WO2023189482A1

WO2023189482A1 - Surveying system and measuring method

Info

Publication number: WO2023189482A1
Application number: PCT/JP2023/009613
Authority: WO
Inventors: 良彦郷家; 健介和田
Original assignee: 株式会社トプコン
Priority date: 2022-03-30
Filing date: 2023-03-13
Publication date: 2023-10-05

Abstract

A surveying system (1) comprising a self-propelled surveying instrument (2), a remote terminal device (3), and at least two reflecting bodies (4a, 4b), wherein the two reflecting bodies are installed at known points; the self-propelled surveying instrument comprises a self-propelled drive part (5) capable of traveling forwards and backwards and left and right, a surveying instrument (6) that has a tracking function and is capable of measuring the ranging angle of the reflecting bodies, and a laser line device (7) that emits a laser line in at least the vertical direction; the self-propelled drive part and the surveying instrument each have a communication function; the remote terminal device is capable of remotely operating the self-propelled surveying instrument; the surveying instrument measures the two reflecting bodies and measures the position of the self-propelled surveying instrument itself by resection; the self-propelled drive part moves on the basis of a marking position specified by the remote terminal device; the surveying instrument measures the position of the self-propelled surveying instrument while tracking one of the reflecting bodies, and sends the measurement result to the remote terminal device; and the remote terminal device stops the self-propelled drive part when the measurement result matches the marking position, causes the laser line device to emit a laser line vertically upward, and transcribes the marking position on the ceiling.

Description

Surveying system and measurement method

The present invention relates to a surveying system and measuring method for marking ceilings, walls, etc. at a construction site.

When installing equipment (equipment such as air conditioners, fluorescent lights, etc.) on the ceiling at a construction site, markings are made to indicate the installation location of the equipment, but conventionally, marking lines are marked on the floor and a tape measure is taken using the marking lines as a reference. The installation position of the equipment is determined on the floor using The starting points are marked on the ceiling.

In this conventional method, the line laser device is moved to the installation position on the floor for each piece of equipment to be installed, and the worker uses a stepladder or ladder (hereinafter referred to as a stepladder) to mark out the irradiated marking position each time. There was a line written on the ceiling.

For this reason, each marking task involves determining the installation position on the floor, transporting the stepladder, and climbing up and down the stepladder, making the task complicated and time-consuming. Furthermore, determining the installation position of the equipment on the floor or installing the line laser device requires manual labor, and there is a problem in that errors are likely to occur.

Japanese Patent Application Publication No. 2020-101371 JP 2019-78569 Publication Japanese Patent Application Publication No. 2012-189612 JP2021-63760A

The present invention provides a surveying system and a measuring method that simplify and increase the efficiency of marking work.

The present invention is a surveying system comprising a self-propelled surveying instrument, a remote terminal, and at least two reflectors, wherein the two reflectors are installed at known points, and the self-propelled surveying instrument A self-propelled drive unit capable of traveling in a direction, a surveying instrument having a tracking function and capable of measuring the distance and angle of the reflector, and a line laser device that irradiates a line laser at least in the vertical direction, and the self-propelled The drive unit and the surveying instrument each have a communication function, the remote terminal is capable of remotely controlling the self-propelled surveying instrument, and the surveying instrument measures the two reflectors and uses the rear intersection method to The position of the self-propelled surveying instrument itself is measured, and the self-propelled drive unit moves based on the marking position instructed by the remote terminal, and the surveying instrument moves while tracking one of the reflectors. It is configured to measure the position of the mobile surveying instrument and transmit the measurement result to the remote terminal, and the remote terminal is configured to be stopped by the self-propelled drive unit when the measurement result matches the marking position. The present invention relates to a surveying system configured to cause the line laser device to irradiate a line laser vertically upward, and to transfer the marking position onto the ceiling.

Further, in the present invention, a plurality of marking positions are inputted in advance to the remote terminal, and a marking work order is set, and each time the marking work is completed, the self-propelled surveying instrument is operated to perform the next marking work by operating the remote terminal. This relates to a surveying system configured to automatically move to the marked position.

