JP2002350134A - Survey method in public works - Google Patents

Abstract

PROBLEM TO BE SOLVED: To survey by one person and avoid a finishing stake work. SOLUTION: Using a range finder 1 with a flood light, an operator operates the visible light beam 2a of the flood light 2 to survey, and the results are processed with a mobile computer 4 to calculate a three-dimensional position of a point C to be measured. Thus, finishing stake works are no more necessary and distribution of surveyors is not always necessary. As survey by one person is possible, works with high accuracy can be executed efficiently and safely.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surveying method particularly suitable for surveying for work management at a site of civil engineering work.

[0002]

2. Description of the Related Art A lightwave distance measuring instrument (hereinafter simply referred to as a distance measuring instrument) currently used is provided with a reflecting mirror provided at a point to be measured with a light beam irradiated toward the point to be measured. A prism type that reflects light and performs various measurements with this reflected light, and a non-prism type that directly irradiates a light beam to a point to be measured without using a reflecting mirror and detects and measures reflected light from that point There are things. The former is also known as an auto-tracking rangefinder that automatically tracks the mirror according to the movement of the mirror, and once the mirror is collimated, no operator of the rangefinder is required, and If there is one operator, so-called one-man surveying is possible. In the latter, the operator of the distance measuring instrument performs the surveying by collimating the point to be measured, and the operator at the point of the measuring point is unnecessary, and the operator of the distance measuring instrument alone can perform one-man surveying. .

[0003] However, the work management at the site of the civil engineering work involves performing a so-called staking work in which a mark is installed with a plate or the like at a position easily visible to the operator of the heavy equipment according to the result of the periodic survey, and based on the mark. It is performed by repeating the procedure of performing machining work with heavy machinery. For this reason, there is a problem that the precise machining accuracy is not known until the next survey, and that the staking work requires a considerable amount of time and the construction is interrupted during that time, hindering the efficient progress of the construction. is there. In addition, it is necessary to secure a surveying technician at all times.Furthermore, the construction site has poor scaffolding and there are many dangerous places, so the mirror operator cannot enter. It may be.

[0004]

In view of this point, the present invention enables one-man surveying and eliminates the need for staking work. It was made to be able to be implemented.

[0005]

In order to achieve the above object, according to the first invention of the present application, at least a range finder with a projector and an irradiation direction of a light beam projected from the range finder. The distance finder is installed at a fixed point whose three-dimensional position is known using a remote control means for controlling the distance and a mobile computer, and its light beam is operated by an operator.
The position and orientation of the rangefinder are determined by measuring the dimensional position against a known reference point. Next, the light beam of the distance measuring instrument is applied to the point to be measured by remote control by the operator to perform a predetermined measurement, and the data of the measured point is transferred from the distance measuring instrument to the mobile computer, and the data is obtained. By performing the processing, the three-dimensional position of the measured point is calculated in association with the reference point. According to such a method, after the distance measuring instrument is installed, one operator can operate the visible light beam to perform measurement, and one-man surveying can be performed.

In the second invention, at least an automatic tracking type ranging finder, remote control means for instructing the ranging finder to perform tracking, a projector for outputting a light beam, and a mobile computer are used. The distance finder is set at a fixed point whose three-dimensional position is known, and the position and orientation of the distance finder are determined by collimating and measuring a reference point whose known three-dimensional position. Next, the operator operates the light emitter, hits the light beam to the reference point, moves to the point to be measured, automatically tracks this with the distance measuring instrument, and performs the predetermined measurement to obtain the point to be measured. Is transferred from the distance meter to the mobile computer, and the data is processed to calculate the three-dimensional position of the measured point in association with the reference point. Therefore, even by this method, after the distance measuring instrument is installed, one operator can operate the light beam to perform one-man surveying. The light beam used in each of the first and second inventions is generally a visible light or a laser light.

[0007] As the above automatic tracking type distance measuring instrument,
It is desirable to use one that automatically returns to collimating a predetermined fixed point when the light beam to be tracked is lost. Thus, the surveying can be restarted even when the tracking of the light beam ends abnormally.

In the third invention, at least a range finder having an image pickup function, remote control means for controlling a collimating direction of the range finder, and an image taken by the range finder are reproduced and displayed. Using a display and a mobile computer, the distance finder is set at a fixed point having a known three-dimensional position, and the position of the distance finder is measured by collimating a reference point having a known three-dimensional position. And determine the direction. Next, the operator operates the rangefinder by remote control while watching the image displayed on the display means, collimates the measured point, performs a predetermined measurement, and obtains the obtained measured point data. The three-dimensional position of the measured point is calculated in association with the reference point by transferring the data from the distance meter to the mobile computer and processing the data.

