information.
　ここでは、センサ端末５は少なくとも１軸の加速度及び速度を検出するセンサとそれらを駆動する周辺回路を搭載しており、地中及び地上の振動及び衝撃を検出できるものとする。地震波探査では地表面に対して鉛直方向(Ｚ軸)の振動および衝撃の検出のみでもよいが、振動の傾き方向やセンサ端末姿勢（傾き）を検出する場合には水平方向（Ｘ軸、Ｙ軸）の振動および衝撃を検出できると良い。 Here, it is assumed that the sensor terminal 5 is equipped with a sensor that detects at least one axis of acceleration and velocity and a peripheral circuit that drives them, and can detect vibrations and shocks in the ground and on the ground. Seismic exploration may only detect vibrations and shocks in the vertical direction (Z-axis) with respect to the ground surface, but when detecting the tilt direction of the vibration and sensor terminal posture (tilt), the horizontal direction (X-axis, Y-axis) ) Vibration and shock can be detected.
　設置シーケンス判断部３は、センサ端末５を設置する設置シーケンスを決定できるよう、車両自動運転装置２、撮影部４、押込み機構６、ロボットアーム７と相互に接続される。また、設置シーケンス判断部３は、通知部９３に対応する不図示の無線通信部などへ信号を伝達する伝達手段を持ち、遠隔の操作者に設置シーケンスの状態などを通知できる。 The installation sequence determination unit 3 is connected to the automatic vehicle driving device 2, the photographing unit 4, the push-in mechanism 6, and the robot arm 7 so that the installation sequence for installing the sensor terminal 5 can be determined. Further, the installation sequence determination unit 3 has a transmission means for transmitting a signal to a wireless communication unit (not shown) corresponding to the notification unit 93 and can notify the remote operator of the state of the installation sequence.
　設置シーケンス判断部３は、撮影部４で取得した土壌の画像情報を用いてセンサ端末５を適切に設置するための設置シーケンスを判断し、その設置シーケンスに沿って、車両自動運転装置２、押込み機構６、ロボットアーム７へそれぞれ指令を与える。 The installation sequence determination unit 3 determines an installation sequence for appropriately installing the sensor terminal 5 using the soil image information acquired by the photographing unit 4, and the automatic vehicle driving device 2, push-in along the installation sequence Commands are given to the mechanism 6 and the robot arm 7, respectively.
　撮影部４は土壌の鉛直方向下向き、あるいは撮影部画角内に地表面が含まれる角度に配置され、画像を撮影する装置である。撮影部４は、センサ端末５の設置を阻害する地表の障害物や、穴などの凹面を取得することをひとつの目的とする。そのため、撮影部４は障害物を検出することを可能にする程度の解像度を持っていればよい。また、撮影部４は土壌の粒子形状を見ることを可能にする解像度を持っていてもよい。それにより、土壌の硬度を推定することも可能となる。また、撮影部４は、取得される画像の明るさが暗い場合に、不図示の光源を用いて地表に光を照射し、画像の明るさや障害物のエッジ検出精度を上げてもよい。また、撮影部４は、撮影条件を一定に保つために不図示の遮蔽壁を備え、土壌の撮影する部分への外部からの光を遮蔽してもよい。 The image capturing unit 4 is an apparatus that captures an image by being arranged vertically downward of the soil or at an angle that includes the ground surface within the image capturing field angle. The imaging unit 4 has an object of acquiring a ground obstacle that obstructs the installation of the sensor terminal 5 and a concave surface such as a hole. For this reason, the imaging unit 4 only needs to have a resolution that allows the obstacle to be detected. Moreover, the imaging | photography part 4 may have the resolution which makes it possible to see the particle shape of soil. Thereby, it is also possible to estimate the hardness of the soil. In addition, when the brightness of the acquired image is dark, the photographing unit 4 may irradiate the ground surface with a light source (not shown) to increase the brightness of the image and the edge detection accuracy of the obstacle. In addition, the photographing unit 4 may include a shielding wall (not shown) in order to keep the photographing condition constant, and may shield light from the outside to the portion where the soil is photographed.
　ロボットアーム７は、設置シーケンス判断部３から指令された座標位置にセンサ端末５を移動する搬送機能を持つ。ロボットアーム７は、車両１の移動によるセンサ端末５の移動よりも高い精度でセンサ端末５を位置決めすることができる。なお、車両自動運転装置２による車両１の水平方向の位置決めの精度がロボットアームの位置決め精度と同等以上である場合、車両自動運転装置２がロボットアーム７の機能を代替することも可能である。 The robot arm 7 has a transfer function of moving the sensor terminal 5 to the coordinate position commanded from the installation sequence determination unit 3. The robot arm 7 can position the sensor terminal 5 with higher accuracy than the movement of the sensor terminal 5 due to the movement of the vehicle 1. When the accuracy of horizontal positioning of the vehicle 1 by the automatic vehicle driving device 2 is equal to or higher than the positioning accuracy of the robot arm, the automatic vehicle driving device 2 can replace the function of the robot arm 7.
　ロボットアーム７は、端末保持部７ａ、アーム７ｂ、およびアクチュエータ７ｃを有している。アクチュエータ７ｃの動力源は油圧、空圧、あるいは電動のいずれでもよい。アクチュエータ７ｃの駆動軸は鉛直１軸、水平２軸の計３軸駆動できることが望ましい。駆動軸のストローク長は、撮影部４で取得できる画像の範囲内の任意の座標にセンサ端末５を移動できる長さであることが望ましい。アクチュエータ７ｃは不図示のドライバや制御ユニットによって駆動される。 The robot arm 7 includes a terminal holding portion 7a, an arm 7b, and an actuator 7c. The power source of the actuator 7c may be hydraulic, pneumatic, or electric. It is desirable that the drive shaft of the actuator 7c can be driven in a total of three axes, one vertical axis and two horizontal axes. The stroke length of the drive shaft is desirably a length that allows the sensor terminal 5 to move to arbitrary coordinates within the range of an image that can be acquired by the imaging unit 4. The actuator 7c is driven by a driver or a control unit (not shown).
　コンテナ部９には、センサ端末５を複数個搭載可能なスペースがあり、コンテナ部９に搭載されたセンサ端末５はロボットアーム７によって地表面の指令された座標に移動する。 The container unit 9 has a space where a plurality of sensor terminals 5 can be mounted, and the sensor terminal 5 mounted on the container unit 9 is moved to the commanded coordinates on the ground surface by the robot arm 7.
　押込み機構６は、押し込み動作として、センサ端末５に押し込む方向の荷重あるいは衝撃を与えることで、センサ端末５を地中に埋め込む機構である。押込み機構６のアクチュエータの駆動軸は、地面の傾きに合わせてチルト方向を制御できることが望ましい。アクチュエータに求められる押込み力は、土壌の硬度や、センサ端末５の形状などから算出される必要押し込み力より大きくすることが望ましい。しかし、押し込み力がセンサ端末５の耐荷重あるいは耐衝撃力より大きくなってはならない。 The pushing mechanism 6 is a mechanism for embedding the sensor terminal 5 in the ground by applying a load or impact in the pushing direction to the sensor terminal 5 as a pushing operation. It is desirable that the drive shaft of the actuator of the push-in mechanism 6 can control the tilt direction according to the inclination of the ground. It is desirable that the pushing force required for the actuator is larger than the necessary pushing force calculated from the hardness of the soil, the shape of the sensor terminal 5, and the like. However, the pushing force should not be larger than the load resistance or impact resistance of the sensor terminal 5.
　押込み機構６の押込み動作はロボットアーム７を駆動することによって行われてもよい。ただし、その場合、所望の押し込み力を得るために、センサの搬送に必要な力よりも強い力が必要となり、大型のアクチュエータが必要となる。 The pushing operation of the pushing mechanism 6 may be performed by driving the robot arm 7. However, in that case, in order to obtain a desired pushing force, a force stronger than the force necessary for transporting the sensor is required, and a large actuator is required.
　なお、ロボットアーム７のアクチュエータ７ｃはストローク量や位置を制御するが、押込み機構６のアクチュエータは力を制御できることが望ましい。センサ端末５の押込み動作とセンサ端末５の搬送機能を別機構に持たせることで、各アクチュエータに必要な力やストローク量等を個別に設計することが出来る。また、それぞれ別個にアクチュエータを設けることで、センサ端末５の先端部を土壌に接触させておき、その状態で衝撃を与えるといったことを容易に行うことができる。押し固められたような固い土壌を効率良く砕くことが可能となる。 In addition, although the actuator 7c of the robot arm 7 controls the stroke amount and position, it is desirable that the actuator of the push-in mechanism 6 can control the force. By providing the push-in operation of the sensor terminal 5 and the transport function of the sensor terminal 5 in separate mechanisms, the force and stroke amount required for each actuator can be individually designed. Also, by providing the actuators separately, it is possible to easily perform the impact in such a state that the tip of the sensor terminal 5 is in contact with the soil. It becomes possible to efficiently crush hard soil that has been compacted.
　傾斜した土壌に対して垂直方向にセンサ端末５を設置する必要がある場合、押し込み機構６に角度を調整するチルト機構を設け、そのチルト機構を用いて押し込み機構６の角度を調整すればよい。傾き角度の指令値は、車両１に水平計を搭載し、車両１の傾斜角から算出することにすればよい。 When it is necessary to install the sensor terminal 5 in the vertical direction with respect to the inclined soil, the push mechanism 6 may be provided with a tilt mechanism that adjusts the angle, and the tilt mechanism may be used to adjust the angle of the push mechanism 6. The command value of the tilt angle may be calculated from the tilt angle of the vehicle 1 by mounting a level meter on the vehicle 1.
　上記構成のセンサ端末設置装置９０によって設置するセンサ端末５に搭載する加速度検出手段としては、安定した性能で振動検出が可能なＭＥＭＳ（Ｍｉｃｒｏ　Ｅｌｅｃｔｒｉｃａｌ　Ｍｅｃｈａｎｉｃａｌ　Ｓｙｓｔｅｍ）を用いることが望ましい。ただし、コイルと磁石により機械的に振動を捉えるジオフォンを用いても良い。 As the acceleration detection means mounted on the sensor terminal 5 installed by the sensor terminal installation apparatus 90 having the above-described configuration, it is desirable to use a MEMS (Micro Electrical Mechanical System) capable of detecting vibration with stable performance. However, a geophone that mechanically captures vibration with a coil and a magnet may be used.
　上記構成のセンサ端末設置装置９０では、センサ端末５を設置する位置へセンサ端末５の水平方向の移動は、車両１の移動による粗動と、ロボットアーム７による微動によって実施される。しかし、それに限定されることはない。他の例として、車両自動運転装置２からの制御で車両１を移動させることにより車両を設置する位置まで移動されてもよい。その場合、車両１の移動の位置決めの精度を、ロボットアーム７の位置決め精度と同等にすればよい。 In the sensor terminal installation device 90 configured as described above, the horizontal movement of the sensor terminal 5 to the position where the sensor terminal 5 is installed is performed by coarse movement due to movement of the vehicle 1 and fine movement by the robot arm 7. However, it is not limited to that. As another example, the vehicle 1 may be moved to a position where the vehicle is installed by moving the vehicle 1 under the control of the automatic vehicle driving device 2. In that case, the positioning accuracy of the movement of the vehicle 1 may be equal to the positioning accuracy of the robot arm 7.