The present invention also provides a surveying system in which the remote terminal has a display section, and at least one of input data, a design drawing, a construction drawing, an equipment layout diagram, and a work progress status is displayed on the display section. This is related to.

The present invention also provides a self-propelled surveying instrument that has a tracking function and is capable of measuring the distance and angle of the reflector, a self-propelled surveying instrument that includes a line laser device that irradiates a line laser in at least a vertical direction, and a remote terminal. and at least two reflectors, the step of installing the two reflectors at known points, and instructing the self-propelled surveying instrument to mark out positions using the remote terminal. a step in which the self-propelled surveying machine measures the two reflectors and measures the position of the self-propelled surveying machine itself by a backward intersection method; and a measurement result of the position of the self-propelled surveying machine itself. a step in which the self-propelled surveying instrument moves to a designated marking position based on the above, and a step in which the moving position of the self-propelled surveying instrument is determined based on the measurement result of measuring one of the two reflectors in real time. The present invention relates to a measurement method comprising a step of measuring in real time, and a step of causing the line laser device to irradiate a line laser vertically upward when the measurement results of the marking position and the movement position match.

The present invention also includes a step of instructing a plurality of marking positions and a marking work order, and a step of sequentially moving to the marking positions according to the marking work order, and causing the line laser device to irradiate a line laser vertically upward. The present invention relates to a measuring method further comprising:

Furthermore, the present invention includes the two reflectors and one or more other known reflectors, and when the two reflectors enter a blind spot, the movement position is determined by measuring the other reflectors. This relates to a measurement method for measuring .

According to the present invention, there is provided a surveying system comprising a self-propelled surveying instrument, a remote terminal, and at least two reflectors, wherein the two reflectors are installed at known points, and the self-propelled surveying instrument comprises: It has a self-propelled drive unit that can travel forward, backward, left and right, a surveying instrument that has a tracking function and is capable of measuring the distance and angle of the reflector, and a line laser device that irradiates a line laser at least in the vertical direction; The self-propelled drive unit and the surveying instrument each have a communication function, the remote terminal is capable of remotely controlling the self-propelled surveying machine, and the surveying machine measures the two reflectors and the position of the self-propelled surveying instrument itself is measured by a method, the self-propelled drive section moves based on the marking position instructed by the remote terminal, and the surveying instrument is tracking one of the reflectors while tracking the one of the reflectors. , is configured to measure the position of the self-propelled survey instrument and transmit the measurement result to the remote terminal, and the remote terminal transmits the self-propelled drive section when the measurement result matches the marking position. The line laser device is configured to irradiate a line laser vertically upward and transfer the marking position to the ceiling, so that the work of marking marking lines on the floor and each marking position, The work of actually measuring the marking position based on the marking line and setting the line laser is omitted, greatly improving work efficiency.

1 is a schematic configuration diagram of a surveying system according to an embodiment of the present invention. It is an operation explanatory diagram. FIG. 1 is a schematic configuration diagram of a self-propelled surveying instrument. FIG. 2 is a schematic configuration diagram of a remote terminal. FIG. 2 is an explanatory diagram of a remote terminal.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 shows an outline of the surveying system according to this embodiment. Moreover, FIG. 1 shows the state of surveying on the floor surface at a construction site.

The surveying system 1 mainly includes a self-propelled surveying instrument 2, a remote terminal 3, and at least two reflectors 4a and 4b.

The reflectors 4a and 4b are retroreflectors that retroreflect incident light, and preferably are full-circle prisms that retroreflect incident light from all directions. Further, the two reflectors 4a and 4b are provided at known points such as columns based on the design drawings and construction drawings, respectively. When three or more reflectors 4 are used, they are appropriately provided at arbitrary positions or known points.

First, the self-propelled surveying instrument 2 will be explained with reference to FIG. 3.

The self-propelled surveying instrument 2 mainly includes a self-propelled drive unit 5, a surveying instrument having a tracking function, for example, a total station (hereinafter referred to as TS) 6, and a line laser device (hereinafter referred to as LL) 7.

