JPH09196672A - GPS survey vehicle - Google Patents

Abstract

(57) [Abstract] [PROBLEMS] To enable accurate surveying in a wide range without moving a vehicle. SOLUTION: When the vehicle 24 cannot be approached to the measurement point, the arm portion 18B of the telescopic arm mechanism 18 is extended, swung, and swung, and the GPS antenna 1 is moved.
Place 4 on the measurement point. The antenna 14 and the rod 30 are held by the universal joint 28, and the rod 30 is always vertical. Laser range finder 34
Radiates laser light vertically downwards, and the distance L2 to the ground
Is measured. The personal computer 22 calculates the ground height directly below the antenna 14 by subtracting the distance L1 from the antenna 14 to the rod tip and the distance L2 from the height of the antenna 14 measured by the GPS main body 16. Antenna 1
Even if the height of 4 changes, the correct ground height can be obtained because the distance L2 measured by the laser distance measuring device 34 is used.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle for surveying using GPS.

[0002]

2. Description of the Related Art As a means for performing accurate surveying in a short time when performing civil engineering work or construction work, the position (latitude and longitude, or the X and Y coordinate values associated therewith) of a measurement point by a radio wave from a satellite is known. ) And GPS to measure height
(Global Positioning System) is widely used. GPS
In surveying using, it is possible for a surveying technician to carry a GPS antenna that receives radio waves from a satellite, a GPS main body, etc., and move to perform measurements, but it is not efficient when surveying in a wide range. Because it is bad, as shown in Figure 3,
Generally, the GPS antenna 2 and the GPS main body 4A are mounted on, for example, a four-wheel drive vehicle 6 and moved to measure at each point.

As a method of surveying by GPS, kinematic surveying and RTK (real-time kinematic)
A method of dynamic GPS surveying such as GPS is used to receive radio waves from at least 3 to 4 GPS satellites (for example, satellites 8A to 8D in FIG. 3) while moving to generate a three-dimensional current position. The position is accurately measured. It should be noted that another GPS 10 is installed as a fixed station at a predetermined position near the measurement point, and the GPS main body 4A mounted on the vehicle uses the correction data wirelessly sent from the GPS 10 to determine the high accuracy of the measurement point. Generate position data.

The height of the measurement point that can be directly measured by GPS is the height of the position of the GPS antenna which is the reception point of the radio wave from the satellite. Therefore, in order to obtain the height of the ground at the measurement point, from the height measured by GPS,
It is necessary to subtract the height of the antenna position. for that reason,
In the example of FIG. 3, the height of the GPS antenna measured in advance is stored in a personal computer (hereinafter, also referred to as a personal computer) 4B connected to the GPS body 4A, and the height of the ground is calculated by the correction calculation as described above. Is calculated.
The obtained height is displayed on the screen 40 of the personal computer 4B together with other position data as shown in the circle A.

[0005]

However, when a GPS survey is performed at a site of civil engineering construction work, there are many cases where trees are thickened and the terrain is steep.
It is often difficult to move the vehicle equipped with the S antenna to the measurement point, or it takes time to move.

For the purpose of adjusting the position of the GPS antenna,
The GPS antenna is attached to the hydraulic boom installed in the vehicle, and the boom is extended / contracted, swung, and turned to make GP
Although the S antenna is also arranged at the measurement point, since the expansion / contraction range of the hydraulic boom is about 1.5 m to 2.5 m, the boom is extended and the GPS antenna is moved instead of moving the vehicle. Is insufficient for such purposes.

When the length of the boom is changed, the height of the GPS antenna normally changes. Then, as described above, the height of the ground at the measurement point (hereinafter, also referred to as ground height) is
Since the height of the GPS antenna position is subtracted from the height measured by GPS, when the height of the antenna changes, it is necessary to correct the ground height of the measurement result. Therefore, each time the height of the antenna changes, the height of the antenna must be measured with a measure, etc.
The efficiency of surveying work is significantly reduced.

