Measurement system and measurement method

Abstract

A measurement system (100) of the present disclosure is provided with a first measurement device (10), a second measurement device (20), and an information processing device (30). The first measurement device (10) includes a first laser rangefinder (11) and a panel (12) that is disposed at a first relative position with respect to the first laser rangefinder (11). The second measurement device (20) includes two position meters and a second laser rangefinder (22) that is disposed at a second relative position with respect to the two position meters, radiates in a ranging direction, and measures distance. The information processing device (30) includes a calculation unit (32) that calculates an absolute position (P0) of an object on the basis of absolute positions of the two position meters, a vertical distance (Lx), a horizontal distance (Ly), the first relative position, and the orientation of the ranging direction of the second laser rangefinder.

Description

Measurement system and measurement method

[0001] The present disclosure relates to a measurement system and a measurement method.

[0002] Conventionally, the location of underground buried objects has been specified by their relative position from a reference point such as a road boundary. However, when roads are widened or otherwise modified, changing the road shape, the reference point becomes unclear, which can make it difficult to specify the location of underground buried objects.

[0003] Therefore, to be able to identify the location of underground buried objects even if the road shape changes, workers measure the absolute position of underground buried objects at each measurement point using a Global Navigation Satellite System (GNSS) receiver and a survey rod. In such measurements, the workload of the workers increases as the number of measurement points increases.

[0004] In order to reduce such workload, it is known to measure the absolute position of an underground buried object when laying the underground buried object using a trencher equipped with a GNSS receiver, as described in Non-Patent Document 1. Specifically, as shown in Figures 9 and 10, a GNSS receiver 92 and a compass 93 are attached to a trencher 91. The absolute position of the GNSS receiver 92 is measured using the GNSS receiver 92, and the position P of the cutting edge of the trencher 91 is detected from the GNSS receiver 92 using the compass 93. ９Ａ Then, the operator uses a scale to measure the position P of the cutting edge of the trencher 91 from the GNSS receiver 92. ９ Horizontal distance L to ｘ９ and the height L of the GNSS receiver 92 from the ground. ｙ９１ and the depth L of the ground excavated by the trencher 91 ｙ９２ As a result, the horizontal distance L from the absolute position of the GNSS receiver 92 to the direction measured by the compass magnet 93 is calculated. ｘ９ and vertically downward at a height of L ｙ９１ and depth L ｙ９２ The position P of the cutting edge is the sum of ９ＡIt is calculated as:

[0005] Takuya Ishikawa and two others, "Study on High-Precision Estimation Method of Pipe Laying Location Using Excavation Machines," JSCE, 77th Annual Academic Lecture Meeting, 2022 National Convention of the Japan Society of Civil Engineers

[0006] However, since the overall height of a typical trencher 91 is 2 m or more, it is difficult to attach the GNSS receiver 92 and the compass magnet 93 to the center line of the trencher 91 blade on the trencher 91. Therefore, as shown in Figure 10, the direction measured using the compass magnet 93 (the direction of the arrow indicated by the dashed line) may deviate from the direction from the GNSS receiver 92 to the cutting edge of the trencher 91 (x-axis direction). Therefore, the horizontal distance L ｘ９ Position P ９Ｂ The horizontal distance L ｘ９ , height L ｙ９１ , and depth L ｙ９２ Therefore, it is difficult to measure the absolute position of the underground buried object located at the cutting edge of the trencher 91 with high accuracy.

[0007] In view of the above circumstances, an object of the present disclosure is to provide a measurement system and a measurement method that can measure the absolute position of an object corresponding to an underground buried object with high accuracy.

[0008] In order to solve the above problem, a measurement system according to the present disclosure includes a first measurement device, a second measurement device, and an information processing device, and is a measurement system for measuring the absolute position of an object that is a first part of a movable object, wherein the first measurement device includes a first laser rangefinder that irradiates a distance measurement direction and measures a distance, and a panel that is arranged at a first relative position with respect to the first laser rangefinder, and the second measurement device includes two position measuring devices that are arranged at different positions from each other and measure their respective absolute positions using signals received from artificial satellites, and a second position measuring device that is arranged at a second relative position with respect to the two position measuring devices and that measures the distance measurement direction. and a second laser rangefinder that emits light in a direction and measures distance, and the information processing device includes a calculation unit that calculates the absolute position of the object based on the absolute positions of the two position measuring devices when the second laser rangefinder is attached to a second part of the object whose positional relationship with the first part does not change, the vertical distance from the first laser rangefinder to the object measured by the first laser rangefinder, the horizontal distance from the second laser rangefinder to the panel measured by the second laser rangefinder, the first relative position, and the orientation of the ranging direction of the second laser rangefinder.

[0009] In order to solve the above-mentioned problems, a measurement method according to the present disclosure is a measurement method using a measurement system for measuring the absolute position of an object that is a first part of a movable body, the measurement method including the steps of: installing a first measurement device including a first laser rangefinder and a panel that is arranged at a first relative position with respect to the first laser rangefinder so that the first laser rangefinder can measure the vertical distance to the object; installing a second measurement device including two position measuring devices that are arranged at different positions from each other and that measure their respective absolute positions using signals received from artificial satellites, and a second laser rangefinder that is arranged at a second relative position with respect to the two position measuring devices; The method includes the steps of: installing a laser rangefinder so that the horizontal distance to a panel can be measured; measuring the vertical distance using the first laser rangefinder; measuring the absolute positions of each of the two position measuring devices; measuring the horizontal distance using the second laser rangefinder; and calculating the absolute position of the object based on the absolute positions of each of the two position measuring devices, the vertical distance from the first laser rangefinder to the object measured by the first laser rangefinder, the horizontal distance from the second laser rangefinder to the panel measured by the second laser rangefinder, the first relative position, and the orientation of the ranging direction of the second laser rangefinder.

[0010] The measurement system and measurement method according to the present disclosure can measure the absolute position of an object corresponding to an underground buried object with high accuracy.

