WO2023190301A1

WO2023190301A1 - Surveying system

Info

Publication number: WO2023190301A1
Application number: PCT/JP2023/012127
Authority: WO
Inventors: 良彦郷家
Original assignee: 株式会社トプコン
Priority date: 2022-03-29
Filing date: 2023-03-27
Publication date: 2023-10-05
Also published as: JP2023146129A

Abstract

A surveying system having a flying device (2) that is remotely steerable and has a flying body (4) and a measuring instrument (5), and a remote controller that controls the flight of the flying device and is capable of wirelessly communicating with the flying device, wherein the flying device is configured to measure the surface shape of a surface (44) to be measured by means of the measuring instrument while the flying body is made to fly along a predetermined flight path (48).

Description

surveying system

The present invention relates to a surveying system using a small unmanned air vehicle (UAV: Unmanned Air Vehicle).

When constructing a structure such as a building, concrete is placed on the floor surface of each floor, and the poured concrete is leveled so that it is flat and horizontal.

Conventionally, an operator visually or digitally checked whether the leveling process was completed, that is, whether the floor surface was flat and level. However, confirmation of the flatness and levelness of the floor surface was insufficient because it was difficult to correct the concrete surface after it had hardened. Real-time measurement is required before the concrete hardens when the floor surface is sloping or has small irregularities.

Patent No. 6707098 Japanese Patent Application Publication No. 2016-151423 Japanese Patent Application Publication No. 2018-189576

The present invention provides a surveying system that can measure the flatness and horizontality of a surface to be measured before or after concrete hardens.

The present invention is a surveying system that is remotely controllable and includes a flight device that has a flying object and a measuring instrument, and a remote control device that controls the flight of the flight device and is capable of wireless communication with the flight device, The flight device relates to a surveying system configured to measure the surface shape of a surface to be measured using the measuring device while flying the flying object along a predetermined flight path.

Further, in the present invention, a plurality of detectors are provided on at least a side surface of the flying object, and the flight device is configured to be able to detect obstacles over the entire circumference in the horizontal direction based on the measurement results of the detectors. It is related to the surveying system.

The present invention also relates to a surveying system in which the flight device is configured to fly the flying object to avoid the obstacle based on the detection result of the detector.

Further, in the present invention, the measuring device is a laser scanner, and includes a distance measuring section that emits distance measuring light and measures distance by receiving reflected distance measuring light, and is provided on the optical axis of the distance measuring light, an optical axis deflection unit capable of two-dimensionally deflecting the optical axis of the distance measurement light; an emission direction detection unit that detects the polarization angle of the optical axis of the distance measurement light and performs angle measurement; and a measurement calculation control unit. The measurement calculation control section relates to a surveying system configured to drive the optical axis deflection section so that the distance measurement light is scanned in a predetermined scan pattern.

Further, in the present invention, the measuring instrument has a tilt detection section capable of detecting a tilt with respect to the vertical in real time, and the measurement calculation control section is configured to collect the distance measurement result by the distance measurement section and the measurement by the emission direction detection section. The present invention relates to a surveying system configured to calculate three-dimensional coordinates based on the angle result and correct the three-dimensional coordinates based on the detection result of the inclination detector.

Further, in the present invention, the measurement target surface is located inside a room, and the flight device determines the horizontal position of the flying object in the room with respect to the wall surface of the room based on the detection result of the detector. This relates to a surveying system configured to obtain the following information.

Further, the present invention further includes a position measuring device capable of measuring the position of the flying device, the position measuring device being provided at a known position, and configured to be able to measure and track the position of the flying object. It is related to the system.

The present invention also relates to a surveying system in which the remote control aircraft is configured to create a three-dimensional map of the entire surface to be measured based on the measurement results of the measuring device and the position of the flying object. .

Furthermore, in the present invention, the flight path is set so that the measurement ranges of the measuring instruments overlap by a predetermined amount, and the remote control device is configured to three-dimensionally measure the entire surface to be measured based on the measurement results of the overlapped portion. It relates to a surveying system configured to create maps.

