Level measurement partner robot

Abstract

We provide a level measurement robot 1 that allows a single operator to perform level measurements. [Solution] A level measurement robot 1 is used for level measurement, which is performed using a surveying staff 3 erected at multiple measurement points 22 set within a survey area and a level measuring instrument 21 that reads the scale of the surveying staff 3. The robot includes a mobile cart 2 that moves autonomously between the measurement points 22 with the surveying staff 3 mounted on it, a staff lifting means 9 mounted on the mobile cart 2 that erects the surveying staff 3 on the measurement points 22 and stores it inside the mobile cart 2, and a remote control device 4 carried by the measurer operating the level measuring instrument 21 to remotely operate the mobile cart 2 and the staff lifting means 9, allowing the measurer to perform level measurement by themselves.

Description

Technical Field

[0001] The present invention relates to a leveling surveying phase number robot equipped with a surveying staff (scale) erected at a measurement point in leveling surveying (level surveying) for measuring the ground height of a specific measurement point in a surveying area or the height difference between a plurality of measurement points. It can travel automatically between measurement points by remote operation of a surveyor who operates a leveling instrument (hereinafter referred to as "level"), and can perform leveling surveying by one surveyor by erecting and recovering the mounted staff on the measurement point.

Background Art

[0002] Generally, leveling surveying is carried out by a pair of two people, a phase number person standing at a measurement point with a surveying staff and a surveyor reading the scale of the surveying staff erected at the measurement point through the telescope of the level.

[0003] Also, on flat ground where the staff can be directly sighted, there are no particular problems in measurement. However, on sloping or undulating ground where the surveying staff cannot be directly sighted through the telescope of the level, the phase number person needs to move the staff between measurement points under the instruction of the surveyor.

[0004] By the way, in recent years, due to the declining birthrate and aging population, there is a shortage of on-site workers, and improvement of work efficiency is required. In leveling surveying at construction sites, reduction of on-site workers and improvement of work efficiency are also required, and surveying systems and the like have been developed. For example, there are inventions described in Patent Documents 1 to 3.

[0005] For example, the invention described in Patent Document 1 discloses a surveying system that enables labor saving and automation by installing a target device called a prism by a transport device such as a robot without the operator directly transporting it when measuring a position (reference point) that is a design standard at an outdoor civil engineering site or the like.

[0006] In short, the surveying system described in Patent Document 1 is a surveying system that performs surveying using a target device, a transport device, a surveying device, and an information processing device, and comprises a current position acquisition unit that grasps the current position, a target position acquisition unit that acquires the target position, a path calculation unit that calculates the path to reach the target position from the current position, a transport unit that transports the target device from the current position to the target position, a holding unit that installs the target device at the target position while holding it, and a surveying instruction unit that instructs the surveying device to start the survey.

[0007] In particular, the target device called a prism is equipped with an optical element that reflects the distance-measuring light emitted from the optical wave surveying instrument back to the instrument; this optical element is a so-called retroreflective prism. The transport device is a carrier that transports and sets up the target device at the target position, and examples of such devices include multi-legged robots that perform legged movement, such as quadruped robots, vehicles with caterpillar tracks, or wheeled vehicles.

[0008] Patent Document 2 discloses a mobile robot for measuring unevenness of the ground surface, which is equipped with a level sensor means on its vehicle body for measuring unevenness of the ground surface, and is characterized in that it is equipped with an acceleration sensor means for detecting vibration acceleration that occurs vertically with respect to the ground surface of the vehicle body when the robot moves, and is equipped with a data correction means for correcting the influence of vibration on the unevenness survey data obtained from the level sensor means using vibration acceleration data obtained from the acceleration sensor means.

[0009] The invention described in Patent Document 3 discloses an unevenness measurement display device that measures the unevenness (concavity and convexity) of a base surface such as a gymnasium floor or a road surface and directly displays the height level at that position on the base surface. It has a laser projector that is erected at an arbitrary position on the base surface and irradiates a laser beam parallel to the virtual reference surface of the base surface, and a carriage that travels on the base surface. The carriage has a slide bar that slides vertically along the unevenness of the base surface, level detection means consisting of a plurality of light receiving elements arranged vertically at a predetermined interval on the slide bar, and display means in which paint spraying nozzle units for spraying paint on the base surface are arranged in a grid pattern. Control means is provided that calculates the measured value at each measurement point based on the output signal output from the light receiving element that is receiving the laser beam, controls the paint spraying nozzle unit with the calculated output, and displays the measured value on the base surface.