[0011] 6A and 6B are schematic diagrams showing an example of a measurement system according to the present embodiment; FIG. 1 is a front view showing details of the first measurement device shown in FIG. 1; FIG. 2A is a side view showing details of the first measurement device shown in FIG. 2A; FIG. 1 is a plan view showing details of the second measurement device shown in FIG. 1; FIG. 3A is a rear view showing details of the second measurement device shown in FIG. 3A; FIG. 1 is a functional block diagram showing an example of an information processing device shown in FIG. 1; FIG. 1 is a flowchart showing a part of an example of measurement using the measurement system according to the present embodiment; FIG. 6B is a flowchart showing the remaining part of an example of measurement using the measurement system according to the present embodiment; FIG. 6A is a plan view showing details of a modified example of the second measurement device of the present embodiment; FIG. 6B is a rear view showing details of a modified example of the second measurement device shown in FIG. 6A; FIG. 6B is a schematic diagram showing an example of an excavation machine to which the second measurement device shown in FIGS. 6A and 6B is attached and which is inclined in the direction of travel; FIG. 6B is a diagram showing an example of the hardware configuration of an information processing device; FIG. 9 is a side view showing schematically an example of a conventional measurement system; FIG. 9 is a plan view showing an example of the measurement system shown in FIG.

[0012] The measurement system 100 of this embodiment will be described with reference to Fig. 1. As shown in Fig. 1, the measurement system 100 detects an absolute position P ０ The movable object may be, for example, an excavation machine 40 that excavates underground A. As an example, the excavation machine 40 may be a trencher. In a configuration in which the movable object is a trencher, the object that is the first part may be the cutting edge of the trencher. In such an example, the trencher excavates underground A with its cutting edge while traveling above ground B.

[0013] The excavator 40 includes a traveling unit 41 , a main body unit 42 , and a working unit 43 .

[0014] The traveling unit 41 is, for example, a track-type traveling device. The traveling unit 41 may be configured to include drive wheels, idler wheels, and crawlers wound around the drive wheels and idler wheels. The drive wheels are driven to rotate the crawlers in the extension direction, causing the traveling unit 41 to move in the extension direction on the ground B.

[0015] The main body 42 is connected to the travel unit 41 above the travel unit 41. Therefore, the main body 42 moves in accordance with the movement of the travel unit 41. The main body 42 may include a driver's seat for a driver to sit in. The main body 42 may include operating units such as operating levers for operating the travel unit 41 and the working unit 43. A roof 42a may be provided on the upper side of the main body 42.

[0016] The working unit 43 is attached to the main body 42. The working unit 43 can excavate the underground A while the main body 42 is traveling on the ground B. As described above, in a configuration in which the excavating machine 40 is a trencher, the first part is the cutting edge which is the tip of the working unit 43.

[0017] The measurement system 100 includes a first measurement device 10 , a second measurement device 20 , and an information processing device 30 .

[0018] <Configuration of First Measuring Apparatus> As shown in FIGS. 2A and 2B, the first measuring apparatus 10 includes a first laser distance meter 11, a panel 12, a first jig 13, and a level 14.

[0019] The first laser rangefinder 11 measures the distance by emitting a first laser in a distance measurement direction. Specifically, the first laser rangefinder 11 functions as a laser pointer that emits a first laser that is visible to humans, and measures the distance to a position irradiated by the first laser.

[0020] The panel 12 is disposed at a first relative position with respect to the first laser rangefinder 11. When a laser is incident on the panel 12, the panel 12 can reflect the laser in a direction opposite to the direction of incidence of the laser. The panel 12 may also be indicated with a position that coincides with the origin of measurement by the first laser rangefinder 11 when viewed from the normal direction of the panel 12. Specifically, the position may be indicated as the intersection of a vertical mark MK1 extending in the vertical direction and a horizontal mark MK2 extending in the horizontal direction. For example, when viewed from the normal direction of the panel 12, if the origin of measurement by the first laser rangefinder 11 coincides with the intersection of a vertically extending center line that horizontally bisects the panel 12 and a horizontally extending center line that vertically bisects the panel 12, the vertical mark MK1 is the center line extending in the vertical direction, and the horizontal mark MK2 is the center line extending in the horizontal direction.

[0021] The first jig 13 can fix and support the first laser rangefinder 11 and the panel 12. The first jig 13 supports the panel 12 so that the panel 12 is disposed at a first relative position with respect to the first laser rangefinder 11. In this way, the first laser rangefinder 11 and the panel 12 are integrated together.

[0022] For example, the first jig 13 supports the first laser rangefinder 11 so that the distance measurement direction of the first laser rangefinder 11 (the opposite direction to the y-axis direction in the example shown in FIGS. 2A and 2B ) is the extension direction of the first jig 13. As a result, when the first jig 13 is installed so that the extension direction is vertical, it supports the first laser rangefinder 11 so that the distance measurement direction is vertical. As a result, the first laser rangefinder 11 can measure the target position P ０ Vertical distance L, which is the vertical distance to ｙ can be measured.

[0023] The first jig 13 may be configured to be able to change the distance of the panel 12 from the ground. As described above, the panel 12 is disposed at a first relative position with respect to the first laser rangefinder 11, and therefore the first jig 13 may be configured to change the distance of the panel 12 from the ground and also change the position of the first laser rangefinder 11. For example, the first jig 13 may be configured to be extendable and retractable in the extension direction, thereby changing the positions of the first laser rangefinder 11 and the panel 12. The first jig 13 may be provided with a scale for measuring the distance in the extension direction.

[0024] In the example shown in Figures 2A and 2B, the first jig 13 has a main pillar portion 131 extending in one direction, a support portion 132 that can erect the main pillar portion 131 so that the extension direction of the main pillar portion 131 is vertical, and a support portion 133 that supports the first laser rangefinder 11 and the panel 12 and is fixed to the main pillar portion 131 at the end of the extension direction of the main pillar portion 131.