According to the present invention, there is provided a surveying system including a flight device that can be remotely controlled and has a flying object and a measuring instrument, and a remote control device that controls the flight of the flight device and can communicate wirelessly with the flight device. The flight device is configured to measure the surface shape of the surface to be measured using the measuring device while flying the flying object along a predetermined flight path, so that any part of the surface to be measured is uneven. It is possible to easily understand whether there is a slope or slope, and the accuracy of the leveling process can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an explanatory diagram illustrating a surveying system according to a first embodiment of the present invention. 1 is a block diagram showing a control system of a flight device in a surveying system according to a first embodiment of the present invention; FIG. FIG. 3 is a block diagram showing a control system of a laser scanner in the surveying system. FIG. 3 is a block diagram showing a control system of a remote control device in the surveying system. FIG. 2 is an explanatory diagram illustrating measurement using the surveying system according to the first embodiment of the present invention. FIG. 7 is an explanatory diagram illustrating measurement using a surveying system according to a second embodiment of the present invention. FIG. 7 is an explanatory diagram illustrating measurement using a surveying system according to a third embodiment of the present invention. It is an explanatory view explaining measurement using a surveying system concerning a 4th example of the present invention.

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

First, referring to FIG. 1, a first embodiment of the present invention will be described.

The surveying system 1 is comprised of a flying device (UAV) 2 and a remote control aircraft 3.

The flight device 2 mainly includes a flying object 4, a laser scanner 5 as a measuring device provided at the center of the lower surface of the flying object 4, and a pair of legs 6 provided on the lower surface of the flying object 4. , a plurality of detectors 7 provided on the side surface of the aircraft 4 , and an aircraft communication section 8 (described later) that communicates with the remote control aircraft 3 . In addition, in the illustration, the laser scanner 5 is shown facing in the horizontal direction for the sake of explanation.

Note that a reference point is set on the flying object 4. The reference point is, for example, the mechanical center of the flying object 4. Further, when the flying object 4 is maintained in a horizontal attitude, the optical center of the laser scanner 5 is located on the vertical axis passing through the reference point, and the reference point and the optical center of the laser scanner 5 are located on the vertical axis passing through the reference point. The positional relationship (distance) is known. Note that the axis passing through the reference point and the optical center of the laser scanner 5 is defined as the vertical axis. That is, as the flying object 4 tilts, the vertical axis tilts with respect to the vertical axis.

The laser scanner 5 emits a laser beam emitted in pulses or in bursts as distance measuring light, and irradiates it onto a predetermined object to be measured via the optical axis deflection section. Further, the distance measuring light reflected by the object to be measured (reflected distance measuring light) is received by the laser scanner 5, and the distance to the object to be measured is measured based on the round trip time and the speed of light. Note that the irradiation position of the distance measuring light from the optical axis deflection section is the optical center of the laser scanner 5.

When the flying object 4 is in a horizontal attitude, the leg section 6 extends downward from the lower surface of the flying object 4, is bent to extend in the horizontal direction, and is further bent upward to the lower surface of the flying object 4. It is a member with a U-shaped cross section extending from the top. A pair, that is, two, of the leg portions 6 are provided on the flying object 4, and the horizontal portions of the leg portions 6 are parallel and serve as a ground contact portion when the flying object 4 lands.

The remote control device 3 is, for example, a mobile terminal such as a smartphone or a tablet, or a device in which an input device is connected to or integrated with the mobile terminal. The remote control device 3 includes a calculation device having a calculation function, a storage section for storing data and programs, and a terminal communication section (described later). The remote control aircraft 3 is capable of wireless communication with the flight device 2 between the terminal communication unit and the aircraft communication unit 8. Further, the remote control device 3 is capable of remotely controlling the flight of the flight device 2 and the distance measuring operation of the laser scanner 5.

Next, the flight device 2 will be explained with reference to FIGS. 1 and 2.

The flying object 4 has a plurality of even numbered propeller frames 9 (9a to 9d in the figure) extending radially, and the center of the propeller frame 9 is the center of the flight device 2. A propeller unit is provided at the tip of each propeller frame 9, respectively. The propeller unit includes a propeller 11 (11a to 11d in the figure) provided at the tip of the propeller frame 9, and a propeller motor 12 (12a to 12d in the figure) that rotates the propeller 11. Each propeller 11 and each propeller motor 12 constitute a flight drive unit that generates thrust in the vertical and horizontal directions with respect to the flying object 4.

Furthermore, a plurality of detectors 7 (7a to 7d in FIG. 2) are provided on the side surface of the flying object 4. The detector 7 is, for example, a LiDar (Light Detection and Ranging), which irradiates a predetermined measurement target with a laser beam and detects reflected light and scattered light, thereby determining the distance to the measurement target and the shape of the measurement target. Measurable.

Furthermore, each detector 7 is arranged so that the horizontal irradiation range of the laser beam overlaps the horizontal irradiation range of the laser beam of an adjacent detector 7 by a predetermined amount. That is, the detector 7 can perform measurements (obstacle detection processing) over the entire circumference in the horizontal direction. Incidentally, in FIG. 1, numeral 10 indicates a measurement range by the detector 7.