Prior Art Documents

Patent Documents

[0010]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0011] However, in the surveying system described in Patent Document 1, the holding part of the conveying device is a robot arm part, and the robot arm part can be installed so that the coordinates of the target position and the target device match. However, since the target device is not assumed to use an existing surveying staff, the existing surveying staff that has been used so far cannot be used. Also, even if an existing surveying staff could be used, due to the length of the surveying staff with respect to the robot arm part, it has a structure that is difficult to stabilize during transportation and installation.

[0012] The present invention was made to solve the above problems, and aims to provide a level measurement partner robot that can autonomously move between measurement points by remote control of the level operator, and can erect and retrieve the mounted staff at the measurement points, thereby enabling level measurement by a single operator. [Means for solving the problem]

[0013] The present invention relates to a level measurement robot for level measurement, which is carried out using a surveying staff and a level measuring machine for reading the scale of the surveying staff, wherein the level measurement robot comprises a mobile cart that moves autonomously between measurement points within a survey area, a staff holding device for mounting the surveying staff on the mobile cart, and a remote control device for remotely operating the mobile cart, wherein the staff holding device has a staff gripping means for gripping the surveying staff at its longitudinal midpoint, and the surveying staff being remotely operated by the remote control device and gripped by the staff gripping means The system is characterized by comprising: staff horizontal position and verticality adjustment means for moving the surveying staff in a horizontal plane relative to the traveling trolley and adjusting the horizontal position and verticality of the surveying staff relative to the traveling trolley; staff rotation means, which is remotely operated by the remote control device and rotates the surveying staff, which is held by the staff gripping means, around the axis of the surveying staff; and staff lifting means, which is remotely operated by the remote control device and raises and lowers the surveying staff, which is held by the staff gripping means, in the vertical direction relative to the traveling trolley.

[0014] In the level measurement robot of the present invention, it is preferable that the staff holding device is further fixed to the lower part of the traveling trolley and includes a staff lower guide that guides the movement of the lower part of the surveying staff by the staff lifting means between a raised position in which the lower end of the surveying staff is separated from the traveling surface when the traveling trolley is moving, and a lowered position in which the surveying staff is lowered toward the measurement point.

[0015] If the tip of the surveying staff is to be placed directly on the ground, the height of the ground contact point at this lowered position should be measured as is. If a protective support member or similar is attached to the tip of the surveying staff, the thickness of the support member should be subtracted from the measured height to make the adjustment.

[0016] Furthermore, in the level measurement robot of the present invention, the means for adjusting the horizontal position and verticality of the staff may include a transmitting device attached to the surveying staff, and an XY table that uses the coordinate data of the surveying staff sent from the transmitting device to move the predetermined position of the surveying staff in two horizontal directions to adjust the horizontal position and verticality of the surveying staff.

[0017] In the present invention, the staff rotation means is preferably a rotary table equipped with a rectangular hole guide into which the surveying staff is inserted in a loosely fitted state.

[0018] Furthermore, in the level measurement robot of the present invention, it is preferable that the staff lifting means comprises a pusher whose upper end can abut against the staff gripping means, and a cylinder for raising and lowering the pusher.

[0019] In the level measurement robot of the present invention, it is conceivable to provide auxiliary legs for fixing the trolley when stopping within the survey area. For example, when measuring on a slope, the trolley may not be able to be fixed when stopped at the survey point. By grounding the auxiliary legs for fixing the trolley, the trolley can be fixed. The auxiliary legs for fixing the trolley can also function as brakes on the trolley.

[0020] Furthermore, in the level measurement sequence robot of the present invention, the traveling carriage may be equipped with a point confirmation camera that photographs the position of the measurement point facing downwards, and a direction confirmation camera that photographs the direction of travel of the level measurement sequence robot.

[0021] In addition, spray paint injection means for marking measurement points can be provided below the traveling bogie.