[0025] The support 132 may be, for example, a tripod. The support 133 may support the first laser rangefinder 11 and the panel 12 from below when the first jig 13 is erected. Furthermore, the support 133 may protrude further toward the first measuring device 10 than the panel 12. This allows the protruding part of the support 133 to function as a canopy, making it easier for an operator to see the irradiation position of the laser emitted by the first laser rangefinder 11 even outdoors during the day.

[0026] The spirit level 14 indicates whether the distance measurement direction of the first laser rangefinder 11 is vertical. For example, as described above, in a configuration in which the distance measurement direction of the first laser rangefinder 11 is the extension direction of the first jig 13, the spirit level 14 may be attached to the first jig 13 by being placed on a planar member 14a having a plane whose normal direction is the extension direction of the first jig 13. In such a configuration, the spirit level 14 can indicate whether the plane is horizontal. As a result, the spirit level 14 can indicate whether the extension direction of the first jig 13, which is the normal direction of the plane, is vertical, i.e., whether the distance measurement direction of the first laser rangefinder 11 is vertical. Furthermore, by attaching the spirit level 14 to the first jig 13 in this manner, the first laser rangefinder 11, the panel 12, and the spirit level 14 may be integrated.

[0027] <Configuration of second measuring device> As shown in Figures 3A and 3B, the second measuring device 20 includes two position measuring devices 21, a second laser rangefinder 22, a direction finding device 23, a second jig 24, and an adjustment mechanism 25. In the example shown in Figures 1 and 3A, the second measuring device 20 is attached to the upper side of the roof 42a of the main body 42 of the excavating machine 40. The second measuring device 20 may be attached to the excavating machine 40 by any method. Furthermore, the second measuring device 20 may be attached to the excavating machine 40 in a removably manner.

[0028] Returning to FIGS. 3A and 3B , the two position measuring devices 21 measure their respective absolute positions using signals received from artificial satellites. The two position measuring devices 21 are located at different locations. The position measuring devices 21 may be GNSS receivers of a global navigation satellite system (GNSS). The artificial satellites may be satellites of the satellite positioning system. The satellite positioning system may be a quasi-zenith satellite system (QZSS), a global positioning system (GPS), or the like. In such a configuration, the position measuring devices 21 can measure their absolute positions by a known method using the GNSS signals received from the GNSS satellites.

[0029] The second laser rangefinder 22 is disposed at a second relative position with respect to the two position measuring devices 21. The second laser rangefinder 22 emits a second laser in a distance measurement direction to measure the distance. Specifically, the second laser rangefinder 22 functions as a laser pointer that emits a second laser that is visible to humans, and also has a function of measuring the distance to an irradiation position illuminated by the second laser. The second measuring device 20 can be attached so that the second laser rangefinder 22 is located at a second portion (e.g., on the roof 42 a of the excavation machine 40) of the object whose positional relationship with the first portion (e.g., the cutting edge of the working unit 43 of the excavation machine 40) does not change.

[0030] As shown in FIG. 1, the second laser range finder 22 measures the horizontal distance L from the second laser range finder 22 to the panel 12. ｘ For example, the second laser distance meter 22 measures the horizontal distance L to the intersection of the vertical mark MK1 and the horizontal mark MK2 on the panel 12 (see FIG. 2A). ｘThe second laser rangefinder 22 may be installed so as to be able to measure the distance between the first laser rangefinder 11 and the second laser rangefinder 22. Specifically, after placing the second measuring device 20 including the second laser rangefinder 22, the worker determines whether the laser emitted from the second laser rangefinder 22 is irradiating the panel 12. If it is determined that the laser is not irradiating the panel 12, the worker changes the position and attitude of the second laser rangefinder 22. At this time, the worker can also change the position and attitude of the first laser rangefinder 11 as necessary. Specifically, if the second laser rangefinder 22 is installed so that the distance measurement direction is horizontal and the second laser is irradiating the intersection of the vertical mark MK1 and the horizontal mark MK2 on the panel 12, the worker does not change the position and attitude of the first laser rangefinder 11. When the second laser rangefinder 22 is installed so that the distance measurement direction is horizontal and the second laser is irradiated only onto the horizontal mark MK2 on the panel 12, the worker changes the attitude of the second laser rangefinder 22 in the direction of rotation about the vertical axis (yaw direction) so that the second laser is also irradiated onto the vertical mark MK1. When the second laser rangefinder 22 is installed so that the distance measurement direction is horizontal and the second laser is irradiated only onto the vertical mark MK1 on the panel 12, the worker adjusts the height of the first laser rangefinder 11 so that the second laser is also irradiated onto the horizontal mark MK2. This is repeated, and when it is determined that the laser is being irradiated onto the panel 12, the installation of the second laser rangefinder 22 is complete, and the second laser rangefinder 22 measures the horizontal distance L ｘ can be measured.

[0031] 3A and 3B, the azimuth measuring device 23 measures the azimuth of the distance measurement direction (distance measurement azimuth) of the second laser distance meter 22. Specifically, the azimuth measuring device 23 measures the azimuth of the distance measurement direction (distance measurement azimuth) of the second laser distance meter 22 when the second laser distance meter 22 measures the horizontal distance L as described above. ｘ The distance measurement direction is measured when the device is positioned so that the distance can be measured.

[0032] The second jig 24 is provided with two position measuring devices 21 and a second laser rangefinder 22. As a result, the two position measuring devices 21 and the second laser rangefinder 22 are integrated, and their relative positions to each other are kept constant. The second jig 24 may further be provided with a direction finding device 23. The second jig 24 is attached to a movable object (e.g., the excavation machine 40). For example, the second jig 24 may be attached by being placed on the roof 42a of the main body 42 of the excavation machine 40. Furthermore, the position or attitude of the second jig 24 can be changed by an adjustment mechanism 25, which will be described in detail later, without changing the second relative position.