The TS 6 is provided on the self-propelled drive unit 5, and the LL device 7 is attached to the TS 6 via an attachment (not shown).

The self-propelled drive unit 5 includes a first control unit 11, a drive unit 12, and a first communication unit 13, and the drive unit 12 has a running wheel and a running drive wheel, and is capable of moving forward, backward, left, and right. The first control unit 11 receives a running command from the outside via the first communication unit 13, and drives the driving unit 12 in a predetermined direction based on the running command, Furthermore, it is configured to control direction change and stopping. Note that the self-propelled drive section 5 may be a commercially available one.

The TS 6 has a measurement reference point, and the positional relationship between the TS 6 and the LL device 7 is such that the vertical line passing through the measurement reference point matches the vertical laser beam irradiated by the LL device 7. Set. Note that as the TS 6, any surveying instrument can be used as long as it has a tracking function, but for example, the TS shown in Patent Document 4 may be used.

To briefly describe the TS 6, the TS 6 mainly includes a second control section 15, a measurement section 16, a tracking section 17, and a second communication section 19. Note that it is preferable to include a leveling section 18 having an automatic leveling function to ensure accuracy and reliability.

The measurement unit 16 irradiates distance measurement light toward the measurement target, receives reflected light from the measurement target, and measures the distance to the measurement target based on the emission timing of the distance measurement light, the reception timing of the reflected light, and the speed of light. Furthermore, the irradiation direction of the distance measurement light is detected and angle measurement is performed, and the three-dimensional coordinates of the object to be measured are measured based on the distance measurement result and the angle measurement result.

The tracking unit 17 emits tracking light coaxially or parallel to the distance measuring light, receives reflected light from the measurement target with a light receiving element, and detects the measurement target based on the receiving position of the reflected light on the light receiving element. tracking.

The leveling unit 18 has a tilt sensor, and automatically levels the TS 6 and the LL device 7 together so that the tilt sensor detects the horizontal state.

The second communication unit 19 communicates data and commands with the remote terminal 3, and also communicates data and commands with the self-propelled drive unit 5 and the LL device 7. Communication is performed via a communication unit 23 (described later).

The second control section 15 controls the measurement operation of the measurement section 16, the tracking operation of the tracking section 17, the leveling operation of the leveling section 18, and the communication of the second communication section 19. 16, performs synchronous control of the tracking section 17, the leveling section 18, and the second communication section 19, etc.

The LL device 7 mainly includes a third control section 21, a line laser irradiation section 22, and a third communication section 23.

The third communication unit 23 receives a command from the outside, and the third control unit 21 controls the line laser irradiation unit 22 to irradiate a laser beam based on the received command. The line laser irradiation section 22 irradiates line lasers 25a and 25b in two vertical directions and a line laser 25c in the horizontal direction based on the installation position of the LL device 7 (see FIG. 2).

The line lasers 25a and 25b form an intersection 26 on the ceiling, and the intersection 26 is located on the vertical line of the installation position of the LL device 7. That is, the installation position of the LL device 7 is transferred to the ceiling by the intersection 26. Incidentally, as described above, the measurement reference point of the TS 6 is located on the vertical line passing through the intersection 26. Furthermore, if it is sufficient to simply form the intersection 26 on the ceiling, the line laser 25c emitted in the horizontal direction can be omitted.

Here, the LL device 7 can use a commercially available line laser, and by adapting the attachment (not shown) to the line laser to be used, a desired line laser can be mounted on the TS 6. .

Note that the self-propelled drive section 5, the TS 6, and the LL device 7 each include a control section and a communication section, but a control section and a communication section that integrate them may be separately provided. Alternatively, the self-propelled drive unit 5, the TS6, and the LL device 7 may be integrally controlled by a control unit of any one of the self-propelled drive unit 5, the TS6, and the LL device 7.

Next, the remote terminal 3 will be explained with reference to FIG.

FIG. 4 shows a schematic configuration of the remote terminal 3, which mainly includes a terminal control section 31, a storage section 32, a terminal communication section 33, a display section 34, and an operation section 35. ing.