Further, the flight object 4 has a built-in flight control device 13 and an IMU 14.

The flight control device 13 mainly includes an arithmetic control section 16, a storage section 17, a flight control section 18, a propeller motor driver section 19, a scanner control section 21, an imaging control section 22, an attitude detection section 23, and the aircraft communication section 8. It is equipped with.

Note that in this embodiment, the scanner control section 21 is included in the flight control device 13, but it may be configured separately. For example, the scanner control unit 21 may be provided in the laser scanner 5 and control signals may be exchanged between the aircraft 4 and the laser scanner 5 via the aircraft communication unit 8.

The storage section 17 is formed with a program storage section and a data storage section. The program storage unit includes a flight control program for autonomously flying the flying object 4 at a predetermined height and a predetermined route, a distance measurement program for controlling the distance measurement operation by the laser scanner 5, and a distance measurement program for controlling the distance measurement operation of the IMU 14. An attitude detection program that calculates the attitude of the flying object 4 based on the detection result; a detection program that controls the measurement of the detector 7; a detection program that detects an obstacle based on the measurement result of the detector 7; Programs such as an avoidance program for avoiding obstacles and a communication program for transmitting acquired data to the remote control device 3 and receiving flight commands and measurement commands from the remote control device 3 are stored.

The data storage unit stores design drawing data of a building to be measured, measurement data of the detector 7, direction data detected by the attitude detection unit 23, and attitude data detected by the attitude detection unit 23. At the same time, each data is further associated based on the time when each data was acquired.

The flight control unit 18 drives the propeller motor 12 via the propeller motor driver unit 19 so that the propeller 11 rotates in a desired state based on a flight-related control signal. Thereby, the flight control unit 18 can cause the flying object 4 to fly in a predetermined direction. Further, the flight control unit 18 can tilt the flying object 4 about two axes orthogonal to the horizontal direction while maintaining the position of the flying object 4 (in a hovering state), and The flying object 4 can be rotated around a vertical axis perpendicular to the two axes.

The imaging control unit 22 controls the measurement operation of the detector 7 based on a control signal issued from the calculation control unit 16. The detector 7 is, for example, LiDar, and is capable of scanning a predetermined irradiation range with a laser beam, and is capable of acquiring distance data and surface shape data of the measurement target irradiated with the laser beam.

The attitude detection unit 23 detects the attitude of the flying object 4 based on the detection signal emitted from the IMU 14. A reference direction and a reference attitude are set in advance for the flying object 4, and the IMU 14 can detect the rotation angle based on the reference direction, that is, the direction of the flying object 4, and also detect the tilt angle based on the reference attitude. It is possible to detect angles and inclination directions. The detected rotation angle and orientation are output to the orientation detection section 23.

Based on various programs stored in the storage unit 17, the arithmetic control unit 16 executes various controls for causing the flying object 4 to fly and for scanning (measuring) the measurement target with the distance measuring light. Further, the calculation control section 16 calculates a control signal related to flight based on the control signal, the attitude and rotation angle of the flying object 4, and outputs the control signal to the flight control section 18.

Next, details of the laser scanner 5 will be explained with reference to FIG.

The laser scanner 5 includes a distance measurement section 24, a measurement calculation control section 25, a measurement storage section 26, an optical axis deflection section 27, an emission direction detection section 28, and an inclination detection section 29, which are housed in a housing 31. and are integrated.

The distance measuring section 24 and the optical axis deflecting section 27 are arranged on a reference optical axis O (described later). The distance measuring section 24 has a distance measuring optical axis 32 passing through the center of the optical axis deflecting section 27. The distance measuring section 24 emits a laser beam as distance measuring light 33 onto the distance measuring optical axis 32, receives reflected distance measuring light 34 incident from above the distance measuring optical axis 32, and receives reflected distance measuring light 34 incident from above the distance measuring optical axis 32. Distance measurement of a predetermined measurement target is performed based on the following. Note that the distance measuring section 24 functions as a light wave distance meter. Further, distance measurement data obtained by the distance measurement section 24 is stored in the measurement storage section 26.

As the laser beam, either continuous light, pulsed light, or intermittent modulated ranging light (burst light) may be used. Note that pulsed light and burst light are collectively referred to as pulsed light.

The measurement calculation control section 25 develops and executes various programs according to the operating state of the laser scanner 5 to control the distance measurement section 24, the optical axis deflection section 27, etc., and executes measurements. do. Note that as the measurement calculation control section 25, a CPU specialized for this apparatus or a general-purpose CPU is used.