Advantages of the Invention

[0022] The level measurement surveyor robot of the present invention can automatically travel between measurement points by remote operation of a surveyor who operates the level, and can perform erection and recovery of the mounted staff on the measurement points. Therefore, level measurement can be performed by a single surveyor, eliminating the need for a surveyor with a staff and enabling extremely efficient level measurement.

Brief Description of the Drawings

[0023] [Figure 1] It is a perspective view showing an embodiment of the level measurement surveyor robot of the present invention. [Figure 2] In the embodiment of FIG. 1, (a) is an enlarged view showing the state of lifting the surveying staff, and (b) is an enlarged view showing the state of erecting the surveying staff. [Figure 3] In the embodiment of FIG. 1, it is a view seen from above the traveling bogie 2, (a) is a plan view, and (b) is an enlarged view of the rotary table. [Figure 4] It is a view showing the lower guide of the staff in the embodiment of FIG. 1, (a) is a perspective view, (b) is an enlarged view, and (c) is an enlarged view seen from below. [Figure 5] It is a flowchart showing an example of the procedure of level measurement using the level measurement surveyor robot in FIG. 1. [Figure 6] It is an explanatory view showing an example of the procedure of level measurement using the level measurement surveyor robot in FIG. 1.

Embodiments for Carrying Out the Invention

[0024] Figures 1-3 illustrate one embodiment of the level measurement robot 1 (hereinafter referred to as the "measurement robot") of the present invention. Figure 1 is a perspective view showing the entire measurement robot 1, with a magnified view of the remote control device 4. The measurement robot 1 is equipped with a traveling carriage 2 and a surveying staff (measuring rod) 3 mounted on the traveling carriage 2.

[0025] The trolley 2 is a self-propelled vehicle equipped with an EV drive motor, and has a total of three wheels: a pair of independently driven left and right tires 20 on one end in the direction of movement, and a single driven wheel 19 on the other end.

[0026] Furthermore, the traction vehicle 2 may be a four-wheel drive vehicle or a tracked vehicle equipped with a pair of independently driven left and right tires at each end in the forward and backward direction, and it is preferable that the EV drive motor's battery is equipped with a battery that can be used for at least 6 hours.

[0027] Furthermore, the mobile trolley 2 can be remotely controlled by a remote control device 4 carried by the surveyor, and is configured to move freely between multiple measurement points set within the survey area by autonomously traveling over soil, gravel, grass, and even steps and slopes within the survey area.

[0028] The surveying staff 3 is mounted on the mobile trolley 2, penetrating vertically through its approximate center. A transmitter 6 is attached to the upper end of the surveying staff 3, which can transmit coordinate data and data related to verticality. It can also transmit measurement data to the remote control device 4 held by the surveyor.

[0029] The trolley 2 is further equipped with an XY table 7 on top of the upper frame 2a that forms the upper end of the trolley 2, allowing the surveying staff 3 to be erected vertically in the appropriate position. The XY table 7 comprises a pair of X-direction tables 7a laid parallel to the direction of movement of the trolley 2, and a Y-direction table 7b that slides in the axial direction of the X-direction tables 7a (the direction of movement of the trolley 2).

[0030] Furthermore, a staff lower guide 12, which guides the lower end of the surveying staff 3, is attached to the lower frame 2b of the trolley 2, and the surveying staff 3 passes through a round hole guide 12a provided in the staff lower guide 12. The round hole guide 12a is formed with an inner diameter slightly larger than the outer diameter of the surveying staff 3.

[0031] The surveying staff 3 can be a commercially available aluminum staff. Common commercially available staffs include those with specifications: 3m 3-section (total length when fully retracted: 1174mm, weight: 1090g) and 5m 5-section (total length when fully retracted: 1260mm, weight: 1850g). The measuring robot 1 of the present invention can stably hold a long surveying staff 3.

[0032] A rotary table 8 is provided near the middle of the surveying staff 3, allowing the staff 3 to rotate 360° around its axis. The rotary table 8 has a rectangular hole guide 8a through which it passes. The rectangular hole guide 8a has an inner diameter slightly larger than the outer diameter of the surveying staff 3, and the surveying staff 3 is inserted into the rectangular hole guide 8a in a loosely fitted state.