In the first and second aspects of the present invention, there is a problem that when the light beam is visible light, it is difficult to see during a bright day, and when the light beam is laser light, special glasses are required. According to the third aspect of the present invention, a function similar to that of an ordinary video camera may be installed in the distance measuring instrument, and the above-described problem is solved. In addition, since the measurement can be performed even when the point to be measured is not at a position visible to the operator, a convenient and highly practical device can be obtained.

By using the calculation result of the three-dimensional position as described above, for example, a deviation from the design position of the measured point previously input to the mobile computer can be obtained.
Furthermore, this deviation can be displayed on a display. This display can be simply indicated by numerical data. For example, if the display is made by a design sectional view and a mark indicating the position of the measured point, the magnitude of the deviation can be visually confirmed. It is easy to grasp the current topography. Further, if this display is mounted on a heavy equipment at a civil engineering work site, an operator of the heavy equipment can perform an accurate machining operation while checking a deviation from a design position.

[0011]

Next, an embodiment of the present invention will be described. FIG. 1 shows a basic configuration of a system for carrying out the first invention. In the figure, reference numeral 1 denotes a non-prism type distance finder having a light projector 2 for outputting visible light, for example, 2a a light beam output from the light projector 2, 3 a remote controller, 4 a mobile computer, As the distance finder 1, one having higher detection sensitivity for reflected light than that of the mirror type is used. The light projector 2 is provided along with the distance measuring instrument 1 so that the light projecting axis is parallel to the distance measuring axis. Although the light projecting axis and the distance measuring axis are separated from each other by several centimeters due to their structure, if this difference becomes a problem, a correction operation may be performed according to the distance to the point to be measured.

As the mobile computer 4, various small computers (hereinafter simply referred to as computers) suitable for carrying or moving and generally called mobile computers are used. Note that the computer 4 can also serve as the remote controller 3. Reference numeral 5 denotes heavy equipment for civil engineering such as a power shovel or bulldozer, and reference numeral 5a denotes an operator's cab. The computer 4 is connected to the cab 5
Although it is arranged at an appropriate place of a, it may be installed at another place when one-man surveying by the operator of the heavy equipment 5 is not performed. 6a is a transmitter / receiver provided on the rangefinder 1 side;
Reference numeral b denotes a transceiver provided on the computer 4 side, which transmits and receives various data and command signals between the distance measuring instrument 1 and the computer 4. Note that the communication by the transceivers 6a and 6b is performed by wireless communication using radio waves, but may be performed by wired communication in some cases, in addition to wireless communication using another medium.

The surveying by the above-mentioned system is performed as follows. First, the distance finder 1 is set at a fixed point A whose three-dimensional position is known, and its light beam 2a is remotely controlled by an operator, for example, an operator of the heavy equipment 5 to hit a reference point B whose three-dimensional position is known. Rangefinder 1 for reflected light from rocks and soil
Detect and measure. This measurement is based on horizontal angle, elevation angle,
The position and orientation of the distance measuring instrument 1 are determined by oblique distance and the like. The collimation of the reference point B may be performed by a direct operation by the operator instead of the remote control. Next, the operator operates the remote controller 3 to apply the light beam 2a of the distance measuring instrument 1 to the point C to be measured, and sends an instruction signal for measurement. Measure necessary items. The data of the measured point C thus obtained is transmitted and received by the transceiver 6.
The data is transferred from the distance measuring device 1 to the computer 4 by a and 6b, and the computer 4 processes the received data.
The dimension position is calculated.

Data of the design value of the construction area is input to the computer 4 in advance, and the deviation between the calculated three-dimensional position of the measured point C, ie, the measured value, and the designed value of the measured point C is calculated. Is calculated. These measured values and deviations are stored in the memory of the computer 4 as appropriate, but are displayed on the display of the computer 4 as needed. This display is performed not only by simply displaying numerical values but also by using, for example, a mark indicating the position of the measured point C and a vertical sectional view at this position. The above display is not limited to the one attached to the computer 4, but another display can be used depending on the situation.

FIG. 2 shows an example of such a display image.
D is a cross-sectional view in design, and a measured point C is a mark C1 indicating the position thereof and a line C indicating a vertical deviation from the design value.
2, a line C3 indicating the deviation in the horizontal direction and a line C4 indicating the deviation in the perpendicular direction to the design slope. With such a display, the operator of the heavy equipment 5 can visually understand the deviation from the design value, so that the operation is facilitated. In addition, if the numerical values of the respective deviations are described together with the respective lines, the magnitude of the deviation is also indicated by specific numbers, so that the situation can be grasped more sufficiently.