Further, since the height of the antenna 2 stored in the personal computer 4B is measured in a state in which the four-wheel drive vehicle 6 is on a level ground, it is used in a place where the inclination is steep or where unevenness is severe. The actual height of the antenna 2 is different from the height stored in the personal computer 4B, and thus the height of the ground calculated by the personal computer 4B is incorrect.

Therefore, an object of the present invention is to provide a GPS surveying vehicle capable of performing surveying even from a place distant from a measuring point, and capable of always accurately measuring the ground height.

[0010]

In order to achieve the above-mentioned object, the present invention provides a vehicle and a telescopic arm mounted on the vehicle and attached to the vehicle so as to be vertically swingable and turnable. , Attached to the tip of the telescopic arm, G
An antenna holding unit that holds the PS antenna so as to be swingable in an arbitrary direction within a predetermined angle range with respect to a vertical line, a rod that is connected to the GPS antenna, and hangs below the GPS antenna, and a laser beam. Includes a first laser light source for radiating downwardly along the length of the rod, and a second laser light source or sound source, and at least the second laser light source or the sound source is attached to the rod to emit laser light or sound. A non-contact distance measuring device that measures the distance to the measurement point by radiating downward the length of the rod, the height of the GPS antenna measured by GPS, and the distance to the measurement point measured by the non-contact distance measuring device. And a calculating means for calculating the height of the measurement point by using.

The present invention is also characterized in that the antenna holding means is a universal joint. In the present invention, the G measured by the GPS is calculated by the calculating means.
The height of the PS antenna and the distance to the measurement point measured by the non-contact distance measuring device are periodically acquired from the GPS and the non-contact distance measuring device at substantially the same timing, and The feature is that the height is calculated.

The present invention is also characterized in that the first laser light source is mounted at or near the tip of the rod. The present invention is also characterized in that the non-contact distance measuring device is configured to include the second laser light source, and the second laser also serves as the first laser light source. The present invention is also characterized in that a weight is attached to the tip of the rod or in the vicinity of the tip.

According to the present invention, when the ground is inclined or uneven and the vehicle cannot be easily approached to the measuring point, the telescopic arm is extended and appropriately swung and swung to make the first arm. The GPS antenna is arranged so that the light spot formed on the ground by the laser beam emitted from the laser light source coincides with the measurement point. In this state, GPS
Measures the position of the GPS antenna, while the non-contact distance measuring device measures the distance to the measurement point vertically below. Then, the calculation means calculates the height of the measurement point by using the height of the GPS antenna measured by the GPS and the distance to the measurement point measured by the non-contact distance measuring device. Therefore, in the GPS survey vehicle of the present invention, it is not necessary to move the vehicle to the measurement point, and the change in the height of the GPS antenna is automatically corrected.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION Next, embodiments of the present invention will be described. FIG. 1 is a block diagram showing an example of a GPS survey vehicle according to the present invention. The GPS surveying vehicle 12 includes a GPS antenna 14, a GPS main body 16, a telescopic arm mechanism 18, a laser distance measuring device 34, a personal computer 22, and the like.
It is configured to be installed in.

The telescopic arm mechanism 18 includes a hydraulic device section 18
A, an expandable / contractible arm portion 18B, and a base 18F are included. The base 18F is arranged at the rear of the vehicle 24 so as to be swingable around a vertical axis. Arm part 18B
Is composed of arms 18C, 18D and 18E each having a rectangular cross section. The arm 18E is disposed inside the arm 18D and the arm 18D.
D has a structure that can be slidably housed inside the arm 18C. These inner arms 18D, 1
8E is pushed out in the extending direction of each arm using the hydraulic device section 18A as a power source, and is pulled in the opposite direction. And
In this embodiment, the arm portion 18B is capable of expanding and contracting within a range of 5 m to 10 m.

The base of the arm 18C is attached to the base 18F so as to be vertically swingable. Then, in order to swing the arm 18C, the end of the wire 41 is fixed at a position near the tip of the arm 18C, and the wire 41 is pulled up by the pulley 4 at the tip of the support member 42 provided upright on the base of the arm 18C.
It is wound around a winch winding drum (not shown) in the hydraulic device section 18A via the winding No. 4 of FIG. Therefore, the hydraulic device section 18A
The arm portion 18B can be swung up and down by winding the wire 41 with or using the winch as a drive source, or winding the wire 41. The hydraulic device unit 18A can be more specifically configured by a hydraulic cylinder or a hydraulic motor.