The measurement storage unit 26 includes a measurement program for performing distance measurement, a deflection control program for controlling the deflection operation of the optical axis deflection unit 27, and a three-dimensional coordinate calculation based on the distance measurement result and the angle measurement result. Various programs are stored therein, such as a three-dimensional coordinate calculation program to perform the calculation, a correction program to correct the three-dimensional coordinates calculated based on the detection result of the inclination detection section 29, and a calculation program to perform various calculations. Further, the measurement storage section 26 stores various data such as distance measurement data, angle measurement data, and three-dimensional coordinate data.

Further, as the measurement storage section 26, various storage means are used, such as an HDD as a magnetic storage device, a built-in memory as a semiconductor storage device, a memory card, and a USB memory. The measurement storage section 26 may be detachable from the housing 31. Alternatively, the measurement storage unit 26 may be capable of sending data to an external storage device or an external data processing device via a desired communication means.

The optical axis deflection unit 27 deflects the ranging optical axis 32 within a range of ±20°, for example, and emits the ranging light 33 along the ranging optical axis 32. The reference optical axis O is set to coincide with the distance measuring optical axis 32 which is not deflected by the optical axis deflecting section 27. Further, the reference optical axis O also coincides with the vertical axis of the flying object 4. As for the optical axis deflection section 27, the one disclosed in Patent Document 3 can be used.

The optical axis deflection section 27 will be further explained. The optical axis deflection section 27 includes a pair of

optical prisms

35 and 36. The

optical prisms

35 and 36 are disk-shaped with the same diameter, and are arranged concentrically on the ranging optical axis 32, orthogonal to the ranging optical axis 32, and arranged in parallel at predetermined intervals. . By controlling the individual rotations of the

optical prisms

35 and 36, the ranging optical axis 32 can be deflected at any angle from 0° to the maximum deflection angle with respect to the reference optical axis O.

Further, while continuously irradiating the distance measuring light 33, the

optical prisms

35 and 36 are continuously driven, and the distance measuring optical axis 32 is continuously deflected, so that the reference optical axis O is centered. The distance measuring light 33 can be caused to perform two-dimensional scanning in a predetermined pattern. That is, a circle drawn by the ranging optical axis 32 centered on the reference optical axis O and deflected to the maximum angle of deviation becomes the measurement range 30 by the laser scanner 5 (see FIG. 1).

The exit direction detection unit 28 detects the relative rotation angle of the

optical prisms

35 and 36 and the integral rotation angle of the

optical prisms

35 and 36, and detects the deflection direction (exit direction) of the distance measuring optical axis 32 in real time. do.

The emission direction detection result (angle measurement result) is input to the measurement calculation control section 25, and the measurement calculation control section 25 stores the distance measurement result and the emission direction detection result in association with each other in the measurement storage section 26.

The tilt detecting section 29 is a tilt detecting section using a gimbal mechanism disclosed in Patent Document 2, for example. The tilt detection section 29 can detect the tilt angle and tilt direction of the reference optical axis O with respect to the vertical. The detected tilt angle and tilt direction are input to the measurement calculation control section 25 and stored in the measurement storage section 26 in association with the distance measurement result and the detection result of the emission direction detected by the emission direction detection section 28. .

The measurement calculation control unit 25 can calculate three-dimensional coordinates with the optical center of the laser scanner 5 as a reference based on the distance measurement result by the distance measurement unit 24 and the angle measurement result by the emission direction detection unit 28. Based on the tilt angle and tilt direction (posture) detected by the tilt detection section 29, the three-dimensional coordinates can be corrected to three-dimensional coordinates when the reference optical axis O is vertical.

Note that in the above description, the measurement process by the laser scanner 5 is executed by the measurement calculation control unit 25, but part or all of the measurement process is executed by the scanner control unit 21 (the flight control device 13). You can also do it like this.

FIG. 4 is a diagram showing a schematic configuration of the remote control device 3 and the relationship between the flight device 2 and the remote control device 3.

The remote control device 3 includes a terminal calculation processing section 37 having a calculation function, a terminal storage section 38, a terminal communication section 39, an operation section 41, and a display section 42.

The terminal arithmetic processing unit 37 has a clock signal generation unit, and associates the measurement data received from the flight device 2 by the detector 7, the measurement data by the laser scanner 5, etc. with a clock signal. Further, the terminal arithmetic processing unit 37 processes the received various data as time-series data based on the clock signal, and stores the data in the terminal storage unit 38.