　図３は、実施例１によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。 FIG. 3 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the first embodiment.
　図３のフローチャートは、複数のセンサ端末５を設置する処理において、１つのセンサ端末５を設置してから次のセンサ端末５を設置するまでの処理を示している。 The flowchart of FIG. 3 shows the process from installing one sensor terminal 5 to installing the next sensor terminal 5 in the process of installing a plurality of sensor terminals 5.
　まず、センサ端末設置装置９０は、設置シーケンス判断部３により、ＧＰＳ情報やあらかじめ設定された走行パターンの情報などに基づきセンサ端末５を設置する候補となる位置（以下「目的位置」という）を決定する（ステップ１０１）。目的位置は車両１が現在いる位置から大きく離れていない所定の位置がよい。例えば、地図上を、撮影部４で画像が取得できる程度の大きさの複数の単位領域に縦横の網目状に区切り、ステップ１０１では、現在いる領域から隣の領域を目的位置とすればよい。 First, the sensor terminal installation device 90 determines a position (hereinafter referred to as “target position”) as a candidate for installing the sensor terminal 5 based on GPS information, information on a traveling pattern set in advance, or the like by the installation sequence determination unit 3. (Step 101). The target position is preferably a predetermined position that is not far away from the position where the vehicle 1 is currently located. For example, the map may be divided into a plurality of unit areas that are large enough to obtain an image by the photographing unit 4 in a vertical and horizontal mesh, and in step 101, the area adjacent to the current area may be set as the target position.
　次に、センサ端末設置装置９０は、車両自動運転装置２により自動運転して車両１を目的位置に移動する（ステップ１０２)。また、このとき車両１を、目的位置から、地震探査のためにセンサ端末５を設置する位置に許容される誤差の範囲内に移動させればよい。 Next, the sensor terminal installation device 90 is automatically driven by the vehicle automatic driving device 2 and moves the vehicle 1 to the target position (step 102). Moreover, what is necessary is just to move the vehicle 1 within the range of the error accept | permitted by the position which installs the sensor terminal 5 for a seismic survey from the target position at this time.
　次に、センサ端末設置装置９０は、撮影部４を用いて、土壌状態を調べるために用いる土壌の画像を取得する（ステップ１０３）。さらに、センサ端末設置装置９０は、取得した画像を設置シーケンス判断部３にて解析することにより石や穴などの障害物のない領域を検出する（ステップ１０４）。 Next, the sensor terminal installation device 90 uses the photographing unit 4 to acquire an image of the soil used for examining the soil state (step 103). Furthermore, the sensor terminal installation device 90 detects an area free from obstacles such as stones and holes by analyzing the acquired image in the installation sequence determination unit 3 (step 104).
　次に、センサ端末設置装置９０は、設置シーケンス判断部３により、設置可能領域があるか否か判定する（ステップ１０５）。その際、障害物のない領域の中でセンサ端末５を設置した場合にセンサ端末５が接触する土壌の面積より大きい領域があればそこを設置可能領域とする。 Next, the sensor terminal installation apparatus 90 determines whether or not there is an installable area by the installation sequence determination unit 3 (step 105). At that time, when the sensor terminal 5 is installed in an area free of obstacles, if there is an area larger than the area of the soil that the sensor terminal 5 contacts, that area is set as an installable area.
　取得された画像の範囲内に設置可能領域があれば、センサ端末設置装置９０は、設置シーケンス判断部３により、その設置可能領域内にセンサ端末５を設置する座標（以下「設置座標」という）を決定する（ステップ１０６）更に、センサ端末設置装置９０は、ロボットアーム７によりセンサ端末５を設置座標に移動させる（ステップ１０７）。続いて、センサ端末設置装置９０は、設置したセンサ端末５を、押込み機構６により地面に押し込む（ステップ１０８）。なお、押込み機構６ではなく、ロボットアーム７により、センサ端末５を押し込んでもよい。 If there is an installable area within the acquired image range, the sensor terminal installation device 90 causes the installation sequence determination unit 3 to install coordinates (hereinafter referred to as “installation coordinates”) for installing the sensor terminal 5 in the installable area. Furthermore, the sensor terminal installation device 90 moves the sensor terminal 5 to the installation coordinates by the robot arm 7 (step 107). Subsequently, the sensor terminal installation device 90 pushes the installed sensor terminal 5 into the ground by the pushing mechanism 6 (step 108). The sensor terminal 5 may be pushed by the robot arm 7 instead of the pushing mechanism 6.
　センサ端末５を押し込んで設置が完了したらセンサ端末設置装置９０は次のセンサ端末５の設置の処理に進む。なお、センサ端末５の設置が完了したときに、センサ端末設置装置９０は、センサ端末５を設置した位置の座標を、そのセンタ端末５の端末ＩＤと対応づけて記録することにしてもよい。その際、センタ端末設置装置９０は、車両１の位置情報と、車両１に対するロボットアーム７の相対的な位置情報とに基づいてセンタ端末５を設置した位置を算出することができる。 When the sensor terminal 5 is pushed in and the installation is completed, the sensor terminal installation device 90 proceeds to a process for installing the next sensor terminal 5. When the installation of the sensor terminal 5 is completed, the sensor terminal installation device 90 may record the coordinates of the position where the sensor terminal 5 is installed in association with the terminal ID of the center terminal 5. At that time, the center terminal installation device 90 can calculate the position where the center terminal 5 is installed based on the position information of the vehicle 1 and the relative position information of the robot arm 7 with respect to the vehicle 1.
　一方、取得された画像の範囲内に設置可能領域がなければ、センサ端末設置装置９０は、設置シーケンス判断部３により、画像に含まれる座標の範囲を設置付加領域として記憶する（ステップ１０９）。設置不可領域の情報は設置シーケンス判断部３にて蓄積される。 On the other hand, if there is no installable area within the acquired image range, the sensor terminal installation device 90 causes the installation sequence determination unit 3 to store the coordinate range included in the image as an installation additional area (step 109). The information on the installation impossible area is accumulated in the installation sequence determination unit 3.
　次に、センサ端末設置装置９０は、設置可能領域を探索する範囲として予め定められた範囲（以下「探索範囲」という）内に未だ設置可能領域の探索を行っていない領域があるか否か判定する（ステップ１１０）。例えば、上述した単位領域を縦３個×横３個の範囲を探索範囲とし、探索範囲に含まれる全ての単位領域の探索が終わったか否か判定すればよい。 Next, the sensor terminal installation device 90 determines whether or not there is an area that has not yet been searched for an installable area within a range (hereinafter referred to as “search range”) that is predetermined as a range for searching for an installable area. (Step 110). For example, it is only necessary to determine whether or not the search of all the unit areas included in the search range has been completed by setting the above-described unit area to a range of 3 × 3 in the search range.
　探索範囲に未探索の単位領域があれば、センサ端末設置装置９０は、設置シーケンス判断部３により、ステップ１０１に戻って未探索の単位領域に車両１を移動させる。一方、探索範囲に未探索の単位領域がなければ、センサ端末設置装置９０は、設置シーケンス判断部３により、センサ端末設置装置９０を停止して遠隔地にいる操作者にアラートを送出し（ステップ１１１）、処理を終了する。 If there is an unsearched unit area in the search range, the sensor terminal installation device 90 causes the installation sequence determination unit 3 to return to step 101 and move the vehicle 1 to the unsearched unit area. On the other hand, if there is no unsearched unit area in the search range, the sensor terminal installation device 90 causes the installation sequence determination unit 3 to stop the sensor terminal installation device 90 and send an alert to a remote operator (step) 111), the process is terminated.
　図４は、実施例１にて撮影部４により撮影される画像の一例を示す図である。撮影部４から取得される画像について図４を用いて説明する。 FIG. 4 is a diagram illustrating an example of an image photographed by the photographing unit 4 in the first embodiment. An image acquired from the imaging unit 4 will be described with reference to FIG.
　撮影部４で画像を撮影する目的は土壌に障害物あるいは凹凸のない領域を検出することである。撮影部４によって取得される画像は、サイズの大小に関わらず岩８ａ、小石８ｂ及び穴８ｃを検出できるだけの解像度が要求される。撮影部４のカメラを設置する高さによって、画像が取得できる土壌の範囲、障害物８のサイズを検出する分解能等は変化する。撮影部４の性能と土壌の障害物８の大きさによってカメラの高さを決定すればよい。 The purpose of photographing an image with the photographing unit 4 is to detect an area without obstacles or irregularities in the soil. The image acquired by the imaging unit 4 is required to have a resolution that can detect the rock 8a, the pebbles 8b, and the hole 8c regardless of the size. The range of soil from which an image can be acquired, the resolution for detecting the size of the obstacle 8, and the like vary depending on the height at which the camera of the photographing unit 4 is installed. What is necessary is just to determine the height of a camera with the performance of the imaging | photography part 4, and the magnitude | size of the obstacle 8 of a soil.
　例えば、センサ端末５の底面積よりも大きな面積を占める障害物８はセンサ端末５の正常な設置を阻害する要因となるため撮影部４によって検出できなければならない。そのため、少なくともセンサ端末５の底面積と同程度のサイズの障害物５を検出できる程度の分解能が必要である。撮影部４によって検出した障害物８のない領域の面積が、センサ端末５が占める領域であるセンサ端末設置面１２より大きい場合に、センサ端末設置装置９０は、その障害物８のない領域を設置可能領域１１とする。センサ端末設置装置９０は、撮影部４により画像が取得される領域における設置可能領域１１の水平方向の座標を決定し、この水平座標を指令値としてロボットアーム７を用いてセンサ端末５を移動させる。 For example, since the obstacle 8 occupying an area larger than the bottom area of the sensor terminal 5 becomes a factor that hinders normal installation of the sensor terminal 5, it must be detected by the photographing unit 4. Therefore, a resolution that can detect at least the obstacle 5 having the same size as the bottom area of the sensor terminal 5 is required. When the area of the area without the obstacle 8 detected by the imaging unit 4 is larger than the sensor terminal installation surface 12 that is the area occupied by the sensor terminal 5, the sensor terminal installation device 90 installs the area without the obstacle 8. A possible area 11 is assumed. The sensor terminal installation device 90 determines the horizontal coordinate of the installable area 11 in the area where the image is acquired by the imaging unit 4, and moves the sensor terminal 5 using the robot arm 7 using the horizontal coordinate as a command value. .
　また、本実施例では、車両自動運転装置２が車両１を自動運転する例を示したが、これに限定されることは無い。他の例として、車両自動運転装置２の代わりに運転手が車両１を運転し、目的位置まで移動させることにしてもよい。更に他の例として、遠隔に運転装置を設け、無線通信で車両１と接続し、オペレータが遠隔からの操作で車両１を運転することにしてもよい。 In the present embodiment, an example in which the vehicle automatic driving device 2 automatically drives the vehicle 1 is shown, but the present invention is not limited to this. As another example, the driver may drive the vehicle 1 instead of the automatic vehicle driving device 2 and move it to the target position. As yet another example, a driving device may be provided remotely, connected to the vehicle 1 by wireless communication, and the operator may drive the vehicle 1 by a remote operation.