FIG. 3 shows the basic configuration of a system for carrying out the second invention, wherein 11 is an automatic tracking type distance measuring instrument, 12 is a light projector, 12a is a light beam of the light projector 12, 1
2b is a movement locus of a position where the light beam 12a hits.
Others are the same as those in FIG. 1 and are denoted by the same reference numerals.
The distance finder 11 is of a non-prism type having no light projector, and has a higher detection sensitivity for reflected light than that of a mirror type. The light projector 12 outputs visible light or laser light, and is small and lightweight that can be held and operated by an operator.

Surveying by this system is performed as follows. First, the ranging finder 11 is set at a fixed point A whose three-dimensional position is known, and the operator operates the ranging finder 11 to collimate and measure the reference point B whose three-dimensional position is known. The position and orientation of the ceremony 11 are determined. The operation at this time is performed by a person who is accustomed to the collimation operation, but may be performed by the operator of the heavy equipment 5 itself. Next, the operator operates the light projector 12 to move the light beam 12a to the reference point B and then to the measured point C. After the range finder 11 automatically tracks the position where the light beam 12a hits, the range finder 11 detects the horizontal angle, elevation angle,
Measure necessary items such as the oblique distance. The data of the measured point C thus obtained is transmitted to the transceivers 6a and 6b.
The data is transferred from the ranging finder 11 to the computer 4 and the computer 4 processes the received data to calculate the three-dimensional position of the measured point C from the position relative to the reference point B. The subsequent display of measured values and deviations is the same as in the case of the above-described first invention.

When the distance finder 11 loses sight of the light beam 12a after the automatic tracking has failed, the system automatically returns to the state of collimating a predetermined fixed point, for example, the reference point B. is there. Therefore, even when the tracking operation is not performed normally, the surveying can be performed by re-operation.

As the fixed point A and the reference point B in each invention, a point outside the work area and near the work area where the above-described predetermined operation and operation can be performed without any trouble is selected. The point to be measured C is selected as a point visible to the operator. However, in the case of normal work, the operator of the heavy equipment 5 selects a target point for the work at hand and measures the point to be measured according to the progress of the work. Point C
The surveying is carried out at any time while moving as necessary, and the work proceeds with this as a target. As described above, once the distance finder 1 or 11 is once installed, the operator of the heavy equipment 5 works while repeating the surveying alone.

FIG. 4 shows the basic configuration of a system for carrying out the third invention, and reference numeral 21 denotes a distance measuring device equipped with an image pickup function realized by providing, for example, a CCD element and a necessary control section. Reference numeral 22 denotes a second display disposed at an appropriate position in the cab 5a of the heavy equipment 5. Rangefinder 2
Numeral 1 denotes a non-prism type similar to the system shown in FIG. 3, in which an axis mark indicating the center point of the image is superimposed and displayed in a captured image, and coincides with the axis mark. Is configured to be a collimation point.
The image captured by the distance measuring device 21 is converted into an electric signal, transmitted to the heavy equipment 5 via the transceivers 6a and 6b, and reproduced and displayed on the display 22. Note that the second display 22 can also be used as the display of the computer 4. Others are shown in Figure 1
This is the same as in the case of the system.

The survey by this system is performed as follows. First, the ranging finder 21 is set at a fixed point A having a known three-dimensional position, and a remote point or a direct operation is used to collimate a reference point B having a known three-dimensional position. The position and orientation of the distance measuring instrument 21 are determined by measuring the distance and the like. Next, the operator of the heavy equipment 5
The user operates the remote controller 3 while looking at the image displayed on the display 2 to control the direction of the distance measuring instrument 21, and directs the distance measuring instrument 21 to the point C to be measured. Since, for example, a cross-shaped axis mark indicating the axis of measurement is always displayed at the center of the image, a measurement instruction signal is sent when the mark and the target point C to be measured are matched. Then, necessary items such as the horizontal angle, the elevation angle, and the oblique distance are measured by the distance measuring instrument 21.

The data of the measured point C thus obtained is transferred from the distance measuring instrument 21 to the computer 4 by the transmitters / receivers 6a and 6b, and the computer 4 processes the received data to obtain a relative value with respect to the reference point B. The three-dimensional position of the measured point C is calculated from the position. The subsequent display of measured values and deviations is the same as in the above-described first and second embodiments. Since it is relatively easy to mount a function equivalent to that of an ordinary video camera or the like on the distance measuring instrument 21, the measurement can be performed without bothering the problem that the light beam is difficult to see. In addition, since the measurement can be performed even when the point to be measured C is not at a position directly visible from the operator, the measurement is convenient and the practicality is improved.