[0033] The second jig 24 may include a base portion 241 and legs 242 .

[0034] The base 241 may be, for example, a plate-shaped member. The two position measuring devices 21 and the second laser rangefinder 22 may be fixedly provided on the base 241. Furthermore, the azimuth measuring device 23 may be fixedly provided on the base 241. As a result, the second laser rangefinder 22 is disposed at a second relative position with respect to the two position measuring devices 21. Therefore, the absolute position of the second laser rangefinder 22 can be calculated based on the absolute positions of the two position measuring devices 21. In the example shown in FIGS. 3A and 3B , the second laser rangefinder 22 is provided midway between the two position measuring devices 21. In this case, the absolute position of the second laser rangefinder 22 can be calculated to be midway between the two position measuring devices 21.

[0035] The leg 242 is a member provided on the side of the base 241 opposite to the side on which the two position measuring devices 21 and the second laser rangefinder 22 are provided, and is attached to a movable object (e.g., the excavation machine 40). The leg 242 may have an elastic body 242a. The elastic body 242a may be attached so as to abut against the adjustment mechanism 25. The elastic body 242a may be made of rubber, a spring, or the like. The elastic body 242a functions as a vibration-damping mechanism that reduces transmission of vibrations of the excavation machine 40 to the two position measuring devices 21, the second laser rangefinder 22, the azimuth measuring device 23, etc. Therefore, even when the excavation machine 40 is in an environment where workability is poor, the first measuring device 10 can be stably attached to the excavation machine 40 and stably measure the absolute position of the position measuring device 21.

[0036] The adjustment mechanism 25 changes the positions and attitudes of the two position measuring devices 21 and the second laser range finder 22 while maintaining the second relative position. For example, the adjustment mechanism 25 may change the position or attitude of the base 241 on which the two position measuring devices 21 and the second laser range finder 22 are provided. The adjustment mechanism 25 may include a rotation mechanism 25 a or a displacement mechanism 25 b.

[0037] The rotation mechanism 25a changes the attitudes of the two position measuring devices 21 and the second laser rangefinder 22. For example, the rotation mechanism 25a may change the attitude of a base 241 on which the two position measuring devices 21 and the second laser rangefinder 22 are provided. Specifically, the rotation mechanism 25a may change the attitudes of the two position measuring devices 21 and the second laser rangefinder 22 by rotating the base 241 in the direction indicated by the arrow RT in FIG. 3A around an axis (y-axis in the example shown in FIG. 3A) perpendicular to the distance measurement direction of the second laser rangefinder 22 (x-axis direction in the example shown in FIG. 3A ) and the direction of a line passing through the two position measuring devices 21 (z-axis direction in the example shown in FIG. 3A ). Alternatively, the rotation mechanism 25a may change the attitudes of the two position measuring devices 21 and the second laser rangefinder 22 by rotating the base 241 around an axis (z-axis in the example shown in FIG. 3A ) passing through the two position measuring devices 21. The rotation mechanism 25a may be configured to be able to displace the base portion 241 by any mechanism.

[0038] The displacement mechanism 25b changes the positions of the two position measuring devices 21 and the second laser rangefinder 22. For example, the displacement mechanism 25b may change the position of a base 241 on which the two position measuring devices 21 and the second laser rangefinder 22 are provided. Specifically, as shown in FIG. 3B , the displacement mechanism 25b may change the position of the base 241 by moving the base 241 in the direction of a straight line passing through the two position measuring devices 21 (in the example shown in FIG. 3A , the z-axis direction). The displacement mechanism 25b may be configured to rotate the two position measuring devices 21 and the second laser rangefinder 22 by any mechanism.

[0039] <Configuration of Information Processing Apparatus> As shown in FIG. 4 , the information processing apparatus 30 includes an input unit 31 , a calculation unit 32 , and an output unit 33 .

[0040] The input unit 31 is configured with an input interface. The input interface may be configured with a pointing device, a keyboard, a mouse, etc. The input interface may include a communication interface. For example, standards such as Ethernet (registered trademark), FDDI (Fiber Distributed Data Interface), or Wi-Fi (registered trademark) may be used for the communication interface. The calculation unit 32 is configured with a controller. The controller may be configured with dedicated hardware such as an ASIC (Application Specific Integrated Circuit) or FPGA (Field-Programmable Gate Array), or may be configured with a processor, or may include both. The output unit 33 is configured with an output interface. The output interface may include a display interface or a communication interface. The display interface may be an organic EL (Electro Luminescence) display, a liquid crystal panel, etc.

[0041] The input unit 31 receives the vertical distance L from the first measurement device 10. ｙThe input unit 31 receives the vertical distance L from the first measurement device 10 via a wired or wireless communication network. ｙ Alternatively, the vertical distance L ｙ The input unit 31 may also receive the absolute positions of the two position measuring devices 21, the horizontal distance L ｘ The input unit 31 receives the absolute positions of the two position measuring devices 21, the horizontal distance L, and the distance measurement direction from the second measuring device 20 via a wired or wireless communication network. ｘ , and the distance measurement direction may be input, or the absolute positions of the two position measuring devices 21, the horizontal distance L ｘ , and the distance measurement direction may be input.

[0042] The calculation unit 32 calculates the absolute positions of the two position measuring devices 21 and the vertical distance L from the first laser rangefinder 11 to the object measured by the first laser rangefinder 11 when the second laser rangefinder 22 is attached to a second part (for example, the roof 42 a of the excavation machine 40) of the object (for example, the excavation machine 40) whose positional relationship with the first part (for example, the cutting edge of the excavation machine 40) does not change. ｙ , the horizontal distance L measured by the second laser range finder 22 from the second laser range finder 22 to the panel 12 ｘ , the first relative position, and the ranging direction (direction of ranging direction) of the second laser range finder 22, the absolute position P ０ Calculate.