　また、本実施例では、撮影部４が撮影される画像から検出する障害物８として石、岩、穴を想定する例を示したが、これに限定されることは無い。草、木、その他、センサ端末５の設置を阻害する他のものも検出できるように画像を撮影できる土壌の範囲および解像度を設定しても良い。 In the present embodiment, an example has been shown in which a stone, a rock, and a hole are assumed as the obstacle 8 detected from the image taken by the photographing unit 4, but the present invention is not limited to this. You may set the range and resolution of the soil which can image | photograph an image so that grass, a tree, and others which block the installation of the sensor terminal 5 can be detected.
　以上説明した本実施例の構成によれば、センサ端末５を自動設置する際、土壌に障害物８があっても、障害物８を避けてセンサ端末５を適切に設置することが可能となる。また、障害物８の多い土壌にセンサ端末５を設置しようとした場合に設置が困難であることを早期にアラートで遠隔の操作者に通知することができる。その結果、操作者は障害物８へ適切な対策を早期に実施することができる。 According to the configuration of the present embodiment described above, when the sensor terminal 5 is automatically installed, even if there is an obstacle 8 in the soil, the sensor terminal 5 can be appropriately installed avoiding the obstacle 8. . Moreover, when trying to install the sensor terminal 5 in the soil with many obstacles 8, it can notify a remote operator with an alert early that it is difficult to install. As a result, the operator can take an appropriate measure against the obstacle 8 at an early stage.
　実施例２では、自動運転ではなく操作者がセンサ端末設置装置９０を運転してセンサ端末５を設置する位置まで移動させる例を示す。 Example 2 shows an example in which the operator operates the sensor terminal installation device 90 and moves the sensor terminal 5 to a position where the sensor terminal 5 is installed, instead of automatic driving.
　実施例２において実施例１と同一符号が付された部分は実施例１のものと共通であるので説明を省略し、主に実施例２に特有の部分について説明する。 In the second embodiment, the parts denoted by the same reference numerals as those in the first embodiment are the same as those in the first embodiment, and thus the description thereof will be omitted, and the parts unique to the second embodiment will be mainly described.
　図５は、実施例２におけるセンサ端末設置装置の概略図である。図５に示すセンサ端末設置装置９０は、車両自動運転装置２に代わり、車両運転室１６、車両操作部１５、アラート通知部１３及び端末設置操作パネル１４を有する点で、図２に示した実施例１のものと異なる。車両操作部１５および端末設置操作パネル１４は、図１の設置部９２に含まれ、アラート通知部１３は通知部９３に対応する。 FIG. 5 is a schematic diagram of the sensor terminal installation apparatus according to the second embodiment. The sensor terminal installation device 90 shown in FIG. 5 includes the vehicle cab 16, the vehicle operation unit 15, the alert notification unit 13, and the terminal installation operation panel 14 in place of the automatic vehicle driving device 2, in the implementation shown in FIG. Different from Example 1. The vehicle operation unit 15 and the terminal installation operation panel 14 are included in the installation unit 92 in FIG. 1, and the alert notification unit 13 corresponds to the notification unit 93.
　本実施例の車両１は、車両自動運転装置２ではなく、車両運転室１６にて操作者が車両操作部１５を用いて運転する。アラート通知部１３及び端末設置操作パネル１４は、設置シーケンス判断部３と相互に接続され、設置シーケンスの進行に応じて所定の情報を送受信する。例えば、設置シーケンス判断部３からアラート通知部１３に通知される情報を操作者が知得し、その情報を基に操作者が車両操作部１５を用いて車両１を運転し、端末設置操作パネル１４を用いてセンサ端末５を設置する。 The vehicle 1 according to this embodiment is driven by the operator using the vehicle operation unit 15 in the vehicle cab 16 instead of the vehicle automatic driving device 2. The alert notification unit 13 and the terminal installation operation panel 14 are connected to the installation sequence determination unit 3 and transmit / receive predetermined information according to the progress of the installation sequence. For example, the operator knows information notified from the installation sequence determination unit 3 to the alert notification unit 13, and the operator drives the vehicle 1 using the vehicle operation unit 15 based on the information, and the terminal installation operation panel 14 is used to install the sensor terminal 5.
　アラート通知部１３がアラートを操作者に通知する手段として、例えば、ランプやＬＥＤパネル等の視覚的な表示装置がよい。ただし、ブザー等の聴覚的な通知手段を用いることもできる。 As a means for the alert notification unit 13 to notify the operator of an alert, for example, a visual display device such as a lamp or an LED panel is preferable. However, an audible notification means such as a buzzer can also be used.
　なお、車両操作部１５および端末設置操作パネル１４は、操作者が遠隔地から操作することが可能であってもよい。その場合は、センサ端末設置装置９０には操作者が操作する不図示の遠隔システムと相互通信を行う装置を用いる。 The vehicle operation unit 15 and the terminal installation operation panel 14 may be operable from a remote place by an operator. In that case, a device that performs mutual communication with a remote system (not shown) operated by an operator is used as the sensor terminal installation device 90.
　図６は、実施例２によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。図６に示す実施例２の処理が図３に示した実施例１の処理と異なる部分として、操作者の操作で目的位置へ車両１が移動する処理（ステップ２０１）、操作者による指令で設置シーケンスを開始する処理（ステップ２０２）、センサ端末５の設置が完了した旨を操作者に通知する処理（ステップ２０３）がある。なお、図６のフローチャートは、実施例１と同様に複数のセンサ端末５を設置する処理において、１つのセンサ端末５を設置してから次のセンサ端末５を設置するまでのシーケンスを示している。 FIG. 6 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation device according to the second embodiment. The processing of the second embodiment shown in FIG. 6 differs from the processing of the first embodiment shown in FIG. 3 in that the vehicle 1 is moved to the target position by the operator's operation (step 201), set by the operator's command There is a process for starting the sequence (step 202) and a process for notifying the operator that the installation of the sensor terminal 5 has been completed (step 203). Note that the flowchart of FIG. 6 shows a sequence from the installation of one sensor terminal 5 to the installation of the next sensor terminal 5 in the process of installing a plurality of sensor terminals 5 as in the first embodiment. .
　図６を参照し、車両１を移動させる目的位置が決まると（ステップ１０１）、センサ端末設置装置９０は、操作者の車両操作部１５を用いた運転により、車両１を目的位置まで移動させる（ステップ２０１）。その後、操作者が端末設置操作パネル１４へ操作を行うことにより、センサ端末設置装置９０は設置シーケンス開始の命令を発する（ステップ２０２）。 Referring to FIG. 6, when the target position for moving vehicle 1 is determined (step 101), sensor terminal installation apparatus 90 moves vehicle 1 to the target position by driving using the vehicle operation unit 15 of the operator (step 101). Step 201). Thereafter, when the operator operates the terminal installation operation panel 14, the sensor terminal installation device 90 issues an instruction to start the installation sequence (step 202).
　シーケンス開始の命令が発せられると、センサ端末設置装置９０は、実施例１と同様に、撮影部４を用いて土壌の画像を取得（ステップ１０３）、センサ端末５を設置可能な領域を算出する（ステップ１０４）。更に、センサ端末設置装置９０は、実施例１と同様に、設置可能領域の有無を判断し（ステップ１０５）、設置可能領域がある場合はセンサ端末５を移動し（ステップ１０６～１０７）、押込み動作によりセンサ端末５を設置する（ステップ１０８）。 When a sequence start command is issued, the sensor terminal installation device 90 acquires an image of soil using the photographing unit 4 (step 103) and calculates a region where the sensor terminal 5 can be installed, as in the first embodiment. (Step 104). Further, as in the first embodiment, the sensor terminal installation device 90 determines whether there is an installable area (step 105). If there is an installable area, the sensor terminal 5 moves (steps 106 to 107) and pushes in. The sensor terminal 5 is installed by operation (step 108).
　実施例２では、センサ端末５を設置した後、センサ端末設置装置９０は、アラート通知部１３により、操作者にセンサ端末５の設置が完了した旨の通知を行う（２０３）。 In Example 2, after the sensor terminal 5 is installed, the sensor terminal installation device 90 notifies the operator that the installation of the sensor terminal 5 is completed by the alert notification unit 13 (203).
　上記ステップ１０５において、設置可能領域がないと判断された場合、センサ端末設置装置９０は、アラート通知部１３により、操作者に設置不可を通知する（ステップ２０４）。 When it is determined in step 105 that there is no installable area, the sensor terminal installation device 90 notifies the operator that the installation is impossible by the alert notification unit 13 (step 204).
　本実施例の構成により、操作者は容易に、障害物を避けてセンサ端末５を設置することが可能となる。また操作者に対してセンサ端末５の設置が可能か否かを通知することで、早期の対策が可能となる。 With the configuration of this embodiment, the operator can easily install the sensor terminal 5 while avoiding obstacles. Further, by notifying the operator whether or not the sensor terminal 5 can be installed, an early countermeasure can be taken.
　実施例３では、土壌を耕作して改善し、センサ端末５を設置することが可能な例を示す。 Example 3 shows an example in which the soil can be cultivated and improved, and the sensor terminal 5 can be installed.
　実施例３において実施例１、２と同一符号が付された部分は実施例１、２のものと共通であるので説明を省略し、主に実施例３に特有の部分について説明する。 In the third embodiment, the parts denoted by the same reference numerals as those in the first and second embodiments are the same as those in the first and second embodiments, so that the description thereof will be omitted, and the parts unique to the third embodiment will be mainly described.
　図７は、実施例３におけるセンサ端末設置装置の概略図である。 FIG. 7 is a schematic diagram of the sensor terminal installation apparatus according to the third embodiment.
　図７に示すセンサ端末設置装置９０は、耕作機構１７を有する点で、図２に示した実施例１のものと異なる。耕作機構１７は、図１の耕作部９４に対応する。耕作機構１７は、耕作部１７ａと上下移動機構１７ｂと不図示の水平移動機構とを有する。 The sensor terminal installation device 90 shown in FIG. 7 is different from that of the first embodiment shown in FIG. The cultivation mechanism 17 corresponds to the cultivation unit 94 of FIG. The cultivation mechanism 17 has a cultivation part 17a, a vertical movement mechanism 17b, and a horizontal movement mechanism (not shown).
　耕作部１７ａは、一例としてハンマドリルであり、回転するだけでなく、上下方向の振動を加えられるものとする。ハンマドリルが掘削することができる土壌の面積はセンサ端末５の地中に入る部分の底面積と同等が好ましい。 The cultivation part 17a is a hammer drill as an example, and not only rotates but also can be subjected to vertical vibration. The area of the soil that can be excavated by the hammer drill is preferably equal to the bottom area of the portion of the sensor terminal 5 entering the ground.
　耕作部１７ａが上下移動することができるストローク量は、上下移動機構１７ｂにより決まる。ストローク量は、上下移動機構１７ｂの地面からの高さ、センサ端末５の上下全長および地中に埋める深さに基づいて定めればよい。また、水平移動機構のストローク量および移動可能範囲はロボットアーム７と同等がよい。 The amount of stroke that the cultivating part 17a can move up and down is determined by the up and down movement mechanism 17b. The stroke amount may be determined based on the height of the vertical movement mechanism 17b from the ground, the total vertical length of the sensor terminal 5, and the depth to be buried in the ground. Further, the stroke amount and the movable range of the horizontal movement mechanism are preferably equal to those of the robot arm 7.