The terminal storage unit 38 includes a communication program for communicating with the flight device 2, a display program for displaying an operation screen, measurement results, etc., and a program for determining the flatness of the measurement target based on the measurement results of the laser scanner 5. A 3D map creation program to create a 3D map with information such as levelness, a surface condition prediction program to predict the surface shape of concrete after hardening based on the 3D map, and instructions input via a touch panel, etc. Programs such as operation programs for doing this are stored. Further, data such as design drawing data of a building to be measured is stored in advance in the terminal storage unit 38.

The terminal communication unit 39 communicates with the flight device 2. Further, the operating section 41 operates the flying object 4 by inputting various instructions via buttons of a controller provided integrally with the display section 42 . Alternatively, all of the display section 42 may be a touch panel. If all of the display sections 42 are touch panels, the operation section 41 may be omitted. In this case, the display section 42 is provided with an operation panel for operating the flying object 4.

The display unit 42 displays an operation screen, a measurement result screen showing the measurement results obtained by the laser scanner 5 and the detector 7, a three-dimensional map display screen displaying the created three-dimensional map, and the like.

Next, with reference to FIG. 5, measurement and analysis of floor flatness and levelness (FFL) using the surveying system 1 will be described.

In FIG. 5, 43 indicates a room at a predetermined level in the structure, 44 indicates a surface to be measured on which concrete is placed on the floor of the

room

43, and 45 indicates an obstacle such as a pillar. , 46 indicates a wall surface. Further, 47 indicates a takeoff and landing base for the flight device 2 to take off and land, and 48 indicates a flight path on which the flying object 4 flies or has flown.

First, the flight device 2 that has landed on the takeoff and landing base 47 is installed at a predetermined measurement start position. Further, the reference direction of the flight device 2 is set to a predetermined direction. In this embodiment, the measurement start position is the left end of the room 43, and the reference direction of the flying object 4 is directed toward the wall surface 46, for example. In the following, the reference direction will be referred to as the front.

The takeoff and landing base 47 is provided with a filter having a predetermined reflectance on its surface, for example, and the takeoff and landing base 47 is based on the received light intensity of the reflected ranging light 34 when the takeoff and landing base 47 is measured by the laser scanner 5. The base 47 is configured to be identifiable.

Once the flight device 2 is installed and the reference direction is set, the operator sends a measurement start instruction to the flight device 2 via the remote control device 3.

When the measurement start instruction is transmitted, the flight control device 13 raises the flying object 4 to a predetermined height, for example, 3 to 5 m, based on a preset flight control program, and then raises the flying object 4 forward (see FIG. 5). The robot is made to fly at a constant height and speed toward the center (downward with respect to the paper) at a constant height and speed. Further, in parallel with the flight of the flying object 4, the laser scanner 5 starts measurement so as to scan the measurement target surface 44 in a predetermined scan pattern, and the measurement results are transmitted to the remote control device 3 in real time. let Furthermore, the obstacle detection process by the detector 7 is started.

Note that when the flying object 4 is flown at a height of 3 to 5 m, the diameter of the measurement range 30 by the laser scanner 5 is approximately 3.4 to 5.6 m.

During the flight of the flying object 4, when the detector 7a provided on the front side of the flying object 4 detects the wall surface 46 in front, the flight control device 13 prevents the flying object 4 and the wall surface 46 from coming into contact with each other. The flying object 4 is made to turn 180 degrees at a predetermined turning radius. After the turn, the flight control device 13 causes the flying object 4 to fly forward again.

Note that the turning radius of the flying object 4 is determined by the measurement range 30 on the outward journey when the flying object 4 flies toward the wall surface 46 and the measurement range on the returning journey when the flying object 4 flies in a direction away from the wall surface 46. The range 30 is set to overlap by a predetermined amount. Further, even while the flying object 4 is turning, the measurement by the laser scanner 5 and the obstacle detection process by the detector 7 are continued.

When the flight control device 13 detects the take-off and landing base 47 through measurement by the laser scanner 5, it lands the flying object 4 on the take-off and landing base 47, and ends the measurement process.

After the measurement process is completed, the operator moves the flight device 2 together with the takeoff and landing base 47 by a preset distance in a direction substantially orthogonal to the flight path 48, and moves the flight device 2 along with the takeoff and landing base 47 by a preset distance through the remote control device 3 in the same manner as above. and send the measurement start instruction. At this time, the amount of movement of the flight device 2 and the takeoff and landing base 47 is determined by the distance at which the measurement range 30 on the return trip before movement and the measurement range 30 on the outbound trip after movement overlap by a predetermined amount. It has become. The travel distance of the flight device 2 and the takeoff and landing base 47 may be detected based on the detection results of the detector 7, or the detection results may be transmitted to the remote control aircraft 3.