The storage unit 32 stores programs necessary to run the self-propelled surveying instrument 2 and conduct further surveying, such as a command generation program for instructions such as start measurement, stop measurement, move, stop, etc., commands, and position data. A communication program for sending/receiving (coordinate data) etc., a display program for displaying work status, current position, etc. on the display section 34, etc. are stored.

Additionally, the storage unit 32 stores building design data, construction data, data indicating installation positions of equipment such as coolers and fluorescent lights, data on marking work procedures, etc.

The terminal communication unit 33 performs communication such as command communication and data communication between the remote terminal 3 and the self-propelled surveying instrument 2, and the display unit 34 displays input data, design drawings, construction drawings, and equipment. At least one of the layout diagram, work progress status, etc. is displayed.

The operation unit 35 inputs instructions such as starting measurement, stopping measurement, inputting the coordinates of the marking position, and specifying the marking position. Note that the display section 34 may be a touch panel, and the display section 34 and the operation section 35 may also be used.

The terminal control section 31 executes a program stored in the storage section 32, and also controls the terminal communication section 33 and the display section 34, and controls communication with the self-propelled surveying instrument 2 and the display section 34. Execute the display.

Note that the remote terminal 3 may be a terminal specified in this embodiment, or may be used by installing an application adapted to this embodiment into a smartphone, tablet, or the like.

The marking work will be explained below.

Reflectors 4a and 4b are installed at two known points on the floor 9 where marking work is to be performed. Note that the installation position may be known by using the coordinates of the position specified in the design drawing, or by actually measuring the position at the site with reference to walls, pillars, etc.

Hereinafter, the operation of the self-propelled surveying instrument 2 is performed by remote control from the remote terminal 3.

The self-propelled surveying instrument 2 is installed at an arbitrary position on the floor 9, the reflectors 4a and 4b are measured by the TS6, and the position (coordinates) of the self-propelled surveying instrument 2 is determined by the backward intersection method. Measure. Measurement using the backward intersection method may be performed by the second control section 15 or the terminal control section 31. The installation position of the self-propelled survey instrument 2 is known, and measurement is started using the installation position as a reference point.

Next, a reflector to be used as a reference when the self-propelled surveying instrument 2 moves, for example, the reflector 4a is determined.

Instruct the first marking work position (coordinates) from the remote terminal 3 (send a command).

The first communication unit 13 of the self-propelled drive unit 5 receives the command and moves toward the instructed position, and the TS6 tracks the reflector 4a, and based on the measurement result of the reflector 4a, the TS6 Measure your location in real time. The measurement results are transmitted to the remote terminal 3 in real time.

The display unit 34 of the remote terminal 3 displays the initial marking work position, the position of the TS 6 is transmitted to the remote terminal 3, and the current position of the self-propelled surveying instrument 2 is also displayed. will be displayed.

When the position of the TS 6 (that is, the self-propelled survey instrument 2) matches the designated position, a stop command is sent from the remote terminal 3, the self-propelled survey instrument 2 stops, and the LL device 7 irradiates with a line laser. Note that the LL device 7 may irradiate the line laser continuously during marking work. Further, when irradiating the line laser continuously, the third communication section may be omitted.

The intersection point 26 on the ceiling of the line lasers 25a and 25b irradiated in two vertical directions is the position where the initial marking work position is transferred to the ceiling.

When there are multiple marking work positions, the next marking work position (coordinates) may be specified from the remote terminal 3 each time, or the plurality of marking work positions may be input in advance and the next marking work position (coordinates) can be specified each time. It is also possible to set the order of the output work.

When the marking work order is set in advance, a command to start the next work can be issued from the remote terminal 3 by inputting "complete" or "next" to the remote terminal 3 each time the marking work is completed. Then, the self-propelled surveying instrument 2 automatically moves to the next marking work position.

Further, if the shape of the floor 9 is complicated and both the reflectors 4a and 4b are in a blind spot depending on the position of the self-propelled surveying instrument 2, the reflector 4c (not shown) may be moved to another position. Additional units may be installed. In this case, the reflector 4c may be provided at a known point or may be provided at an arbitrary position. When provided at an arbitrary position, the reflector 4c may be measured before the reflectors 4a, 4b enter the blind spot, and the position of the reflector 4c may be known.