　図８は、実施例３によるセンサ端末設置装置がセンサ端末を設置する動作示すフローチャートである。図８に示す実施例３の処理が図３、図６に示した処理と異なる部分として、小型の障害物がある位置の座標を算出する処理（ステップ３０１）、改善可能領域を判断する処理（ステップ３０２）、土壌を耕作する処理（ステップ３０３）がある。 FIG. 8 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the third embodiment. The processing of the third embodiment shown in FIG. 8 is different from the processing shown in FIG. 3 and FIG. 6, the processing for calculating the coordinates of the position where the small obstacle is located (step 301), and the processing for determining the improvement possible region ( Step 302) and a process of cultivating the soil (Step 303).
　図８を参照すると、ステップ１０１～１０５は実施例１と同様の処理である。ステップ１０５の設置可能領域の判断において、設置可能領域がないと判断された場合、本実施例では、センサ端末設置装置９０は、設置シーケンス判断部３により、現在は設置可能領域ではないが、画像に基づいて、障害物８が小型である領域を算出する（ステップ３０１）。画像から障害物８の大きさを算出し、閾値を超える大きさの障害物８の無い領域を抽出すればよい。ここでは一例として耕作部１７の底面積の大きさよりも小さい面積を示す障害物８を小型の障害物と定義する。 Referring to FIG. 8, steps 101 to 105 are the same as those in the first embodiment. If it is determined in step 105 that there is no installable area, the sensor terminal installation device 90 is not currently an installable area by the installation sequence determination unit 3 in this embodiment. Based on the above, a region where the obstacle 8 is small is calculated (step 301). The size of the obstacle 8 is calculated from the image, and a region without the obstacle 8 having a size exceeding the threshold may be extracted. Here, as an example, the obstacle 8 showing an area smaller than the size of the bottom area of the cultivation unit 17 is defined as a small obstacle.
　センサ端末設置装置９０は、改善可能領域があるか否か判定する。改善可能領域とは、耕作することで設置可能領域に改善することが可能な領域となる。例えば、障害物８が小型である領域を改善可能領域とすればよい。 The sensor terminal installation device 90 determines whether there is an improvement possible region. The area that can be improved is an area that can be improved to an installable area by farming. For example, a region where the obstacle 8 is small may be set as a region that can be improved.
　改善可能領域があれば、センサ端末設置装置９０は、耕作機構１７を用いて、改善可能領域の土壌を耕作する（ステップ３０３）。続いて、センサ端末設置装置９０は、ステップ１０６に進み設置座標を決定する。その後は実施例１と同様に、センサ端末５を設置座標へ移動させて設置し（ステップ１０７）、地面に押し込むことで設置を完了させる（ステップ１０８）。 If there is an area that can be improved, the sensor terminal installation apparatus 90 uses the cultivation mechanism 17 to cultivate the soil in the area that can be improved (step 303). Subsequently, the sensor terminal installation device 90 proceeds to step 106 and determines installation coordinates. After that, as in the first embodiment, the sensor terminal 5 is moved to the installation coordinates and installed (step 107), and the installation is completed by pushing it into the ground (step 108).
　また、ステップ３０２において改善可能領域が検出することができなければ、センサ端末設置装置９０はステップ１０９に進む。その後の処理は実施例１と同様である。 If the improvement possible area cannot be detected in step 302, the sensor terminal installation device 90 proceeds to step 109. Subsequent processing is the same as in the first embodiment.
　図９は、実施例３にて撮影部４により撮影される画像の一例を示す図である。撮影部４から取得される画像について図９を用いて説明する。 FIG. 9 is a diagram illustrating an example of an image photographed by the photographing unit 4 in the third embodiment. An image acquired from the imaging unit 4 will be described with reference to FIG.
　画像１０には、岩８ａや穴８ｃが存在する範囲は改善可能ではないと判断する。耕作部１７により掘削される面積（掘削面積１８）にあるのが小型の障害物（小石８ｂ）のみであれば、その領域を改善可能領域と判断することができる。 In the image 10, it is determined that the area where the rock 8a and the hole 8c exist cannot be improved. If there is only a small obstacle (pebbles 8b) in the area excavated by the cultivating unit 17 (excavation area 18), it can be determined that the area can be improved.
　なお、上述したように本実施例では耕作機構１７としてハンマドリルを例示しているが、これに限定されることはない。他の例として、熊手や箒などを用いて小石８などの障害物を除去することにしてもよい。 In addition, although the hammer drill is illustrated as the cultivation mechanism 17 in this embodiment as described above, the present invention is not limited to this. As another example, obstacles such as pebbles 8 may be removed using a rake or a fence.
　以上説明した本実施例の構成によれば、耕作機構１７によって土壌を掘削することで、小石８ｂなどの小型の障害物しかない領域を設置可能領域に改善することができるので、センサ端末５を設置できる可能性を高めることができる。また耕作機構１７により掘削する位置を土壌の画像から判断するため、堅い岩８ａなどの大型の障害物のある領域を掘削して耕作部１７ａを摩耗させたり、破壊させたりするのを防ぐことができる。また、堅い土壌等の強い押し込み力が必要な場所も耕作機構１７で掘削することによりセンサ端末５を容易に設置することが可能な土壌に変えることができる。そのため、押込み機構６のアクチュエータを小型化することが可能となる。 According to the configuration of the present embodiment described above, by excavating the soil with the cultivation mechanism 17, the area having only a small obstacle such as the pebbles 8 b can be improved to the installable area. The possibility that it can be installed can be increased. Further, in order to determine the position to be excavated by the cultivation mechanism 17 from the image of the soil, it is possible to prevent excavation of a region with a large obstacle such as the hard rock 8a to wear or destroy the cultivation unit 17a. it can. Further, by excavating a place where a strong pushing force such as hard soil is required by the cultivation mechanism 17, the sensor terminal 5 can be changed to a soil where the sensor terminal 5 can be easily installed. Therefore, the actuator of the pushing mechanism 6 can be reduced in size.
　実施例４では、土壌の画像だけでなく、土壌の硬度を計測し、センサ端末を設置する位置を決定するのに利用する例を示す。 Example 4 shows an example in which not only the soil image but also the soil hardness is measured and used to determine the position where the sensor terminal is installed.
　実施例４において実施例１～３と同一符号が付された部分は実施例１～３のものと共通であるので説明を省略し、主に実施例４に特有の部分について説明する。 In the fourth embodiment, the parts denoted by the same reference numerals as those in the first to third embodiments are the same as those in the first to third embodiments. Therefore, the description thereof will be omitted, and the parts peculiar to the fourth embodiment will be mainly described.
　図１０は、実施例４におけるセンサ端末設置装置の概略図である。 FIG. 10 is a schematic diagram of the sensor terminal installation apparatus according to the fourth embodiment.
　図１０に示すセンサ端末設置装置９０は、土壌硬度計１９を有する点で、図１０に示した実施例１のものと異なる。 10 differs from that of the first embodiment shown in FIG. 10 in that the sensor terminal installation device 90 shown in FIG.
　土壌硬度計１９は、土壌の硬度を測定する装置であり、一例として貫入式の土壌硬度計であり、貫入部１９ａ、上下動機構１９ｂ、および不図示の土壌硬度情報を設置シーケンス判断部３に伝達する伝達部を有している。土壌高度計１９は、上下動機構１９ｂを用いて、貫入部１９ａを上下にスライドさせて土壌に差し込むことにより、土壌の硬度を測定する。 The soil hardness meter 19 is a device for measuring the hardness of the soil. As an example, the soil hardness meter 19 is a penetrating soil hardness meter. The penetrating portion 19a, the vertical movement mechanism 19b, and soil hardness information (not shown) are input to the installation sequence determining portion 3. It has a transmission part to transmit. The soil altimeter 19 measures the hardness of the soil by sliding the penetration portion 19a up and down and inserting it into the soil using the vertical movement mechanism 19b.
　貫入部１９ａの地中に埋まる深さによって、地中における障害物８を検出できる範囲が決まり、また貫入部９ａの形状により地中に埋まる深さが決まるので、センサ端末５を設置する深さに合わせて貫入部１９ａの形状を決めるとよい。 The depth in which the obstacle terminal 8 can be detected in the ground is determined by the depth of the penetration portion 19a buried in the ground, and the depth of the penetration portion 9a is determined by the shape of the penetration portion 9a. The shape of the penetration part 19a may be determined according to the above.
　なお、土壌の硬度は、押し込み機構６によりセンサ端末５を押し込んだとき、その押し込み力とストローク量との関係に基づいて推定することもできる。例えば、指令された押し込み力に対して、押し込み機構６のストローク量が小さかった場合、土壌の硬度が高い、あるいは地中に障害物８が存在していると判断する。その場合、センサ端末設置装置９０は別の設置シーケンスに移行すればよい。 The soil hardness can be estimated based on the relationship between the pushing force and the stroke amount when the sensor terminal 5 is pushed by the pushing mechanism 6. For example, when the stroke amount of the push-in mechanism 6 is small with respect to the commanded push-in force, it is determined that the soil hardness is high or the obstacle 8 exists in the ground. In that case, the sensor terminal installation apparatus 90 should just transfer to another installation sequence.
　図１１は、実施例４によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。図１１に示す実施例４の処理が図３、図６、あるいは図８に示した処理と異なる部分として、土壌硬度計１９により土壌の硬度を計測する処理（ステップ４０１）、硬度が所定の設定値以下か否か判断する処理（ステップ４０２）である。この所定の設定値は、土壌の硬度がセンサ端末５を押込み機構６により地面に押し込むことが可能かどうか判断するための閾値である。 FIG. 11 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation device according to the fourth embodiment. The processing of Example 4 shown in FIG. 11 differs from the processing shown in FIG. 3, FIG. 6 or FIG. 8 in the processing of measuring the soil hardness by the soil hardness meter 19 (step 401), and the hardness is set to a predetermined value. This is a process for determining whether or not the value is equal to or less than the value (step 402). This predetermined set value is a threshold value for determining whether the hardness of the soil can push the sensor terminal 5 into the ground by the pushing mechanism 6.
　図１１におけるステップ１０１～１０５の処理は実施例１と同様である。 11 is the same as that of the first embodiment.
　本実施例では、センサ端末設置装置９０は、ステップ１０５にて土壌の画像に基づきセンサ端末５の設置が可能と判断された領域について、土壌硬度計１９により土壌の硬度を計測する（ステップ４０１）。更に、センサ端末設置装置９０は、設置シーケンス判断部３により、測定された土壌の硬度が所定の設定値以下であるか否か判定する（ステップ４０２）。 In the present embodiment, the sensor terminal installation device 90 measures the soil hardness with the soil hardness meter 19 in the area where it is determined in step 105 that the sensor terminal 5 can be installed based on the soil image (step 401). . Furthermore, the sensor terminal installation device 90 determines whether or not the measured soil hardness is equal to or lower than a predetermined set value by the installation sequence determination unit 3 (step 402).
　土壌の硬度が所定の設定値以下、すなわち押し込み機構６の押し込み力以下である場合、センサ端末設置装置９０は、センサ端末５をその領域に設置することが可能であると判断し、ステップ１０６へ移行する。ステップ１０６以降の処理は実施例１のものと同様である。 When the soil hardness is equal to or less than a predetermined set value, that is, equal to or less than the pushing force of the pushing mechanism 6, the sensor terminal installation device 90 determines that the sensor terminal 5 can be installed in the region, and the process proceeds to Step 106. Transition. The processing after step 106 is the same as that in the first embodiment.