[0043] Specifically, first, the calculation unit 32 calculates a second relative position with respect to the absolute positions of the two position measuring devices 21 as the absolute position of the second laser rangefinder 22. For example, in a configuration in which the second laser rangefinder 22 is located midway between the two position measuring devices 21 as described above, the calculation unit 32 calculates the midway position between the absolute positions of the two position measuring devices 21 as the position of the second laser rangefinder 22.

[0044] Then, the calculation unit 32 calculates the horizontal distance L from the second laser rangefinder 22 in the horizontal direction of the distance measurement direction.ｘ , a vertical distance L from a position (position of the first laser range finder 11) that is a first relative position with respect to a distant position (position of the panel 12) in the vertical direction of the first laser range finder 11 ｙ , the distant position is the absolute position P ０ It is calculated as follows.

[0045] The calculation unit 32 also calculates the horizontal distance L ｘ and vertical distance L ｙ The absolute position P of the object after the object has moved is calculated based on the absolute positions of the two position measuring devices 21 measured after the object has moved. ０ Specifically, the calculation unit 32 calculates a second relative position with respect to the absolute positions of the two position measuring devices 21 measured after the object has moved as the absolute position of the second laser range finder 22. Then, the calculation unit 32 calculates the absolute position of the second laser range finder 22 and the horizontal distance L already measured. ｘ and vertical distance L ｙ Based on this, the absolute position P of the object after the object movement is calculated. １ For example, the calculation unit 32 may calculate the horizontal distance L ｘ , a vertical distance L from a position (position of the first laser rangefinder 11) that is a first relative position with respect to a distant position (position of the panel 12) ｙ , the absolute position P of the object after the object moves １ It may be calculated as:

[0046] <Measurement Using Measurement System> Next, an example of measurement using the measurement system 100 according to this embodiment will be described with reference to Figures 5A and 5B. Figures 5A and 5B show the absolute position P of a target, which is a first portion of a movable object, according to this embodiment. ０ 5A and 5B is a flowchart showing an example of measurement using the measurement system 100. The example of measurement using the measurement system 100 described with reference to Figs. 5A and 5B corresponds to the measurement method according to this embodiment.

[0047] In steps S11 to S15, the first measuring device 10 including the first laser rangefinder 11 and the panel 12 arranged at a first relative position with respect to the first laser rangefinder 11 is measured based on the vertical distance L ｙ The equipment is installed so that the following can be measured.

[0048] Specifically, as shown in FIG. 5A, in step S11, the first measurement device 10 is installed.

[0049] In step S12, it is determined whether the distance measurement direction of the first laser rangefinder 11 is vertical.

[0050] If it is determined in step S12 that the distance measurement direction is not vertical, the position and attitude of the first laser rangefinder 11 are changed in step S13.

[0051] If it is determined in step S12 that the distance measurement direction is the vertical direction, the first laser rangefinder 11 is caused to emit a first laser in step S14.

[0052] In step S15, it is determined whether the first laser is being irradiated onto the target.

[0053] If it is determined in step S15 that the first laser is not irradiated onto the target, the process proceeds to step S13.

[0054] If it is determined in step S15 that the first laser is irradiating the target, in steps S16 to S20, a second measuring device 20 including two position measuring devices 21 arranged at different positions from each other and measuring their respective absolute positions using signals received from artificial satellites, and a second laser range finder 22 arranged at a second relative position with respect to the two position measuring devices 21, is used to measure the horizontal distance L to the panel 12 when the second laser range finder 22 measures the horizontal distance L ｘ The equipment is installed so that the following can be measured.

[0055] Specifically, in step S16, the second measurement device 20 is installed.

[0056] In step S17, the level 14 is used to determine whether the distance measurement direction of the second laser rangefinder 22 is horizontal.

[0057] If it is determined in step S17 that the distance measurement direction of the second laser rangefinder 22 is not horizontal, the position and attitude of the second laser rangefinder 22 are changed in step S18.

[0058] If it is determined in step S17 that the distance measurement direction of the second laser rangefinder 22 is horizontal, the second laser rangefinder 22 is made to emit a second laser in step S19.

[0059] In step S20, it is determined whether or not the second laser is irradiated onto the panel 12. Specifically, it is determined whether or not the second laser is irradiated onto the intersection of the vertical mark MK1 and the horizontal mark MK2 on the panel 12.

[0060] If it is determined in step S20 that the second laser is not irradiated onto the panel 12, the process proceeds to step S18. Specifically, if it is determined that the second laser is not irradiated onto the intersection of the vertical mark MK1 and the horizontal mark MK2 on the panel 12, the process proceeds to step S18. Note that if the process proceeds from step S20 to step S18, in addition to changing the position and attitude of the second laser rangefinder 22, the position and attitude of the first laser rangefinder 11 may also be changed as described above.

[0061] If it is determined in step S20 that the second laser is irradiating the panel 12, as shown in FIG. 5B, in step S21, the vertical distance L is measured by the first laser range finder 11. ｙ Specifically, if it is determined that the second laser is irradiated onto the intersection of the vertical mark MK1 and the horizontal mark MK2 on the panel 12, the first laser rangefinder 11 measures the vertical distance L in step S21. ｙ Measure.

[0062] In step S22, the absolute positions of the two position measuring devices 21 are measured.

[0063] In step S23, the horizontal distance L ｘ Measure.

[0064] In step S24, the direction of the distance measurement direction of the second laser rangefinder 22 is measured.

[0065] In step S25, the calculation unit 32 of the information processing device 30 calculates the absolute positions of the two position measuring devices 21, the vertical distance L from the first laser range finder 11 to the target measured by the first laser range finder 11, and ｙ , the horizontal distance L measured by the second laser range finder 22 from the second laser range finder 22 to the panel 12 ｘ , the first relative position, and the orientation of the distance measurement direction of the second laser range finder 22, the absolute position P ０ Calculate.