Furthermore, since the horizontal reference position of the line laser 25c is indicated, in order to obtain the required height, the height can be measured using the line laser 25c as a reference.

While the self-propelled survey instrument 2 is stationary or moving, the TS 6 and the LL device 7 are automatically leveled by the leveling unit 18, so that the verticality of the line lasers 25a, 25b and the line The horizontality of the laser 25c is guaranteed.

Then, the operator only needs to mark the marking positions to be sequentially transferred by the self-propelled surveying instrument 2 on the ceiling surface. Therefore, the work of marking marking lines on the floor, measuring the marking position for each marking position based on the marking line, and setting the line laser are omitted, and work efficiency is greatly improved.

Furthermore, the surveying system 1 can be configured with a commercially available surveying instrument, a commercially available line laser, a commercially available self-propelled drive unit, and a commercially available remote terminal, and the manufacturing cost can be reduced. Furthermore, it is economical because existing surveying instruments can be used.

1 Surveying system 2 Self-propelled surveying instrument 3 Remote terminal 4 Reflector 5 Self-propelled drive unit 6 Total station 7 Line laser device 13 First communication unit 19 Second communication unit 23 Third communication unit 26 Intersection

Claims

A surveying system comprising a self-propelled surveying instrument, a remote terminal, and at least two reflectors, wherein the two reflectors are installed at known points, and the self-propelled surveying instrument is capable of moving forward, backward, left and right. a self-propelled drive unit, a surveying instrument that has a tracking function and is capable of measuring the distance and angle of the reflector, and a line laser device that irradiates a line laser in at least a vertical direction; Each of the surveying instruments has a communication function, and the remote terminal is capable of remotely controlling the self-propelled surveying instrument, and the surveying instrument measures the two reflectors and performs the self-propelled surveying using the backward intersection method. The self-propelled drive section moves based on the marking position instructed by the remote terminal, and the surveying instrument moves while tracking one of the reflectors. The remote terminal is configured to measure the position of the line and transmit the measurement result to the remote terminal, and the remote terminal causes the self-propelled drive unit to stop the line when the measurement result matches the marked position. A surveying system configured to cause a laser device to irradiate a line laser vertically upward to transfer the marking position onto a ceiling.
A plurality of marking positions are input into the remote terminal in advance, and a marking work order is set, and each time marking work is completed, the self-propelled surveying instrument moves to the next marking position by operating the remote terminal. 2. The surveying system of claim 1, wherein the surveying system is configured to move automatically.
2. The surveying system according to claim 1, wherein the remote terminal device has a display section, and is configured to display at least one of input data, a design drawing, a construction drawing, an equipment layout diagram, and a work progress status on the display section.
a self-propelled surveying instrument that has a tracking function and is capable of measuring the distance and angle of the reflector; and a self-propelled surveying instrument that includes a line laser device that irradiates at least a line laser in the vertical direction; and at least two remote terminals. In the surveying system comprising two reflectors, the steps include: installing the two reflectors at known points; instructing the self-propelled surveying instrument to mark out positions using the remote terminal; A process in which the mobile surveying machine measures the two reflectors and measures the position of the self-propelled surveying machine itself using the backward intersection method, and instructions are given based on the measurement results of the position of the self-propelled surveying machine itself. a step of moving the self-propelled surveying instrument to a marking position; and a step of measuring the moving position of the self-propelled surveying instrument in real time based on the measurement results obtained by measuring one of the two reflectors in real time. and a step of causing the line laser device to irradiate a line laser vertically upward when the measurement results of the marking position and the movement position match.
A claim further comprising: a step of instructing a plurality of marking positions and a marking work order; and a step of sequentially moving to the marking positions according to the marking work order, and causing the line laser device to irradiate a line laser vertically upward. Measurement method in Section 4.
Claim 4, further comprising: the two reflectors and one or more other known reflectors, and when the two reflectors enter a blind spot, the moving position is measured by measuring the other reflectors. How to measure.