During the measurement process by the flight device 2, the obstacle 45 may exist on the flight path 48. When the obstacle 45 is detected in front by the detector 7a, the flight control device 13 executes an avoidance process for the obstacle 45. In the avoidance process, the flight control device 13 controls the flying object 4 based on the measurement results of each detector 7 so that the flying object 4 maintains a constant distance from the obstacle 45.

Specifically, when the detector 7a detects the obstacle 45 ahead, the flight control device 13 moves the flying object 4 in a direction perpendicular to the flight path 48 and in which the obstacle 45 does not exist. fly. Here, the direction in which the obstacle 45 does not exist can be determined based on the position in the measurement range 10 in which the obstacle 45 exists.

When the obstacle 45 is no longer detected in front of the flying object 4 by the detector 7a, that is, when the flying object 4 is flown to a position where it does not come into contact with the obstacle 45, the flight control device 13: The flying object 4 is made to fly forward again. At this time, the obstacle 45 is detected by the detector 7b provided on the side of the flying object 4.

When the obstacle 45 is no longer detected on the side of the flying object 4, the flight control device 13 moves the flying object 4 in a direction perpendicular to the flight path 48 and in the direction in which the obstacle 45 was present. fly again. At this time, the obstacle 45 is detected by the detector 7c provided at the rear of the flying object 4.

When the flying object 4 returns to the original flight path 48, the flight control device 13 causes the flying object 4 to fly toward the wall surface 46 again.

Note that the return of the flying object 4 to the flight path 48 after the avoidance process may be performed based on the position of the obstacle 45 within the measurement range 10, or based on the measurement result of the detector 7. It may be performed based on the position of the flying object 4 estimated based on.

The measurement process of the measurement target surface 44 by the flight device 2 and the movement of the flight device 2 and the takeoff and landing base 47 are repeated sequentially, and when the measurement over the entire area of the measurement target surface 44 is completed, the measurement target surface 44 Measurement of flatness and levelness of the area has been completed.

When the flatness and horizontality measurements are completed, the terminal arithmetic processing section 37 performs the three-dimensional map creation process based on the measurement results by the laser scanner 5 and the design drawing data stored in the terminal storage section 38. Execute.

The terminal calculation processing unit 37 extracts height data of each point scanned by the distance measuring light 33 from the measurement results of the laser scanner 5, and calculates the measurement target surface from the height data for each measurement process. 44 surface shape data are created.

Further, the terminal calculation processing unit 37 calculates a preset movement distance between the flight device 2 and the takeoff and landing base 47, a movement distance determined based on the detection result of the detector 7, or the surface shape of each overlapped portion. Registration of each surface shape data is performed based on the shape of the data. By executing the registration, each piece of surface shape data is integrated, and a three-dimensional map that is the surface shape data of the entire surface 44 to be measured is created.

The created three-dimensional map is displayed on the display section 42 and stored in the terminal storage section 38. Note that the three-dimensional map may be displayed in different colors depending on the height.

The three-dimensional map and the three-dimensional map after concrete hardening are accumulated at each construction site, and by creating a database of each three-dimensional map, the terminal calculation processing section 37 can The surface shape of concrete after hardening can be predicted based on the map. A surface shape prediction screen that is the prediction result is displayed on the display unit 42, and the analysis of the flatness and horizontality of the measurement target surface 44 is completed.

Based on the analysis results of the flatness and horizontality of the surface to be measured 44, the operator performs leveling of the concrete or corrections after leveling, and completes the concrete placing process.

As described above, in the first embodiment, the laser scanner 5 mounted on the flight device 2 scans the surface of the measurement target surface 44 on which concrete has been placed from above with the distance measuring light 33, The surface shape of the measurement target surface 44 before concrete hardening is measured and analyzed.

Therefore, it is possible to easily know in which part of the surface to be measured 44 there are irregularities and in which part it is sloped, so that it is possible to improve the accuracy of the concrete leveling process, and also to improve the leveling of the concrete. It is possible to shorten the time required for correction after polishing and leveling.

Note that in the above, the three-dimensional map was created after the measurement process over the entire area of the measurement target surface 44 was completed, but the measurement results of the laser scanner 5 are transmitted in real time to the remote control device 3, and the The terminal arithmetic processing unit 37 may create a three-dimensional map in real time based on the measurement results of the laser scanner 5 and the position of the flying object 4.

By creating a three-dimensional map in real time, the operator can grasp the unevenness and inclination of the measurement target surface 44 in real time, improving work efficiency and shortening work time.