　逆に、堅い土壌や、地中に隠れた障害物などによって、押し込み機構６の押し込み力より土壌の硬度が高いと判断された場合、センサ端末設置装置９０は、その領域へセンサ端末５を設置することができないと判断し、ステップ１０９へ移行する。ステップ１０９以降の処理は実施例１のものと同様である。 Conversely, when it is determined that the soil hardness is higher than the pushing force of the pushing mechanism 6 due to hard soil or an obstacle hidden in the ground, the sensor terminal installation device 90 installs the sensor terminal 5 in that region. If it is determined that it cannot be performed, the process proceeds to step 109. The processing after step 109 is the same as that in the first embodiment.
　以上、本実施例では、土壌硬度の計測を、画像からの判定と組み合わせて用いる例を示したが、これに限定されることはない。他の例として、土壌硬度の計測だけでセンサ端末５の設置が可能か否かを判定することにしてもよい。 As described above, in this embodiment, the example in which the measurement of soil hardness is used in combination with the determination from the image is shown, but the present invention is not limited to this. As another example, it may be determined whether or not the sensor terminal 5 can be installed only by measuring soil hardness.
　また、土壌硬度の計測を、実施例３に示した土壌の耕作と組み合わせることも可能である。例えば、土壌硬度の値に応じて、土壌の耕作を行うか否かを選択することにしてもよい。この場合、耕作機構の耕作能力により、センサ端末５を設置できる土壌硬度の範囲を設定し、土壌硬度の計測値がその範囲内であれば、耕作機構を使用して土壌を改善し、土壌硬度の計測値がその範囲外であれば、他の領域にセンサ端末５を設置することにすればよい。 It is also possible to combine soil hardness measurement with the soil cultivation shown in Example 3. For example, according to the value of soil hardness, you may decide whether to perform soil cultivation. In this case, the soil hardness range in which the sensor terminal 5 can be installed is set according to the cultivation capability of the cultivation mechanism, and if the measured value of the soil hardness is within the range, the soil is improved using the cultivation mechanism. If the measured value is out of the range, the sensor terminal 5 may be installed in another area.
　また、本実施例により、堅い土壌や地中の障害物を検出することが可能となり、堅い土壌や地中の障害物を避けてセンサ端末５を設置できるという効果がある。これにより、堅い土壌や地中の障害物に対して押し込み動作を行ってセンサ端末５を故障させたり、耕作機構の摩耗を促進させたり、するのを低減することができる。 Further, according to the present embodiment, it becomes possible to detect hard soil and obstacles in the ground, and there is an effect that the sensor terminal 5 can be installed avoiding the hard soil and obstacles in the ground. Thereby, it is possible to reduce the failure of the sensor terminal 5 by pushing the hard soil or the obstacle in the ground and promoting the wear of the cultivation mechanism.
　実施例５では、土壌の平面的な画像だけでなく、土壌の凹凸の情報も用いてセンサ端末を設置する位置を決定する例を示す。 Example 5 shows an example in which the position where the sensor terminal is installed is determined using not only the planar image of the soil but also information on the unevenness of the soil.
　実施例５において実施例１～４と同一符号が付された部分は実施例１～４のものと共通であるので説明を省略し、主に実施例５に特有の部分について説明する。 In the fifth embodiment, the parts denoted by the same reference numerals as those in the first to fourth embodiments are the same as those in the first to fourth embodiments, and thus the description thereof will be omitted. The parts peculiar to the fifth embodiment will be mainly described.
　図１２は、実施例５におけるセンサ端末設置装置の概略図である。 FIG. 12 is a schematic diagram of a sensor terminal installation apparatus according to the fifth embodiment.
　図１２に示すセンサ端末設置装置９０は、距離センサ２０を有する点で、図２に示した実施例１のものと異なる。 12 differs from that of the first embodiment shown in FIG. 2 in that the sensor terminal installation device 90 shown in FIG.
　距離センサ２０は、例えば超音波式あるいはレーザ式の測距器である。帯状のレーザ光を照射する帯レーザのような二次元面の距離情報を得られるものが望ましい。他の例として、撮影部４にステレオカメラを用いて地面までの距離の測定を可能にすることで代替してもよい。距離センサ２０は、上下方向の地面までの距離を計測できるように下向きに配置される。 The distance sensor 20 is, for example, an ultrasonic type or laser type rangefinder. It is desirable to be able to obtain distance information on a two-dimensional surface such as a band laser that irradiates a band-shaped laser beam. As another example, a stereo camera may be used for the photographing unit 4 to enable measurement of the distance to the ground. The distance sensor 20 is disposed downward so that the distance to the ground in the vertical direction can be measured.
　図１３は、実施例５にて距離センサ２０で取得される情報から算出される地面の凹凸の一例を示す図である。距離センサ２０は垂直方向の距離を測定する。センサ端末設置装置９０は、距離センサ２０で測定した距離情報に基づいて、土壌の凹凸形状を算出することができる。例えば、距離センサ２０によって、図１３のような土壌における、距離センサ２０から地面までの距離を測定する。
センサ端末設置装置９０は、設置シーケンス判断部３により、図１３に示すような断面形状の土壌の凹凸形状を算出することができる。更に、センサ端末設置装置９０は、設置シーケンス判断部３により、凹凸形状が算出された領域を、凹凸面３１、傾斜面３２、水平面３３に分類する。水平面３３の面積がセンサ端末５の底面部の面積より大きければ、その水平面３３を設置可能領域として判断できる。その場合、凹凸面３１及び傾斜面３２は設置不可領域として判断する。なお、その際、設置シーケンス判断部３は、センサ端末５を設置することが可能な斜面の傾き角を閾値とし、地面の傾きが閾値を超えていたらその地面を傾斜面３２と判定し、地面の傾きが閾値を以下であればその地面を水平面３３と判定する。 FIG. 13 is a diagram illustrating an example of unevenness of the ground calculated from information acquired by the distance sensor 20 in the fifth embodiment. The distance sensor 20 measures the distance in the vertical direction. The sensor terminal installation device 90 can calculate the uneven shape of the soil based on the distance information measured by the distance sensor 20. For example, the distance sensor 20 measures the distance from the distance sensor 20 to the ground in the soil as shown in FIG.
The sensor terminal installation device 90 can calculate the uneven shape of the soil having a cross-sectional shape as shown in FIG. Furthermore, the sensor terminal installation device 90 classifies the region where the uneven shape is calculated by the installation sequence determination unit 3 into the uneven surface 31, the inclined surface 32, and the horizontal surface 33. If the area of the horizontal plane 33 is larger than the area of the bottom surface of the sensor terminal 5, the horizontal plane 33 can be determined as the installable area. In that case, the uneven surface 31 and the inclined surface 32 are determined as an installation impossible area. At that time, the installation sequence determination unit 3 uses the inclination angle of the slope where the sensor terminal 5 can be installed as a threshold value, and if the ground inclination exceeds the threshold value, determines the ground surface as the inclined surface 32, If the slope of is less than or equal to the threshold, the ground is determined as the horizontal plane 33.
　なお、本実施例では、一例として帯レーザにより二次元面の距離情報を得る例を示したが、これに限定されることはない。他の例として、１軸の距離センサ２０を用いてもよい。その場合、水平移動機構等により距離センサ２０を水平方向に複数回ストロークさせることで、二次元の距離情報を得ることにしてもよい。あるいは、計測時間を短縮するために、１軸の距離センサ２０を複数個設け、同時に複数箇所の距離測定を行うことにしてもよい。 In the present embodiment, an example in which the distance information of the two-dimensional surface is obtained by a band laser is shown as an example. As another example, a uniaxial distance sensor 20 may be used. In this case, two-dimensional distance information may be obtained by causing the distance sensor 20 to stroke a plurality of times in the horizontal direction using a horizontal movement mechanism or the like. Alternatively, in order to shorten the measurement time, a plurality of uniaxial distance sensors 20 may be provided, and a plurality of distances may be measured simultaneously.
　図１４は、実施例５によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。図１４に示す実施例５の処理が図３、図６、図８、あるいは図１１に示した処理と異なる部分として、距離センサ２０により地面から距離センサ２０までの高さを計測する処理（ステップ５０１）と、センサ端末５を設置する地面が水平か否か判定する処理（ステップ５０２）である。 FIG. 14 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the fifth embodiment. 14 is a process in which the distance sensor 20 measures the height from the ground to the distance sensor 20 as a part different from the process shown in FIG. 3, FIG. 6, FIG. 8, or FIG. 501) and processing for determining whether or not the ground on which the sensor terminal 5 is installed is horizontal (step 502).
　図１４におけるステップ１０１～１０５の処理は実施例１と同様である。 14 is the same as that in the first embodiment.
　本実施例では、センサ端末設置装置９０は、ステップ１０５にて土壌の画像に基づきセンサ端末５の設置が可能と判断された領域について、更に、距離センサ２０で地面から距離センサ２０までの高さを測定する（ステップ５０１）。 In the present embodiment, the sensor terminal installation device 90 further increases the height from the ground to the distance sensor 20 by the distance sensor 20 in the area where it is determined in step 105 that the sensor terminal 5 can be installed based on the soil image. Is measured (step 501).
　更に、センサ端末設置装置９０は、設置シーケンス判断部３により、測定された高さの情報に基づいて、高さを測定した範囲を、凹凸面３１、傾斜面３２、水平面３３の各領域に分け、センサ端末５を設置することが可能な水平面３３があるか否か判定する(ステップ５０２)。 Further, the sensor terminal installation device 90 divides the range in which the height is measured by the installation sequence determination unit 3 on the basis of the measured height information into each of the uneven surface 31, the inclined surface 32, and the horizontal surface 33. Then, it is determined whether or not there is a horizontal surface 33 on which the sensor terminal 5 can be installed (step 502).
　センサ端末５の設置に十分な水平面３３があれば、センサ端末設置装置９０はステップ１０６に進み、水平面３３を設置可能領域としてその中にセンサ端末５を設置する位置を決める。それ以降の処理は実施例１と同じである。また、ステップ５０２においてセンサ端末５の設置に十分な水平面３３が無ければ、センサ端末設置装置９０はステップ１０９に進む。それ以降の処理はやはり実施例１と同じである。 If there is a sufficient horizontal surface 33 for installation of the sensor terminal 5, the sensor terminal installation device 90 proceeds to step 106 and determines the position where the sensor terminal 5 is installed in the horizontal plane 33 as an installable region. The subsequent processing is the same as in the first embodiment. If there is not a sufficient horizontal surface 33 for installing the sensor terminal 5 in step 502, the sensor terminal installation device 90 proceeds to step 109. The subsequent processing is the same as in the first embodiment.
　上記本実施例の構成によれば、距離センサ２０により土壌の凹凸を知ることができるため、平面的な画像だけでは分からない土壌の凹凸や傾きを考慮してセンサ端末５を設置する場所を決定することができる。 According to the configuration of the present embodiment, since the unevenness of the soil can be known by the distance sensor 20, the place where the sensor terminal 5 is installed is determined in consideration of the unevenness and the inclination of the soil that cannot be understood only by the planar image. can do.
　実施例６では、センサ端末の設置がうまくいっているか否か判定し、押込みを繰り返す例を示す。 Example 6 shows an example in which it is determined whether or not the sensor terminal is successfully installed, and the push-in is repeated.