A universal joint 28 is connected to the tip of the arm portion 18B, that is, the tip of the innermost arm 18E forming the arm portion 18B, and the GPS antenna 14 is connected to the upper portion of the movable portion of the universal joint 28. A rod 30 is connected to the lower portion of the GPS antenna 14 via the movable portion of the universal joint 28, and the rod 30 hangs vertically below the GPS antenna 14. Since the GPS antenna 14 and the rod 30 are connected to the movable part of the universal joint 28, the GPS antenna 14 and the rod 30 can swing in any direction within a predetermined angle range with respect to the vertical line. A weight 32 is attached to a position near the lower end of the rod 30 to ensure that the rod 30 hangs vertically downward.

A laser distance measuring device 34 is provided at the lower end of the rod 30.
Is attached. The laser distance measuring device 34 is located below the laser light source (which is the second laser light source according to the present invention and also serves as the first laser light source according to the present invention) in the longitudinal direction of the rod 30. The laser beam LS is radiated toward, the distance to the ground is measured without contact, and a signal representing the measurement result is output. This signal is sent to the personal computer 22 through a predetermined cable (not shown).

FIG. 2 is a configuration diagram showing an electrical configuration of the GPS survey vehicle 12. As shown in this figure, GP
The S antenna 14 is connected to the GPS main body 1 by a predetermined cable.
6, and the GPS body 16 is also connected to a radio device 36 for receiving correction data from a fixed station as shown in FIG. The personal computer 22 arranged near the driver's seat of the vehicle 24 is connected to the laser range finder 34 and the GPS main body 16 via the RS-232C board 38 incorporated in the personal computer 22 as described above. Has been done.

The personal computer 22 receives the three-dimensional position information of the measurement point from the GPS body 16 and displays its screen 22A.
In addition, the position and height of the measurement point on the plane are displayed numerically, and a plan view is drawn and the measurement point is displayed on the plan view with a predetermined mark. The personal computer 22 has a distance L from the GPS antenna 14 to the lower end of the laser distance measuring device 34.
The information 1 (FIG. 1) is input in advance and stored in the hard disk in the personal computer 22. The personal computer 22 is GP
When the position information is received from the S body 16, the height information included in the position information is corrected. That is, the correct height of the measurement point is obtained by subtracting the distance L1 and the distance L2 measured by the laser distance measuring device 34 from the laser distance measuring device 34 to the ground from the height represented by the height information.

The personal computer 22 has, for example, a GP cycle of 1 second.
Information is simultaneously received from the S body 16 and the laser distance measuring device 34, and the correction calculation is performed.

Next, the operation of the GPS survey vehicle 12 having the above structure will be described. If the operator cannot move the vehicle 24 to the vicinity of the measurement point due to the slope or unevenness of the ground, the vehicle 2 can be moved within a possible range.
Bring 4 to the measurement point and stop the vehicle. afterwards,
At that position, the telescopic arm mechanism 18 is operated from the driver's seat to extend, swing, and swivel the arm portion 18B, and the laser range finder 34 irradiates the laser beam LS downward in the longitudinal direction of the rod 30 onto the ground. The formed light spot is aligned with the measurement point.

At this time, the GPS main body 16 receives a signal from the satellite through the GPS antenna 14, and based on the received signal and the correction data received from a fixed station (not shown) through the radio device 36, the current position of the GPS antenna 14 is determined. The three-dimensional position information shown is generated and the signal is supplied to the personal computer 22.

By extending / contracting the extendable / contractible arm portion 18B, the distance from the tip of the rod 30 to the ground usually changes, and this distance also changes when the measurement point is on a slope as shown in FIG. However, the laser range finder 34
The reflected light of the laser beam LS is received to measure this new distance in a non-contact manner, and a signal representing the measurement result is sent to the personal computer 2.
Output to 2.