Further, the laser scanner 5 is equipped with the inclination detection section 29 having a gimbal mechanism, and can detect the inclination of the reference optical axis O with respect to the vertical in real time and correct the measurement result by the laser scanner 5. There is no need to feed back the inclination of the flying object 4 to the measurement results of the laser scanner 5.

Note that in the first embodiment, LiDar is used as the detector 7, but a TOF camera may be used instead of LiDar.

Furthermore, in the first embodiment, a case has been described in which the surface to be measured 44 before the concrete hardens is measured, but it goes without saying that the surface to be measured 44 after the concrete hardens can be similarly measured.

Next, referring to FIG. 6, a second embodiment of the present invention will be described. In FIG. 6, the same parts as those in FIG. 5 are given the same reference numerals, and the explanation thereof will be omitted.

In the second embodiment, the laser scanner 5 performs measurements while the flying object 4 autonomously flies so as to reciprocate on the measurement target surface 44 in the vertical direction with respect to the paper and move parallel to the paper from left to right. It is configured so that the entire surface 44 to be measured can be measured in one flight.

In the second embodiment, the flight path 48 of the aircraft 4 is set in advance based on the design drawing data stored in the terminal storage unit 38. The flight path 48 is set so that the measurement ranges on the outward and return flights overlap by a predetermined amount. Further, since the position of the obstacle 45 can be known from the design drawing data, the flight path 48 is set so as to avoid the obstacle 45.

By transmitting a measurement start instruction via the remote control device 3, the flight control device 13 causes the flying object 4 to fly along the flight path 48 at a constant height and at a constant speed while controlling the laser beam. The measurement target surface 44 is measured by the scanner 5.

While the flying object 4 is in flight, measurements by each detector 7 are performed in real time. The flight control device 13 estimates the horizontal position of the flying object 4 in the room 43 with respect to the wall surface based on the measurement results of each detector 7 (SLAM: Simultaneous Localization and Mapping). Further, the flight control device 13 calculates the position of the flying object 4 in the room 43 in real time based on a comparison between the estimated position of the flying object 4 and design drawing data.

Incidentally, during the flight of the flying object 4, the obstacle 45 that does not exist in the design drawing data may exist on the flight path 48. In this case, the obstacle 45 is avoided by the avoidance process in the first embodiment.

When the flying object 4 is flown along the flight path 48 and the measurement is completed over the entire area of the measurement target surface 44, the measurement of the flatness and horizontality of the measurement target surface 44 is completed. The processing for analyzing the flatness and horizontality of the surface to be measured 44 is the same as in the first embodiment.

In the second embodiment, the entire area of the measurement target surface 44 can be measured in one flight. Therefore, it is not necessary for the operator to transport the flight device 2 and the take-off and landing base 47 each time the operator makes a reciprocation, so that the work effort can be reduced and the work time can be shortened.

Furthermore, in the second embodiment, the position of the flying object 4 in the room 43 can be estimated based on the detection results of each detector 7, so that the autonomous movement of the flying object 4 along the flight path 48 can be estimated. Flight becomes possible.

In the second embodiment, the detector 7 is provided only on the side surface of the flying object 4, but by providing the detector 7 also on the upper and lower surfaces of the flying object 4, it is possible to The position (height) of the flying object 4 relative to the ceiling or floor can also be determined. In this case, the height of the flying object 4 may be arbitrary and does not need to be maintained constant, so that the flying object 4 can be easily controlled.

Next, referring to FIG. 7, a third embodiment of the present invention will be described. In FIG. 7, the same parts as those in FIG. 5 are given the same reference numerals, and their explanations will be omitted.

The surveying system 1 in the third embodiment further includes a position measuring device 51. The position measuring device 51 is, for example, a total station, and is capable of measuring and tracking the flying object 4 and a prism (not shown) provided at a known position (distance and direction) with respect to the mechanical center of the flying object 4. It is composed of

Further, the position measuring device 51 is installed at a point having known three-dimensional coordinates, and based on the measurement results of the prism and the distance and direction from the prism to the machine center, the position measurement device 51 calculates the measurement results of the laser scanner 5 (laser scanner 5). 5) can be converted into three-dimensional point group data using the installation position of the position measuring device 51 as a reference.

In the third embodiment, the flight path 48 is set using a method similar to that of the second embodiment. On the other hand, the position and height of the flying object 4 are determined in real time and with high accuracy by being tracked and measured by the position measuring device 51. Therefore, the flatness and horizontality of the measurement target surface 44 can be measured with high precision.