　実施例６において実施例１～５と同一符号が付された部分は実施例１～５のものと共通であるので説明を省略し、主に実施例６に特有の部分について説明する。 In the sixth embodiment, the parts denoted by the same reference numerals as those in the first to fifth embodiments are the same as those in the first to fifth embodiments, so that the description thereof will be omitted and the parts unique to the sixth embodiment will be mainly described.
　図１５は、実施例６のセンサ端末設置装置の概略図である。図１５に示す実施例６のセンサ端末設置装置９０における実施例１～５と異なる構成要素は加振装置２１、受信機２３、および設置判断部２４である。また、本実施例ではセンサ端末５は計測値の情報を送信する送信機２２を備えている。 FIG. 15 is a schematic diagram of the sensor terminal installation apparatus according to the sixth embodiment. The components different from those of the first to fifth embodiments in the sensor terminal installation device 90 of the sixth embodiment shown in FIG. 15 are a vibration device 21, a receiver 23, and an installation determination unit 24. Further, in the present embodiment, the sensor terminal 5 includes a transmitter 22 that transmits information of measurement values.
　加振装置２１は、設置シーケンス判断部３から指令を受けて土壌に振動を加える装置である。加振装置２１は上下方向に振動を発生させる上下動機構を備える。加振時には、加振装置２１の先端部を土壌に接触させ、設置シーケンス判断部３による指令に基づいて上下動機構により先端部を振動させ、地面を振動させる。加振装置２１は地面に任意の周波数の振動を加えることができる。センサ端末５を設置した後に地面に加える振動は、実際の地震探査に用いられる周波数帯であることが望ましい。加振装置２１の動力は一例として油圧式の直動アクチュエータである。ただし、それに限定されることはない。他の例として、回転軸に偏心負荷を設置した電動の回転モータが加振装置２１の動力であってもよい。 The vibration device 21 is a device that receives vibration from the installation sequence determination unit 3 and applies vibration to the soil. The vibration device 21 includes a vertical movement mechanism that generates vibration in the vertical direction. At the time of vibration, the tip of the vibration device 21 is brought into contact with the soil, and the tip is vibrated by the vertical movement mechanism based on a command from the installation sequence determination unit 3 to vibrate the ground. The vibration device 21 can apply vibration of an arbitrary frequency to the ground. It is desirable that the vibration applied to the ground after installing the sensor terminal 5 is a frequency band used for actual seismic exploration. As an example, the power of the vibration device 21 is a hydraulic linear actuator. However, it is not limited to that. As another example, an electric rotary motor in which an eccentric load is installed on the rotary shaft may be the power of the vibration device 21.
　地面に加えられた振動はセンサ端末５により検知され、振動情報を示す電気信号に変換されて送出される。センサ端末５には送信機２２が備えられている。振動を検知したセンサ端末５は、振動情報を示す電気信号を一例として無線電波で送信機２から出力する。センサ端末設置装置９０では、受信機２３で振動情報の電気信号が受信され、振動情報が設置判断部２４に伝達される。 The vibration applied to the ground is detected by the sensor terminal 5, converted into an electrical signal indicating vibration information, and sent out. The sensor terminal 5 is provided with a transmitter 22. The sensor terminal 5 that has detected the vibration outputs an electrical signal indicating vibration information as an example from the transmitter 2 by radio waves. In the sensor terminal installation device 90, the electrical signal of the vibration information is received by the receiver 23, and the vibration information is transmitted to the installation determination unit 24.
　設置判断部２４は、センサ端末５からの振動情報を基に、センサ端末５の設置の成否を判断する。具体的には、正しく設置されている場合にセンサ端末５にて検知される振動を予め計測し、その振動の値に基づいて、センサ端末５の設置の成否を判断する基準値を決定し、基準値を予め設定しておく。その後、センサ端末設置装置９０は、センサ端末５を設置して地面に振動を加える。そのときにセンサ端末５から通知される振動情報を基準値と比較する。センサ端末５からの振動情報が示す振動の値が基準値以上であれば、センサ端末５は正常な設置に成功していると判断する。 The installation determination unit 24 determines the success or failure of the installation of the sensor terminal 5 based on the vibration information from the sensor terminal 5. Specifically, the vibration detected by the sensor terminal 5 when correctly installed is measured in advance, and based on the value of the vibration, a reference value for determining success or failure of the installation of the sensor terminal 5 is determined, A reference value is set in advance. Thereafter, the sensor terminal installation device 90 installs the sensor terminal 5 and applies vibration to the ground. The vibration information notified from the sensor terminal 5 at that time is compared with a reference value. If the vibration value indicated by the vibration information from the sensor terminal 5 is greater than or equal to the reference value, it is determined that the sensor terminal 5 has been successfully installed.
　なお、上記基準値は、設置シーケンスの前のキャリブレーション動作として、正しく設置できる土壌状態で、センサ端末５を正常に設置し、複数回にわたり地面に振動を加えて、センサ端末５から複数の測定値を取得し、それら複数の測定値に基づいて算出することにしてもよい。 Note that the above-mentioned reference value is a plurality of measurements from the sensor terminal 5 by properly installing the sensor terminal 5 in a soil state that can be correctly installed as a calibration operation before the installation sequence, and applying vibration to the ground multiple times. A value may be acquired and calculated based on the plurality of measurement values.
　図１６は、実施例６によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。図１６に示す実施例６の処理が図３、図６、図８、図１１、あるいは図１４に示した処理と異なる部分として、土壌に振動を加える処理（ステップ６０１）、センサ端末５で測定された振動の振幅値を計算する処理（ステップ６０２）、センサ端末５の設置が成功しているか否か判定する処理（ステップ６０３）、設置が不良であった場合の不良判定回数を記録する処理（ステップ６０４）、および不良判定回数を閾値と比較する処理（ステップ６０５）がある。 FIG. 16 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation apparatus according to the sixth embodiment. The processing of Example 6 shown in FIG. 16 is different from the processing shown in FIG. 3, FIG. 6, FIG. 8, FIG. 11 or FIG. A process for calculating the amplitude value of the vibration (step 602), a process for determining whether or not the sensor terminal 5 has been successfully installed (step 603), and a process for recording the number of times of failure determination when the installation is defective (Step 604) and processing for comparing the number of times of defect determination with a threshold (Step 605).
　図１６におけるステップ１０８までの処理は実施例１と同様である。 The processing up to step 108 in FIG. 16 is the same as in the first embodiment.
　本実施例では、センサ端末設置装置９０は、ステップ１０８の押し込みによってセンサ端末５が設置された後、加振装置２１により、センサ端末５の近傍の土壌に振動を加える（ステップ６０１）。振動を検知したセンサ端末５から振動を示す振動信号が送信機２２と受信機２３を介してセンサ端末設置装置９０に伝達される。 In this embodiment, after the sensor terminal 5 is installed by pushing in step 108, the sensor terminal installation device 90 applies vibration to the soil in the vicinity of the sensor terminal 5 by the vibration device 21 (step 601). A vibration signal indicating vibration is transmitted from the sensor terminal 5 that has detected vibration to the sensor terminal installation device 90 via the transmitter 22 and the receiver 23.
　センサ端末設置装置９０は、設置判断部２４により、振動情報に基づいて振動の振幅値を計算する（ステップ６０２）。更に、センサ端末設置装置９０は、セ設置判定部２４により、センサ端末５が正常に設置されているか否か判定する（ステップ６０３）。その際、設置判定部２４は、振幅値を所定の基準値と比較し、振幅値が基準値以上であればセンサ端末５が正常に設置されていると判断する。 The sensor terminal installation device 90 calculates an amplitude value of vibration based on the vibration information by the installation determination unit 24 (step 602). Furthermore, the sensor terminal installation device 90 determines whether or not the sensor terminal 5 is normally installed by the center installation determination unit 24 (step 603). At that time, the installation determination unit 24 compares the amplitude value with a predetermined reference value, and determines that the sensor terminal 5 is normally installed if the amplitude value is greater than or equal to the reference value.
　ステップ６０３において、正常に設置できていない、つまり不良と判断されたら、センサ端末設置装置９０は、設置判定部２４により、不良と判定した回数（不良判定回数）を１だけカウントアップして記憶する（ステップ６０４）。 If it is determined in step 603 that the installation is not successful, that is, it is defective, the sensor terminal installation device 90 counts up the number of times determined to be defective (number of times of defect determination) by the installation determination unit 24 and stores it. (Step 604).
　続いて、センサ端末設置装置９０は、設置判定部２４により、判定回数を所定の閾値と比較する（ステップ６０５）。図１６の例では閾値は２である。不良判定回数が閾値を超えていたら、センサ端末設置装置９０は、センサ端末５が正常に設置できていない旨のアラートを出力する（ステップ１１１）。想定外の障害物等の外乱によって、センサ端末５の設置が出来なかったことが考えられる。不良判定回数が閾値以下であれば、センサ端末設置装置９０は、ステップ１０８戻り、センサ端末５の押し込みを繰り返す。 Subsequently, the sensor terminal installation device 90 uses the installation determination unit 24 to compare the number of determinations with a predetermined threshold (step 605). In the example of FIG. If the defect determination count exceeds the threshold value, the sensor terminal installation device 90 outputs an alert indicating that the sensor terminal 5 has not been installed normally (step 111). It is conceivable that the sensor terminal 5 could not be installed due to a disturbance such as an unexpected obstacle. If the number of defect determinations is less than or equal to the threshold value, the sensor terminal installation device 90 returns to step 108 and repeats pushing of the sensor terminal 5.
　なお、上記の例では、毎回同じ力でセンサ端末５の押し込みを繰り返す例を示したが、これに限定されることはない。例えば、不良判定回数に応じて押し込みの力を強めたり、不良判定回数により押し込みの方法を変えたりしてもよい。押込み力の上限はセンサ端末５の耐荷重や耐衝撃性に依存する。また上記構成においては不良判定回数の閾値を２回と設定しているが、その数は自由に設定できる。 In the above example, the example in which the sensor terminal 5 is repeatedly pushed with the same force every time has been described. However, the present invention is not limited to this. For example, the pressing force may be increased according to the number of defect determinations, or the pressing method may be changed according to the number of defect determinations. The upper limit of the pushing force depends on the load resistance and impact resistance of the sensor terminal 5. In the above configuration, the threshold value for the number of defect determinations is set to two, but the number can be freely set.
　本実施例では、不良判定回数が閾値を超えるとアラートを出力する構成となっているが、他の例として、ロボットアーム７などによりセンサ端末５を回収できるようにしてもよい。センサ端末５を回収して他の設置可能領域に再び設置することが可能になる。その場合、図１６におけるステップ１１１の代わりに、センサ端末５を回収するステップを設けてもよい。また、その後、設置不可領域の情報を記録し、それ以降の処理は実施例１と同様の処理を行えばよい。この構成によると、土壌の画像を処理して得られる情報と、実際に設置した結果を判定した情報を組み合わせることにより、センサ端末５を正常に設置する精度が向上する。 In this embodiment, an alert is output when the number of defect determinations exceeds a threshold value. However, as another example, the sensor terminal 5 may be collected by the robot arm 7 or the like. It is possible to collect the sensor terminal 5 and install it again in another installable area. In that case, you may provide the step which collect | recovers the sensor terminals 5 instead of step 111 in FIG. Thereafter, information on the installation impossible area is recorded, and the subsequent processing may be performed in the same manner as in the first embodiment. According to this configuration, by combining the information obtained by processing the soil image and the information obtained by determining the result of the actual installation, the accuracy of correctly installing the sensor terminal 5 is improved.