In the present embodiment, the personal computer 22 uses the above three-dimensional position information generated by the GPS main body 16 at a cycle of 1 second,
And each signal of the above distance measured by the laser distance measuring device 34 is received from the GPS main body 16 and the laser distance measuring device 34 at the same timing. Then, the personal computer 22 first performs GP correction from the hard disk to correct the height.
Information on the distance L1 from the S antenna 14 to the lower end of the laser distance measuring device 34 is taken out, and the distance L1 is calculated from the height represented by the height information included in the position information from the GPS main body 16.
And the laser range finder 34 measured by the laser range finder 34
And the distance L2 from the ground to the ground are subtracted to obtain the correct height of the measurement point.

On the basis of this height and the position information on the plane included in the three-dimensional position information from the GPS main body 16, the personal computer 22 displays the position on the plane of the measurement point on the screen 22A of the personal computer 22. , Height and numerical values are displayed, and a plan view is drawn and the position of the measurement point is displayed on the plan view with a predetermined mark.

Thus, the GPS survey vehicle 1 of this embodiment
In No. 2, it is not necessary to move the vehicle to the measurement point, and even when the distance between the vehicle and the measurement point is relatively long, the GPS antenna is extended, swung, and turned by extending and swinging the telescopic arm portion 18B of the telescopic arm mechanism 18. 14 can be placed on the measurement point.

Therefore, even if the measurement point is in a place that cannot be reached by the vehicle 24, the survey can be performed, and even if the approach by the vehicle 24 is difficult, the survey can be efficiently performed. That is, the survey can be performed without being affected by the topography and the state of the ground, and the survey can be performed efficiently and with low labor.

Further, by expanding / contracting the expandable / contractible arm portion 18B, even if the height of the GPS antenna 14 changes, the measurement result of the ground height is automatically corrected, and an accurate ground height can always be obtained. In addition, for surveying on slopes, GPS from the ground directly under the GPS antenna 14
Even when the height up to the antenna 14 changes, the distance from the tip of the rod 30 to the ground is measured, and the ground height measurement result is automatically corrected to always obtain an accurate ground height. You can

Even when the vehicle can be moved to the measurement point and surveyed, the vehicle 24 is stopped and the telescopic arm mechanism 18 is used when the measurement is performed at a plurality of relatively close measurement points. The position of the GPS antenna 14 can be moved only by the operation of, and the measurement at each measurement point can be performed efficiently and with low labor.

In the above embodiment, the laser distance measuring device 3
Although the distance from the tip of the rod 30 to the ground is measured with 4, the ultrasonic wave is emitted toward the ground instead of using the laser distance measuring device, and the reflected wave is received to measure the distance to the ground. It is also possible. In that case,
In order to show the position immediately below the rod 30, a laser light source (first laser light source according to the present invention) that emits a laser beam below the longitudinal direction of the rod 30 may be attached to the tip of the rod 30, for example.

Further, in the above embodiment, the telescopic arm mechanism 18 is used.
Although the hydraulic device unit 18A is used for the above, an electric motor is used instead of the hydraulic device to extend and retract the arm unit 18B,
Of course, it is possible to rock. Also, the personal computer 22
However, the three-dimensional position information generated by the GPS main body 16,
And each signal of the distance measured by the laser range finder 34,
The GPS main body 16 and the laser distance measuring device 34 may be configured to receive them at different timings. However, in that case, when the measurement is performed while moving by the vehicle 24 or by moving the GPS antenna 14 by the telescopic arm mechanism 18, the position on the plane of the GPS antenna 14 when the information is received from the GPS body 16. On the other hand, since the position on the plane of the laser distance measuring device 34 is displaced when the laser distance measuring device 34 measures the distance, when the ground is inclined or uneven, the correction calculation is performed. It is necessary to consider that the obtained height includes some error.

[0033]

As described above, in the GPS surveying vehicle of the present invention, when the ground is inclined or uneven and the vehicle cannot be easily approached to the measurement point, the telescopic arm is extended and appropriate. The GPS antenna is arranged so that the laser beam emitted from the first laser light source oscillates and swivels, and the light spot formed on the ground coincides with the measurement point. In this state, the GPS measures the position of the GPS antenna, while the non-contact distance measuring device measures the distance to the measurement point vertically below. Then, the calculation means calculates the height of the measurement point by using the height of the GPS antenna measured by the GPS and the distance to the measurement point measured by the non-contact distance measuring device.