[0023]

As is apparent from the above description, the surveying method of the present invention uses a rangefinder with a projector in the first invention, and uses an automatic tracking type rangefinder in the second invention. An operator operates the light beam of the light projector to perform surveying with a distance measuring instrument, and processes the result with a mobile computer to calculate the three-dimensional position of the measured point. Therefore, the staking work is not required, and it is not necessary to arrange a surveying technician at all times, and one-man surveying by one operator becomes possible. In addition, since the measured point can be easily measured at any time as needed, highly accurate work can be efficiently and safely advanced, and the cost required for the work can be greatly reduced.

According to a third aspect of the present invention, a point to be measured is collimated through an image by using an imaging function similar to a video camera without using a light beam from a light projector. Therefore, it is easy to carry out the operation without any trouble even in the daytime when the light beam is difficult to see, and it is also possible to measure the measured point which cannot be directly seen by the operator, so that a highly practical surveying system can be obtained. it can.

Further, the deviation between the calculated three-dimensional position of the measured point and the designed position is obtained and displayed on a display, so that the magnitude of the deviation can be easily confirmed. The degree of deviation can be easily confirmed visually by displaying the cross section and the mark indicating the position of the measured point. Further, if the operator of the heavy equipment at the civil engineering work site becomes the operator, the work efficiency can be further improved.

[Brief description of the drawings]

FIG. 1 is a diagram showing a basic configuration of a system for implementing a first invention.

FIG. 2 is a diagram illustrating an example of an image displayed on a display.

FIG. 3 is a diagram showing a basic configuration of a system for implementing a second invention.

FIG. 4 is a diagram showing a basic configuration of a system for implementing a third invention.

[Explanation of symbols]

 1, 11, 21 Ranging finder 2, 12 Projector 2a, 12a Light beam 3 Remote controller 4 Mobile computer 5 Heavy machine 5a Operator's cab 6a, 6b Transceiver 22 Second display A Fixed point B Reference point C Measurement point

Claims (8)

[Claims] At least one of a range finder with a light projector, remote control means for controlling an irradiation direction of a light beam emitted from the range finder, and a mobile computer is used. The three-dimensional position is set at a known fixed point, and the light beam is applied to the reference point with the known three-dimensional position by an operator's operation to measure the position and orientation of the distance measuring instrument. By performing a predetermined measurement by irradiating the light beam of the range finder to the measured point by remote control, transferring the obtained data of the measured point from the range finder to the mobile computer, and processing the data, A surveying method in civil engineering work, wherein a three-dimensional position of a measured point is calculated in association with the reference point. 2. An automatic tracking type ranging device, at least remote control means for instructing the ranging device to perform tracking, a projector for outputting a light beam, and a mobile computer,
The distance finder is set at a fixed point having a known three-dimensional position, and the position and orientation of the distance finder are determined by collimating and measuring a reference point having a known three-dimensional position. , Move the light beam to the above-mentioned reference point, move to the point to be measured, make it track automatically by the distance measuring instrument, and perform the predetermined measurement to obtain the data of the point to be measured. And calculating the three-dimensional position of the measured point in association with the reference point by transferring the data to the mobile computer and processing the data. 3. The civil engineering work according to claim 2, wherein an auto-tracking type range finder is configured to automatically return to a state of collimating a predetermined fixed point when a light beam to be tracked is lost. Survey method in. 4. A distance measuring instrument having at least an imaging function, and remote control means for controlling a collimating direction of the distance measuring instrument.
Using a display on which an image captured by the distance measuring device is reproduced and displayed, and a mobile computer, the distance measuring device can
The position and orientation of the distance measuring finder are determined by setting the camera at a fixed point having a known three-dimensional position and collimating and measuring a reference point having a known three-dimensional position, and then the operator displays an image displayed on the display means. By operating the range finder by remote control while watching, the measured point is collimated and a predetermined measurement is performed, and the obtained data of the measured point is transferred from the range finder to the mobile computer. A surveying method in civil engineering work, wherein a three-dimensional position of a measured point is calculated in association with the reference point by data processing. 5. The method according to claim 1, wherein a deviation between the calculated three-dimensional position of the measured point and a design position of the measured point input to the mobile computer in advance is obtained. Surveying method in civil engineering work. 6. A surveying method in civil engineering work according to claim 5, wherein a deviation between the calculated three-dimensional position of the measured point and the design position is displayed on a display. 7. The civil engineering work according to claim 6, wherein a deviation between the calculated three-dimensional position of the measured point and the design position is displayed by a sectional view on design and a mark indicating the position of the measured point. Survey method in. 8. The surveying method in civil engineering work according to claim 1, wherein the operator is an operator of a heavy equipment at a civil engineering work site.