　また、加振装置２１は、例えば、任意の周波数のサイン波形を指令値とした加振とする。しかし、それに限定されることはない。他の例として、広い周波数帯域を持つスイープ加振やインパルス加振を行うことにしてもよい。その場合、時間応答波形の振幅の大きさだけではなく、センサ端末５の振動の周波数に対する振動検出の特性の変化を確認することができ、設置成否の確認精度が向上する。周波数特性を演算させるには、設置判断部２４に、高速フーリエ変換などの周波数領域への演算部を持たせればよい。 Further, the vibration device 21 performs vibration using, for example, a sine waveform of an arbitrary frequency as a command value. However, it is not limited to that. As another example, sweep excitation or impulse excitation having a wide frequency band may be performed. In this case, not only the amplitude of the time response waveform but also the change of the vibration detection characteristic with respect to the vibration frequency of the sensor terminal 5 can be confirmed, and the accuracy of confirming the success or failure of the installation is improved. In order to calculate the frequency characteristics, the installation determination unit 24 may have a calculation unit for the frequency domain such as fast Fourier transform.
　また、本実施例では一例として送信機２２および受信機２３は無線通信装置である。しかし、これに限定されることはない。送信機２２と受信機２３の間でＬＥＤなどの光学素子によって設置が成功したか否（設置成否）かの情報を伝達することにしてもよい。その場合、センサ端末５内に設置判断部２４を搭載し、得られた振動情報から設置成否を判断し、設置が成立した場合、送信機２２のＬＥＤを点灯する。受光素子を持つ受信機２３によってＬＥＤの点灯を認識し、設置シーケンス判断部３に設置成立の情報を伝達する。本構成によれば、ＬＥＤの使用によって、オペレータ等が目視によっても設置成否を確認できる。 In the present embodiment, as an example, the transmitter 22 and the receiver 23 are wireless communication devices. However, it is not limited to this. Information on whether or not the installation is successful (installation success / failure) may be transmitted between the transmitter 22 and the receiver 23 by an optical element such as an LED. In that case, the installation determination part 24 is mounted in the sensor terminal 5, the installation success / failure is determined from the obtained vibration information, and when the installation is established, the LED of the transmitter 22 is turned on. The receiver 23 having the light receiving element recognizes the lighting of the LED, and transmits the information of establishment establishment to the installation sequence determination unit 3. According to this configuration, by using the LED, an operator or the like can confirm the success or failure of the installation visually.
　また、本実施例では、加振装置２１を車両１に搭載する構成を例示したが、これに限定されることはない。他の例として、加振装置２１はセンサ端末設置装置９０とは別の車両に搭載することにしてもよい。 In the present embodiment, the configuration in which the vibration device 21 is mounted on the vehicle 1 is exemplified, but the present invention is not limited to this. As another example, the vibration device 21 may be mounted on a vehicle different from the sensor terminal installation device 90.
　本実施例では、実際に土壌に振動を加えて、その振動をセンサ端末５が良好に検出することができるかどうかを調べるので、センサ端末５の姿勢だけで設置の成否を判断するよりも、設置成否を正確に判断することができる。例えば、センサ端末５の設置された状態での姿勢は正常であるが、土壌とのカップリングが十分でない場合も想定される。その場合、共振が起こったり、感度が低くなったりすることが考えられる。本実施例によれば、加振装置２１を用いることで土壌に振動を加え、センサ端末５が振動を正しく検知できるかを実際に調べることができる。そのため、設置したセンサ端末５の設置成否に関して、より高精度に判断することができる。 In this embodiment, since vibration is actually applied to the soil and the sensor terminal 5 is examined to determine whether the vibration can be detected satisfactorily, rather than determining the success or failure of the installation only by the attitude of the sensor terminal 5, The success or failure of installation can be accurately determined. For example, it is assumed that the posture with the sensor terminal 5 installed is normal, but the coupling with the soil is not sufficient. In that case, resonance may occur or sensitivity may be lowered. According to the present embodiment, it is possible to actually check whether the sensor terminal 5 can correctly detect vibration by applying vibration to the soil by using the vibration device 21. Therefore, it is possible to determine with higher accuracy as to whether or not the installed sensor terminal 5 is successful.
　本実施例の構成によりセンサ端末５を設置した後、早期にセンサ端末５と地面とのカップリングの状態を確認することができるため、すぐにセンサ端末５の設置をやり直したり、アラートを通知したり、などの対策を実施することができる。そのため、一連の探鉱の作業全体における手戻りを削減し、ループットの向上が可能となる。また、センサ端末５からの振動信号の品質を確認できるので、高精度な地震探査をすることができる。 After the sensor terminal 5 is installed according to the configuration of the present embodiment, the coupling state between the sensor terminal 5 and the ground can be confirmed at an early stage, so that the sensor terminal 5 can be immediately installed again or an alert is notified. Measures can be implemented. As a result, rework in the entire series of exploration operations can be reduced, and the lupus can be improved. Moreover, since the quality of the vibration signal from the sensor terminal 5 can be confirmed, highly accurate seismic exploration can be performed.
　加振装置２１は、車両１に搭載されるため、設置されたセンサ端末５の近傍で振動を加えることができる。そのため、加振装置２１の加振力などの必要性能は、地震探査で用いられるものよりも小容量でよい。また、加振源である加振装置２１とセンサ端末５の位置との位置関係が一定にでき、加振源とセンサ位置との距離により振幅値を補正する必要もない。 Since the vibration exciting device 21 is mounted on the vehicle 1, it can apply vibration in the vicinity of the installed sensor terminal 5. Therefore, the required performance such as the excitation force of the excitation device 21 may be smaller than that used in the seismic survey. Further, the positional relationship between the vibration device 21 serving as the vibration source and the position of the sensor terminal 5 can be made constant, and there is no need to correct the amplitude value based on the distance between the vibration source and the sensor position.
　実施例７では、センサ端末設置装置が物理的に２つの車両で構成される例を示す。 Example 7 shows an example in which the sensor terminal installation device is physically composed of two vehicles.
　実施例７において実施例１～６と同一符号が付された部分は実施例１～６のものと共通であるので説明を省略し、主に実施例７に特有の部分について説明する。 In the seventh embodiment, the parts denoted by the same reference numerals as those in the first to sixth embodiments are the same as those in the first to sixth embodiments. Therefore, the description thereof will be omitted, and portions unique to the seventh embodiment will be mainly described.
　図１７は、実施例７におけるセンサ端末設置装置の概略図である。 FIG. 17 is a schematic diagram of a sensor terminal installation apparatus according to the seventh embodiment.
　図１７には、センサ端末設置装置はセンシング車両１ａと設置車両１ｂで構成されている。 In FIG. 17, the sensor terminal installation device includes a sensing vehicle 1a and an installation vehicle 1b.
　センシング車両１ａは、車両自動運転装置２、設置シーケンス判断部３、撮影部４、および通信装置２５を有している。設置車両１ｂは、車両自動運転装置２、設置シーケンス判断部３、押し込み機構６、ロボットアーム７、およびコンテナ部９を有している。 The sensing vehicle 1 a includes an automatic vehicle driving device 2, an installation sequence determination unit 3, a photographing unit 4, and a communication device 25. The installation vehicle 1 b includes an automatic vehicle driving device 2, an installation sequence determination unit 3, a push-in mechanism 6, a robot arm 7, and a container unit 9.
　センサ端末５を設置するための設置シーケンスは、センシング車両１ａと設置車両１ｂのそれぞれに配置された設置シーケンス判断部３によって決定される。また、センシング車両１ａと設置車両１ｂの間では、車両位置情報および設置シーケンス情報が双方の通信装置２５によってやり取りされる。 The installation sequence for installing the sensor terminal 5 is determined by the installation sequence determination unit 3 disposed in each of the sensing vehicle 1a and the installation vehicle 1b. Further, between the sensing vehicle 1a and the installation vehicle 1b, vehicle position information and installation sequence information are exchanged by both communication devices 25.
　図１８は、実施例７によるセンサ端末設置装置がセンサ端末を設置する動作を示すフローチャートである。図１８には、センシング車両１ａで実行される処理群９０１と、設置車両１ｂにより実行される処理群９０２とが示されている。 FIG. 18 is a flowchart showing an operation of installing the sensor terminal by the sensor terminal installation device according to the seventh embodiment. FIG. 18 shows a processing group 901 executed by the sensing vehicle 1a and a processing group 902 executed by the installed vehicle 1b.
　まず、処理群２０１では、センシング車両１ａにおいて、設置シーケンス判断部３が、車両を移動させる目的位置を決定し（ステップ１０１）、車両自動運転装置２がセンシング車両１ａを目的位置に移動させ（ステップ１０２）、設置シーケンス判断部３が土壌の画像を取得し（ステップ１０３）、画像に基づいてセンサ端末５を設置可能な位置の座標を計算し（ステップ１０４）、設置可能領域の有無を判断する（ステップ１０５）。各処理内容は実施例１と同じである。 First, in the processing group 201, in the sensing vehicle 1a, the installation sequence determination unit 3 determines a target position for moving the vehicle (step 101), and the automatic vehicle driving device 2 moves the sensing vehicle 1a to the target position (step 101). 102), the installation sequence determination unit 3 acquires an image of the soil (step 103), calculates the coordinates of the position where the sensor terminal 5 can be installed based on the image (step 104), and determines whether there is an installable area. (Step 105). Each processing content is the same as that of the first embodiment.
　ステップ１０５において、設置可能領域がないと判断した場合、設置シーケンス判断部３は、設置不可領域の情報を記録し（ステップ１０９）、それ以降は実施例１のセンサ端末設置装置９０と同様の処理である。 If it is determined in step 105 that there is no installable area, the installation sequence determination unit 3 records information on the non-installable area (step 109), and the subsequent processing is the same as that of the sensor terminal installation apparatus 90 of the first embodiment. It is.
　ステップ１０５において、設置可能領域があると判断した場合、センシング車両１ａの設置シーケンス判断部３は、設置可能領域の目的位置の座標を示す情報を、通信装置２５を用いて、設置装置１ｂに送信する（ステップ７０１）。 If it is determined in step 105 that there is an installable area, the installation sequence determination unit 3 of the sensing vehicle 1a transmits information indicating the coordinates of the target position of the installable area to the installation apparatus 1b using the communication device 25. (Step 701).
　処理群９０２において、設置車両１ｂは通信装置２５により、センシング車両１ａからの信号を受信する（ステップ７０２）。更に、設置車両１ｂは、車両自動運転装置２による自動運転で目的位置に移動する（ステップ１０２）。その後、設置装置１ｂは、車両自動運転装置２により目的位置に移動し（ステップ１０２）、設置シーケンス判断部３によりセンサ端末５を設置する位置の座標を決定し、ロボットアーム７によりセンサ端末５を設置座標へ移動させ（ステップ１０７）、押込み機構６によりセンサ端末５を押し込む（ステップ１０８）。 In the processing group 902, the installed vehicle 1b receives a signal from the sensing vehicle 1a through the communication device 25 (step 702). Furthermore, the installed vehicle 1b moves to the target position by automatic driving by the automatic vehicle driving device 2 (step 102). Thereafter, the installation apparatus 1b moves to the target position by the automatic vehicle driving apparatus 2 (step 102), determines the coordinates of the position where the sensor terminal 5 is installed by the installation sequence determination unit 3, and moves the sensor terminal 5 by the robot arm 7. The sensor terminal 5 is moved to the installation coordinates (step 107), and the sensor terminal 5 is pushed by the pushing mechanism 6 (step 108).