Therefore, in the GPS surveying vehicle of the present invention, it is not necessary to move the vehicle to the measurement point, and even if the distance between the vehicle and the measurement point is relatively long, the telescopic arm can be extended, swung, and turned. , GPS antennas can be placed on the measurement points. Therefore, even if the measured value point is in a place that cannot be reached by the vehicle, the survey can be performed, and even if the approach by the vehicle is difficult, the survey can be efficiently performed. That is, the survey can be performed without being affected by the topography and the state of the ground, and the survey can be performed efficiently and with low labor.

Further, even if the height of the GPS antenna is changed by expanding and contracting the telescopic arm, the measurement result of the ground height is automatically corrected by using the measurement result of the non-contact distance measuring device. You can always get accurate ground height. In addition, for surveying on slopes, GPS
Even when the height from the ground directly under the antenna to the GPS antenna changes, the distance from the rod to the ground is measured by the non-contact distance measuring device, and the ground height measurement result is automatically corrected. , You can always get accurate ground height.

Even when the vehicle can be moved to a measurement point and surveyed, when measuring a plurality of measurement points that are relatively close to each other, the vehicle is stopped and only the extension arm is operated. By moving the position of the GPS antenna, the measurement at each measurement point can be performed efficiently and with low labor.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an example of a GPS survey vehicle according to the present invention.

FIG. 2 is a configuration diagram showing an electrical configuration of the GPS survey vehicle of FIG.

FIG. 3 is an explanatory diagram showing a conventional GPS survey.

[Explanation of symbols]

 2 antenna 4A, 16 GPS main body 4B, 22 personal computer 6 four-wheel drive vehicle 8A, 8B, 8C, 8D satellite 10 GPS 12 GPS survey vehicle 14 GPS antenna 18 telescopic arm mechanism 18A hydraulic device section 18B telescopic arm section 18C, 18D, 18E arm 18F base 22A, 40 screen 24 vehicle 28 universal joint 30 rod 34 laser range finder 36 radio

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Keiichi Matsuda 4-6-15 Sendagaya, Shibuya-ku, Tokyo Fujita Co., Ltd.

Claims (6)

[Claims] 1. A vehicle, a telescopic arm mounted on the vehicle, vertically and swingably attached to the vehicle, and pivotably attached to the vehicle, and a GPS antenna attached to a distal end of the telescopic arm. And an antenna holding means for holding so as to be swingable in an arbitrary direction within a predetermined angle range with respect to a vertical line, a rod connected to the GPS antenna and hanging below the GPS antenna, and a laser beam A first laser light source that radiates downward in the longitudinal direction of the rod, and a second laser light source or a sound source, at least the second laser light source or the sound source is attached to the rod, and the laser light or sound is emitted from the rod. A non-contact distance measuring device that radiates downward in the longitudinal direction to measure the distance to the measurement point, the height of the GPS antenna measured by GPS, and the front of the non-contact distance measuring device A GPS surveying vehicle comprising: a calculating unit that calculates the height of the measurement point using the distance to the measurement point. 2. The GPS surveying vehicle according to claim 1, wherein the antenna holding means is a universal joint. 3. The calculating means calculates the height of the GPS antenna measured by the GPS and the distance to the measurement point measured by the non-contact distance measuring device from the GPS and the non-contact distance measuring device. The GPS surveying vehicle according to claim 1, wherein the height of the measurement point is calculated by periodically acquiring the height at substantially the same timing. 4. The GPS surveying vehicle according to claim 1, wherein the second laser light source or the sound source is attached at or near the tip of the rod. 5. The GPS survey vehicle according to claim 1, wherein the non-contact distance measuring device is configured to include the second laser light source, and the second laser light source also serves as the first laser light source. 6. The GPS surveying vehicle according to claim 1, wherein a weight is mounted at or near the tip of the rod.