[0066] After that, the output unit 33 of the information processing device 30 outputs the absolute position P ０ In the above operation, the horizontal distance L ｘ and vertical distance L ｙ is measured and the object (e.g., the excavation machine 40) has moved, steps S22, S24, and S25 may be repeated. In this case, the information processing device 30 may measure the absolute position P of the target after the object has moved. １ In the above-described operation, steps S21 to S24 may be executed in any order. In addition, any two or more of steps S21 to S24 may be executed at the same timing.

[0067] As described above, according to this embodiment, the measurement system 100 includes the first measurement device 10, the second measurement device 20, and the information processing device 30, and is configured to obtain the absolute position P of a target that is a first portion of a movable object. ０The first measuring device 10 includes a first laser rangefinder 11 that emits light in a distance measurement direction and measures distance, and a panel 12 that is arranged at a first relative position with respect to the first laser rangefinder 11. The second measuring device 20 includes two position measuring devices 21 that are arranged at different positions from each other and measure their respective absolute positions using signals received from artificial satellites, and a second laser rangefinder 22 that is arranged at a second relative position with respect to the two position measuring devices 21 and emits light in a distance measurement direction and measures distance. The information processing device 30 calculates the absolute positions of the two position measuring devices 21 and the vertical distance L from the first laser rangefinder 11 to the target measured by the first laser rangefinder 11 when the second laser rangefinder 22 is attached to a second part of the object whose positional relationship with the first part does not change. ｙ , the horizontal distance L measured by the second laser range finder 22 from the second laser range finder 22 to the panel 12 ｘ , the first relative position, and the orientation of the distance measurement direction of the second laser range finder 22, the absolute position P １ The calculation unit 32 calculates:

[0068] This allows the measurement system 100 to determine the absolute position P ０ Furthermore, the measurement system 100 can measure the absolute position P of the object without depending on the installation accuracy of the position measuring device 21. ０ Therefore, even in an environment where workability is poor, the absolute position P ０ Furthermore, the measurement system 100 can measure the absolute position P of the second portion (for example, the cutting edge of the trencher) of the excavating machine 40 as the excavating machine 40 moves. １ This allows the absolute position of a pipeline or the like laid in the area excavated by the second portion to be estimated. Conventionally, when a GNSS receiver and a survey rod are used, the absolute position of a pipeline or the like is measured at intervals of about one point every several tens of meters in terms of workload, whereas the measurement system 100 of this embodiment can measure the absolute position P of the target at any interval accompanying the movement of the excavating machine 40. １The measurement system 100 can measure, for example, the absolute position P １ The absolute position can be easily measured at intervals of several millimeters to several centimeters. Therefore, it is possible to create a diagram showing the position of a pipeline or the like underground A with high accuracy.

[0069] (First Modification) In the above-described embodiment, the second measurement device 20 does not need to include the azimuth measuring device 23. In such a configuration, the calculation unit 32 may calculate the ranging direction of the second laser rangefinder 22 based on the absolute positions of the two position measuring devices 21, the second relative position, and the direction of a line passing through the two position measuring devices 21. For example, as shown in FIG. 3A , in a configuration in which the second laser rangefinder 22 is disposed midway between the two position measuring devices 21 and the ranging direction is perpendicular to the line passing through the two position measuring devices 21, the ranging direction can be determined to be a direction including a direction perpendicular to the line passing through the two position measuring devices 21 from the midway between the two position measuring devices 21. According to the first modification, the second measurement device 20 does not need to include the azimuth measuring device 23, and therefore can be configured simply.

[0070] 6A and 6B, the second measurement device 20 may further include an inclination angle sensor 26. The inclination angle sensor 26 may be provided on the base 241. In this modification, the second measurement device 20 may include a direction measuring device 23, or may not include one as in the example shown in FIGS.

[0071] The tilt angle sensor 26 detects the horizontal distance L ｘ and vertical distance L ｙ is measured, and the tilt angle θ of the distance measurement direction of the second laser range finder 22 with respect to the horizontal direction after the object (e.g., the excavation machine 40) has moved is measured. As described above, the horizontal distance L ｘ and vertical distance L ｙ The second measuring device 20 is installed so that the distance measurement direction of the second laser distance meter 22 is horizontal when measuring the horizontal distance L. However, as the object moves after that, the horizontal distance L ｘand vertical distance L ｙ The second laser rangefinder 22 may be located on a ground surface that is inclined at a different inclination angle from the ground surface at which the second laser rangefinder 22 was measured. In such a case, the ranging direction is inclined with respect to the horizontal direction, as shown in Fig. 7. The inclination angle sensor 26 measures the inclination angle θ of the ranging direction of the second laser rangefinder 22 with respect to the horizontal direction.

[0072] In the second modification, the calculation unit 32 calculates the horizontal distance L ｘ and vertical distance L ｙ The absolute position P of the target after the object has moved is calculated based on the absolute positions of the two position measuring devices 21 measured after the object has moved and the tilt angle θ. ０ Calculate.

[0073] For example, the calculation unit 32 calculates the position P of the target on the xy plane when the position of the second laser rangefinder 22 is the origin, the horizontal direction is the x-axis direction, and the vertical direction is the y-axis direction. ２ coordinates (x ２ , -y ２ ) is calculated.

[0074] Specifically, the calculation unit 32 calculates the target position P ２ x coordinate of ２ In formula (1), x １ is the horizontal distance L from the second laser range finder 22 in the horizontal direction of the distance measurement direction when the position of the second laser range finder 22 is set as the origin. ｘ , is the x-coordinate of the distant position. １ is the vertical distance L from the second laser range finder 22 in the vertical direction when the position of the second laser range finder 22 is set as the origin. ｙ , is the y coordinate of the distant position. In a configuration in which the second measurement device 20 does not include the azimuth measuring device 23, the ranging direction is measured as described in the first modified example. In a configuration in which the second measurement device 20 includes the azimuth measuring device 23, the ranging direction is measured by the azimuth measuring device 23. x ２ = x １ cos(-θ)-y １ sin(-θ) (1)

[0075] Furthermore, the calculation unit 32 calculates the target position P ２ y coordinate of ２ Calculate y ２ = x １ sin(-θ)+y １ cos(-θ) (2)

[0076] The calculation unit 32 then calculates the absolute position of the second laser rangefinder 22 and the target position P ２ coordinates (x ２ , -y ２ ), the absolute position P of the object ２ Specifically, the calculation unit 32 calculates the distance x from the second laser range finder 22 in the horizontal direction, which is the distance measurement direction of the second laser range finder 22. ２ , a distance y ２ , the distant position is the absolute position P ２ It is calculated as follows.