　センシング車両１ａによる処理群９０１の処理と、設置車両１ｂによる処理群９０２の処理とは、それぞれ独立に並行して行うことができる。例えば、設置車両１ｂでセンサ端末５を押し込む処理（ステップ１０８）を行っているとき、センシング車両１ａで土壌の画像を取得する処理（ステップ１０３）を実施することが可能である。 The processing of the processing group 901 by the sensing vehicle 1a and the processing of the processing group 902 by the installation vehicle 1b can be performed independently and in parallel. For example, when performing the process of pushing the sensor terminal 5 with the installed vehicle 1b (step 108), it is possible to perform the process (step 103) of acquiring the soil image with the sensing vehicle 1a.
　本実施例によれば、土壌のセンシングとセンサ端末５の設置とを並行して実施できるようになる。例えば、この結果、設置シーケンス全体のスループットを向上させることができる。また、センサ端末設置装置の機能を２つの車両に分割して搭載するため、車両サイズを小型化でき、実施例１のセンサ端末設置装置９０のような大型車両では障害物等によって進入が困難な箇所にも侵入し、センシング及び設置を行うことができる。 According to this embodiment, soil sensing and sensor terminal 5 installation can be performed in parallel. For example, as a result, the throughput of the entire installation sequence can be improved. Moreover, since the function of the sensor terminal installation device is divided and mounted on two vehicles, the vehicle size can be reduced, and in a large vehicle such as the sensor terminal installation device 90 of the first embodiment, it is difficult to enter due to obstacles or the like. It can also invade places and perform sensing and installation.
１…車両、１ａ…センシング車両、１ｂ…設置車両、２…車両自動運転装置、３…設置シーケンス判断部、４…撮影部、５…センサ端末、６…押込み機構、７…ロボットアーム、７ａ…端末保持部、７ｂ…アーム、７ｃ…アクチュエータ、８…障害物、８ａ…岩、８ｂ…小石、８ｃ…穴、９…コンテナ部、１０…取得画像データ、１１…設置可能領域、１２…センサ端末設置面、１３…アラート通知部、１４…端末設置操作パネル、１５…車両操作部、１６…車両運転室、１７…耕作機構、１７ａ…耕作部、１７ｂ…上下移動機構、１８…掘削面積、１９…土壌硬度計、１９ａ…貫入部、１９ｂ…上下動機構、２０…距離センサ、２１…加振装置、２２…送信機、２３…受信機、２４…設置判断部、２５…通信装置 DESCRIPTION OF SYMBOLS 1 ... Vehicle, 1a ... Sensing vehicle, 1b ... Installation vehicle, 2 ... Vehicle automatic driving device, 3 ... Installation sequence judgment part, 4 ... Imaging | photography part, 5 ... Sensor terminal, 6 ... Pushing mechanism, 7 ... Robot arm, 7a ... Terminal holding part, 7b ... arm, 7c ... actuator, 8 ... obstacle, 8a ... rock, 8b ... pebbles, 8c ... hole, 9 ... container part, 10 ... acquired image data, 11 ... installable area, 12 ... sensor terminal Installation surface, 13 ... alert notification unit, 14 ... terminal installation operation panel, 15 ... vehicle operation unit, 16 ... vehicle cab, 17 ... cultivation mechanism, 17a ... cultivation unit, 17b ... vertical movement mechanism, 18 ... excavation area, 19 ... soil hardness meter, 19a ... penetration part, 19b ... vertical movement mechanism, 20 ... distance sensor, 21 ... vibration device, 22 ... transmitter, 23 ... receiver, 24 ... installation judgment part, 25 ... communication device

Claims (13)

  1. 　振動を測定するためのセンサ端末を設置するセンサ端末設置装置であって、
    　前記センサ端末を移動させ、所定の設置位置に設置する設置部と、
    　前記設置位置に前記センサ端末が正常に設置できるか否か、あるいは前記所定位置に前記センサ端末が正常に設置されているか否かを判断する判断部と、
    を有するセンサ端末設置装置。     A sensor terminal installation device for installing a sensor terminal for measuring vibration,
    An installation unit that moves the sensor terminal and installs the sensor terminal at a predetermined installation position;
    A determination unit that determines whether the sensor terminal can be normally installed at the installation position, or whether the sensor terminal is normally installed at the predetermined position;
    A sensor terminal installation device.
  2. 　前記判断部は、前記センサ端末を設置することができる位置である設置可能領域を決定し、
    　前記設置部は、前記設置可能領域に前記センサ端末を移動させて設置する、
    請求項１に記載のセンサ端末設置装置。     The determination unit determines an installable area that is a position where the sensor terminal can be installed,
    The installation unit is installed by moving the sensor terminal to the installable area.
    The sensor terminal installation apparatus according to claim 1.
  3. 　前記設置部が前記センサ端末を設置したときには設置完了を操作者に通知し、前記判定部が設置可能領域を見つけられないときには設置不可を前記操作者に通知する通知部を更に有する、請求項２に記載のセンサ端末設置装置。 The information processing apparatus further comprises: a notification unit that notifies the operator of completion of installation when the installation unit installs the sensor terminal, and notifies the operator that installation is impossible when the determination unit cannot find an installation possible region. The sensor terminal installation device described in 1.
  4. 　地面を耕作して前記センサ端末を設置できるようにする耕作部を更に有し、
    　前記判断部は、設置可能領域がなければ、耕作によりセンサ端末を設置できるように改善することが可能な改善可能領域を見つけて、前記改善可能領域を前記耕作部に耕作させ、前記設置部に前記センサ端末を前記改善可能領域に設置させる、
    請求項２に記載のセンサ端末設置装置。     It further has a cultivating section for cultivating the ground so that the sensor terminal can be installed,
    If there is no installable area, the determination unit finds an improveable area that can be improved so that the sensor terminal can be installed by cultivation, and causes the tillable part to cultivate the improveable area. The sensor terminal is installed in the improvement possible area,
    The sensor terminal installation device according to claim 2.
  5. 　前記判断部は、地面の画像を撮影し、該画像に基づいて設置可能領域を推定し、設置可能領域と推定された領域の地面の硬度を測定し、前記硬度が所定の閾値以下であれば、前記推定された領域を設置可能領域と決定する、請求項２に記載のセンサ端末設置装置。 The determination unit captures an image of the ground, estimates an installable region based on the image, measures the hardness of the ground in the region estimated as the installable region, and if the hardness is equal to or less than a predetermined threshold value The sensor terminal installation apparatus according to claim 2, wherein the estimated area is determined as an installable area.
  6. 　地面を耕作して前記センサ端末を設置できるようにする耕作部を更に有し、
    　前記判断部は、前記設置可能領域と推定された領域の地面の硬度が前記閾値を超えていたら、前記耕作部に前記推定された領域を耕作させ、前記設置部に前記センサ端末を前記推定された領域に設置させる、
    請求項５に記載のセンサ端末設置装置。     It further has a cultivating section for cultivating the ground so that the sensor terminal can be installed,
    The determination unit causes the cultivation unit to cultivate the estimated region when the ground hardness of the region estimated as the installation possible region exceeds the threshold value, and causes the installation unit to estimate the sensor terminal. Installed in the area
    The sensor terminal installation device according to claim 5.
  7. 　前記判断部は、地面の画像を撮影し、該画像に基づいて設置可能領域を推定し、設置可能領域と推定された領域の地面の平坦度を測定し、前記平坦度が所定の閾値以上であれば、前記推定された領域を設置可能領域と決定する、請求項２に記載のセンサ端末設置装置。 The determination unit captures an image of the ground, estimates an installable region based on the image, measures the flatness of the ground in the region estimated as the installable region, and the flatness is equal to or greater than a predetermined threshold value. If there is, the sensor terminal installation apparatus according to claim 2, wherein the estimated area is determined as an installable area.
  8. 　前記設置部は、あらかじめ定められた位置に前記センサ端末を設置し、
    　前記判断部は、設置された前記センサ端末が正常設置条件を満たして設置されているか否か判定し、
    　前記センサ端末が前記正常設置条件を満たして設置されていなければ、前記設置部は、前記センサ端末の設置を改善する、
    請求項１に記載のセンサ端末設置装置。     The installation unit installs the sensor terminal at a predetermined position,
    The determination unit determines whether or not the installed sensor terminal satisfies a normal installation condition,
    If the sensor terminal is not installed to satisfy the normal installation conditions, the installation unit improves the installation of the sensor terminal,
    The sensor terminal installation apparatus according to claim 1.
  9. 　前記判断部は、設置したセンサ端末と所定の位置関係の地面に振動を加え、前記センサ端末で測定された弾性波振動の値を取得し、前記弾性波振動に基づき、前記センサ端末が正常設置条件を満たして設置されているか否か判定する、請求項１に記載のセンサ端末設置装置。 The determination unit applies vibration to the ground having a predetermined positional relationship with the installed sensor terminal, acquires a value of elastic wave vibration measured by the sensor terminal, and the sensor terminal is normally installed based on the elastic wave vibration The sensor terminal installation device according to claim 1, wherein it is determined whether the device is installed so as to satisfy a condition.
  10. 　前記判断部は、設置したセンサ端末と所定の位置関係の地面に振動を加え、前記センサ端末で測定された弾性波振動が所定の閾値に満たない場合、前記センサ端末の設置状態を修正する、請求項１に記載のセンサ端末設置装置。 The determination unit applies vibration to the ground of the sensor terminal and a predetermined positional relationship, and corrects the installation state of the sensor terminal when the elastic wave vibration measured by the sensor terminal is less than a predetermined threshold. The sensor terminal installation apparatus according to claim 1.
  11. 　設置された前記センサ端末を一意に特定する識別情報と、前記センサ端末が設置された位置の位置情報とを対応づけて記録する記録部を更に有する、請求項１に記載のセンサ端末設置装置。 The sensor terminal installation device according to claim 1, further comprising a recording unit that records identification information for uniquely identifying the installed sensor terminal and position information of a position where the sensor terminal is installed in association with each other.
  12. 　前記設置部と前記判断部がそれぞれ独立して走行可能な車両であり、前記設置部がセンサ端末を設置しているとき、前記判断部は他のセンサ端末に関する判断を実行する、請求項１に記載のセンサ端末設置装置。 2. The vehicle according to claim 1, wherein the installation unit and the determination unit are vehicles that can travel independently, and when the installation unit is installing a sensor terminal, the determination unit performs a determination on another sensor terminal. The sensor terminal installation apparatus of description.
  13. 　振動を測定するためのセンサ端末を設置するためのセンサ端末設置方法であって、
    　所定の設置位置に前記センサ端末が正常に設置できるか否か判断し、
    　前記センサ端末を移動させ、前記設置位置に設置する、
    センサ端末設置方法。     A sensor terminal installation method for installing a sensor terminal for measuring vibration,
    Determine whether the sensor terminal can be normally installed at a predetermined installation position,
    Move the sensor terminal and install it at the installation position.
    Sensor terminal installation method.
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