Note that during tracking by the position measuring device 51, the tracking may be interrupted due to the obstacle 45. In FIG. 7, 52 indicates a lost position where tracking of the flying object 4 is interrupted, and 53 indicates a re-locked position where tracking is resumed.

When tracking is interrupted at the lost position 52, the flight control device 13 estimates the position of the flying object 4 based on the measurement results of the detector 7 and moves along the flight path 48, as in the second embodiment. The flying object 4 is made to fly.

Further, since the flying object 4 is flying at a constant speed at a constant height, the position measuring device 51 predicts the re-locking position 53 where the flying object 4 can be tracked again, aim.

When tracking of the flying object 4 is restarted at the re-locking position 53, the flight control device 13 moves the flying object 4 along the flight path based on the position of the flying object 4 measured by the position measuring device 51. 48.

Next, referring to FIG. 8, a fourth embodiment of the present invention will be described. In FIG. 8, the same parts as those in FIG. 5 are given the same reference numerals, and their explanations will be omitted.

In the fourth embodiment, the laser scanner 5 is configured to be able to measure not from below but from the sides.

In the fourth embodiment, the surface to be measured 54 is a wall surface of a constructed building, etc., the surface to be measured 54 is measured by the laser scanner 5, and the surface shape data of the surface to be measured 54 is obtained. By acquiring the measurement target surface 54, defects such as unevenness, peeling, and falling of the measurement target surface 54 can be detected.

Additionally, an infrared camera, a spectrometer, or the like may be separately provided so that the temperature distribution, salt concentration, etc. of the measurement target surface 54 can be measured.

In the fourth embodiment, the position of the flying object 4 may be determined based on the measurement results of the detector 7 as in the second embodiment, or may be determined based on the measurement results of the detector 7 as in the third embodiment. , may be determined by a position measuring device.

1 Survey system 2 Flight device 3 Remote control aircraft 4 Aircraft 5 Laser scanner 10 Measurement range 13 Flight control device 24 Distance measurement section 27 Optical axis deflection section 30 Measurement range 33 Distance measurement light 34 Reflected ranging light 44 Measurement target surface 48 Flight route

Claims

A surveying system comprising a flight device that can be remotely controlled and has a flying object and a measuring instrument, and a remote control aircraft that controls the flight of the flight device and can communicate wirelessly with the flight device, the flight device comprising: . A surveying system configured to measure the surface shape of a surface to be measured using the measuring device while flying the flying object along a predetermined flight path.
2. The surveying method according to claim 1, wherein a plurality of detectors are provided on at least a side surface of the flying object, and the flight device is configured to be able to detect obstacles over the entire circumference in the horizontal direction based on the measurement results of the detectors. system.
3. The surveying system according to claim 2, wherein the flight device is configured to fly the flying object to avoid the obstacle based on the detection result of the detector.
The measuring device is a laser scanner, and includes a distance measuring section that emits distance measuring light and measures distance by receiving reflected distance measuring light; an optical axis deflection section capable of two-dimensionally deflecting the optical axis; an emission direction detection section that detects the declination angle of the optical axis of the distance measuring light and performs angle measurement; and a measurement calculation control section. 4. The surveying system according to claim 2, wherein the arithmetic control section is configured to drive the optical axis deflection section so that the distance measuring light is scanned in a predetermined scan pattern.
The measuring device has a tilt detection section capable of detecting a tilt with respect to the vertical in real time, and the measurement calculation control section is configured to perform three measurements based on the distance measurement result by the distance measurement section and the angle measurement result by the emission direction detection section. 5. The surveying system according to claim 4, wherein the surveying system is configured to calculate dimensional coordinates and correct the three-dimensional coordinates based on the detection result of the inclination detection section.
The measurement target surface is located inside a room, and the flight device is configured to determine the horizontal position of the flying object inside the room with reference to the wall surface of the room based on the detection result of the detector. The surveying system according to any one of claims 2 to 5.
The aircraft further comprises a position measuring device capable of measuring the position of the flying device, the position measuring device being provided at a known position and configured to be able to measure and track the position of the flying object. Surveying system according to any one of item 5.
The surveying system according to claim 6 or claim 7, wherein the remote control aircraft is configured to create a three-dimensional map of the entire measurement target surface based on the measurement results of the measuring device and the position of the flying object.
The flight path is set so that measurement ranges by the measuring instruments overlap by a predetermined amount, and the remote control device is configured to create a three-dimensional map of the entire measurement target surface based on the measurement results of the overlapped portion. The surveying system according to any one of claims 1 to 7.