[0077] According to the second modification, the apparatus further includes an inclination angle sensor 26 for measuring an inclination angle θ of the distance measurement direction of the second laser range finder 22 with respect to the horizontal direction, and the calculation unit 32 calculates the horizontal distance L ｘ and vertical distance L ｙ The horizontal distance L ｘ , vertical distance L ｙ , and the tilt angle θ, the absolute position P of the object after the object has moved. ２ This allows the measurement system 100 to calculate the absolute position P of the object with high accuracy even when the excavator 40 travels on uneven ground. ２ can be measured.

[0078] <Program> The information processing device 30 described above can be realized by a computer 501. A program for causing each of the information processing devices 30 to function as the information processing device 30 described above may be provided. The program may be stored in a storage medium or provided via a network. FIG. 8 is a block diagram showing a schematic configuration of a computer 501 that functions as each of the information processing devices 30. Here, the computer 501 may be a general-purpose computer, a dedicated computer, a workstation, a PC (Personal Computer), an electronic notepad, or the like. The program instructions may be program code, code segments, or the like for executing necessary tasks.

[0079] 8, the computer 501 includes a processor 510, a read-only memory (ROM) 520, a random access memory (RAM) 530, a storage 540, an input unit 550, an output unit 560, and a communication interface (I / F) 570. Each component is communicably connected to one another via a bus 580. The processor 510 is specifically a central processing unit (CPU), a micro processing unit (MPU), a graphics processing unit (GPU), a digital signal processor (DSP), a system on a chip (SoC), or the like, and may be configured by multiple processors of the same type or different types.

[0080] The processor 510 controls each component and performs various arithmetic processing. That is, the processor 510 reads a program from the ROM 520 or the storage 540 and executes the program using the RAM 530 as a work area. The processor 510 controls each component and performs various arithmetic processing in accordance with the program stored in the ROM 520 or the storage 540. In the above-described embodiment, the program according to the present disclosure is stored in the ROM 520 or the storage 540.

[0081] The program may be stored in a storage medium readable by the computer 501. Using such a storage medium, the program can be installed in the computer 501. Here, the storage medium on which the program is stored may be a non-transitory storage medium. The non-transitory storage medium is not particularly limited, and may be, for example, a CD-ROM, a DVD-ROM, or a USB (Universal Serial Bus) memory. Furthermore, the program may be downloaded from an external device via a network.

[0082] The ROM 520 stores various programs and various frames. The RAM 530 temporarily stores programs or frames as a working area. The storage 540 is configured with a hard disk drive (HDD) or a solid state drive (SSD) and stores various programs including the operating system and various frames.

[0083] The input unit 550 includes one or more input interfaces that receive input operations from a user and acquire information based on the user operations. For example, the input unit 550 may be, but is not limited to, a pointing device, a keyboard, a mouse, etc.

[0084] The output unit 560 includes one or more output interfaces that output information. For example, the output unit 560 is a display that outputs information as a video or a speaker that outputs information as an audio, but is not limited to these. Note that if the output unit 560 is a touch panel display, it also functions as the input unit 550.

[0085] The communication interface (I / F) 570 is an interface for communicating with an external device.

[0086] The following supplementary note is further disclosed regarding the above-described embodiments: [Supplementary note 1] A measurement system for measuring the absolute position of an object that is a first part of a movable body, comprising a first measurement device, a second measurement device, and an information processing device, wherein the first measurement device comprises: a first laser rangefinder that irradiates a distance measurement direction and measures distance; and a panel that is arranged at a first relative position with respect to the first laser rangefinder; the second measurement device comprises: two position measuring devices that are arranged at different positions and measure their respective absolute positions using signals received from artificial satellites; and a second laser rangefinder that is arranged at a second relative position with respect to the two position measuring devices and irradiates a distance measurement direction and measures distance; the information processing device comprises a controller; and a second jig on which the two position measuring devices and the second laser rangefinder are mounted, the second jig being capable of changing a position or attitude of the second jig without changing the second relative position. [Supplementary Item 3] The measurement system described in Supplementary Item 1 or 2, wherein the controller calculates a second relative position with respect to the absolute positions of the two position measuring devices as the absolute position of the second laser rangefinder, and calculates a position that is the vertical distance away from a position that is the first relative position with respect to a position that is the horizontal distance away from the second laser rangefinder in the horizontal direction of the azimuth as the absolute position of the object.[Supplementary Item 4] The measurement system described in any one of Supplementary Items 1 to 3, further comprising an inclination angle sensor that measures the inclination angle of the ranging direction of the second laser rangefinder relative to the horizontal direction, and the controller calculates the absolute position of the target after the object has moved based on the absolute positions of the two position measuring devices, the horizontal distance, the vertical distance, and the inclination angle measured after the object has moved after the horizontal distance and the vertical distance have been measured. [Supplementary Item 5] A measurement method using a measurement system for measuring the absolute position of an object that is a first part of a movable body, comprising: installing a first measurement device including a first laser rangefinder and a panel arranged at a first relative position with respect to the first laser rangefinder so that the first laser rangefinder can measure the vertical distance to the object; installing a second measurement device including two position measuring devices arranged at different positions from each other and measuring their respective absolute positions using signals received from artificial satellites, and a second laser rangefinder arranged at a second relative position with respect to the two position measuring devices so that the second laser rangefinder can measure the horizontal distance to the panel; measuring the vertical distance with the first laser rangefinder; measuring the absolute positions of each of the two position measuring devices; measuring the horizontal distance with the second laser rangefinder; a first relative position of the first laser rangefinder and a second laser rangefinder, the first relative position of the first laser rangefinder and the second laser rangefinder, the second relative position of the second laser rangefinder and the ... relative position of the second laser rangefinder and the second relative position of the second laser rangefinder and the second relative position of the second laser rangefinder and the second relative position of the second laser rangefinder and the second relative position of the second laser rangefinder and the second[Supplementary Item 7] The measurement method described in Supplementary Item 5 or 6, wherein placing the second measurement device includes: causing the second laser rangefinder to irradiate a second laser; determining whether the second laser is irradiating the panel; and changing the position and attitude of the second laser rangefinder when it is determined that the second laser is not irradiating the panel.

[0087] All publications, patent applications, and technologies mentioned in this specification are herein incorporated by reference to the same extent as if each individual publication, patent application, and technology was specifically and individually indicated to be incorporated by reference.

[0088] Although the above-described embodiments have been described as typical examples, it will be apparent to those skilled in the art that many modifications and substitutions can be made within the spirit and scope of the present disclosure. Therefore, the present invention should not be construed as being limited by the above-described embodiments, and various modifications or alterations are possible without departing from the scope of the claims.

[0089] REFERENCE SIGNS LIST 10 First measuring device 20 Second measuring device 30 Information processing device 10 First measuring device 11 First laser rangefinder 12 Panel 13 First jig 14 Level 14a Planar member 20 Second measuring device 21 Position measuring device 22 Second laser rangefinder 23 Orientation measuring device 24 Second jig 25 Inclination angle sensor 26 Rotation mechanism 27 Displacement mechanism 30 Information processing device 31 Input unit 32 Calculation unit 33 Output unit 40 Excavation machine 41 Traveling unit 42 Main body unit 42a Roof 43 Working unit 100 Measurement system 131 Main pillar unit 132 Support unit 133 Support unit 241 Base unit 242 Leg unit 242 Adjustment mechanism 242a Rotation mechanism 242b Displacement mechanism 501 Computer 510 Processor 520 ROM 530 RAM 540 Storage 550 Input section 560 Output section 570 Communication interface 580 Bus

Claims

1. A measurement system comprising a first measuring device, a second measuring device, and an information processing device, for measuring an absolute position of an object which is a first part of a movable object, wherein the first measuring device includes a first laser range finder which irradiates a distance measurement direction and measures distance, and a panel which is arranged at a first relative position with respect to the first laser range finder, and the second measuring device includes two position measuring devices which are arranged at different positions from each other and measure their respective absolute positions using signals received from an artificial satellite, and a second laser range finder which is arranged at a second relative position with respect to the two position measuring devices, irradiates a distance measurement direction and measures distance, The information processing device is a measurement system including a calculation unit that calculates the absolute position of the object based on the absolute positions of each of the two position measuring devices when the second laser rangefinder is attached to a second part of the object whose positional relationship with the first part does not change, the vertical distance from the first laser rangefinder to the object measured by the first laser rangefinder, the horizontal distance from the second laser rangefinder to the panel measured by the second laser rangefinder, the first relative position, and the azimuth of the ranging direction of the second laser rangefinder.

2. The measurement system described in claim 1, wherein the second measuring device further comprises a second jig on which the two position measuring devices and the second laser range finder are mounted, and the position or attitude of the second jig is changeable without changing the second relative position.

3. The measurement system of claim 1 or 2, wherein the calculation unit calculates a second relative position with respect to the absolute positions of the two position measuring devices as the absolute position of the second laser rangefinder, and calculates a position in the vertical direction that is the vertical distance from a position that is the first relative position with respect to a position that is the horizontal distance from the second laser rangefinder in the horizontal direction of the azimuth as the absolute position of the object.

4. The measurement system of claim 1 or 2, further comprising an inclination angle sensor that measures the inclination angle of the ranging direction of the second laser rangefinder relative to the horizontal direction, wherein the calculation unit calculates the absolute position of the target after the object has moved based on the absolute positions of each of the two position measuring devices, the horizontal distance, the vertical distance, and the inclination angle measured after the object has moved after the horizontal distance and the vertical distance have been measured.

5. A measurement method using a measurement system for measuring an absolute position of an object which is a first part of a movable object, comprising the steps of: installing a first measurement device including a first laser range finder and a panel arranged at a first relative position with respect to the first laser range finder so that the first laser range finder can measure a vertical distance to the object; installing a second measurement device including two position measuring devices arranged at different positions from each other and measuring their respective absolute positions using signals received from an artificial satellite, and a second laser range finder arranged at a second relative position with respect to the two position measuring devices so that the second laser range finder can measure a horizontal distance to the panel; measuring the vertical distance with the first laser range finder; measuring the absolute positions of each of the two position measuring devices; measuring the horizontal distance with the second laser range finder; calculating an absolute position of the object based on the absolute positions of each of the two position measuring devices, a vertical distance from the first laser rangefinder to the object measured by the first laser rangefinder, a horizontal distance from the second laser rangefinder to the panel measured by the second laser rangefinder, a first relative position, and an orientation of the ranging direction of the second laser rangefinder.

6. The measurement method described in claim 5, wherein the step of positioning the first measuring device includes the steps of: irradiating a first laser to the first laser rangefinder; determining whether or not the first laser is irradiated to the object; and changing the position and attitude of the first laser rangefinder when it is determined that the first laser is not irradiated to the object.

7. The measurement method described in claim 5 or 6, wherein the step of positioning the second measuring device includes the steps of: irradiating the second laser to the second laser rangefinder; determining whether or not the second laser is irradiated to the panel; and changing the position and attitude of the second laser rangefinder when it is determined that the second laser is not irradiated to the panel.

Images