[0033] The measurer operates the remote control device 4 to rotate the rotary table 8 around the axis of the surveying staff 3, thereby changing the orientation of the surveying staff 3, which is erected above the measurement point, by 360° around its axis. Both the raising and lowering and rotation of the surveying staff 3 can be freely performed remotely by the remote control device 4 carried by the measurer.

[0034] In this embodiment, the lower frame 2b of the trolley 2 is equipped with a point confirmation camera 16 for confirming measurement points, and the upper frame 2a of the trolley 2 is equipped with a direction confirmation camera 15 for photographing the direction of travel of the trolley 2 and the surroundings of the surveying staff 3 (see Figure 3(a)). In addition, the lower frame 2b of the trolley 2 is equipped with a spray for marking measurement points.

[0035] The spray 14, the direction-of-travel confirmation camera 15, and the point-confirmation camera 16 can be remotely operated by the measurer using the remote control device 4. In particular, the images captured by the direction-of-travel confirmation camera 15 and the point-confirmation camera 16 are displayed in real time on the monitor 4a mounted on the remote control device 4, allowing the measurer to constantly monitor the situation of the mobile trolley 2, the surveying staff 3, and their surroundings.

[0036] Figure 2 shows an embodiment of Figure 1, where (a) is an enlarged view showing the surveying staff being lifted, with the surveying staff 3 lifted and stored in the mobile trolley 2, and (b) is an enlarged view showing the surveying staff being erected.

[0037] The surveying staff 3 has a fixing member 5 located below the XY table 7, and a cylindrical pusher 10 is attached to the lower part of the fixing member 5. On the other hand, a staff lifting cylinder 11 is provided on the lower frame 2b of the traveling carriage 2, and the cylindrical pusher 10 is connected to the staff lifting cylinder 11 via a rod 11a.

[0038] When the rod 11a of the staff lifting cylinder 11 extends upward, the cylindrical pusher 10 connected to the rod 11a moves upward in conjunction, pushing the fixing member 5 attached to the top of the cylindrical pusher 10 upward, thereby lifting the surveying staff 3.

[0039] When the measurement robot 1 is moving or not taking measurements, it is preferable that the lower end of the surveying staff 3 is raised above the lowest part of the lower frame 2b of the mobile platform 2. If the lower end of the surveying staff 3 is above the lowest surface of the lower frame 2b of the mobile platform 2, the measurement robot 1 can continue to move without problems even if there are obstacles such as steps, bumps, or stones on the ground while it is moving.

[0040] For example, if the lower surface of the lower frame 2b of the mobile trolley 2 is set to a height of approximately 100 mm above the ground, and the target height to which the surveying staff 3 will be lifted when it is tilted at 0° is set to 50 mm or more, and the setting is adjusted so that it lifts to approximately 70 mm, then the lower end of the surveying staff 3 will be able to travel without hitting any obstacles such as bumps or stones on the ground.

[0041] Figure 2(b) shows the surveying staff 3 in an upright position. As the rod 11a of the staff lifting cylinder 11 retracts, the cylindrical pusher 10 moves away from the fixing member 5 and downwards, causing the surveying staff 3 to descend and touch the ground. In Figure 2(b), the auxiliary legs 13 for fixing the trolley are also touching the ground.

[0042] For example, when measuring on a slope, the trolley 2 may move due to the slope when it is stopped. Therefore, it is advisable to fix and stabilize the trolley 2 by placing the trolley fixing support legs 13 on the ground before adjusting the surveying staff 3 and placing it on the ground. The trolley fixing support legs 13 act as brakes for the trolley 2 and, as shown in Figure 2(b), can be raised and lowered using, for example, an electric cylinder. The trolley fixing support legs 13 can also be remotely controlled by the remote control device 4.

[0043] Figure 3 is a top view of the traveling trolley 2 in the embodiment of Figure 1, where (a) is a plan view and (b) is an enlarged view of the rotary table. The surveying staff 3 passes through a rectangular hole guide 8a provided on the rotary table 8, which is slightly larger than the cross-section of the surveying staff 3.

[0044] Furthermore, an XY table 7 is provided on top of the mobile trolley 2, consisting of an X-direction table 7a mounted perpendicular to the direction of movement of the measurement robot 1, and a Y-direction table 7b mounted in the direction of movement. The XY table 7 and a rotary table 8 are connected, and a surveying staff 3 is loosely fitted through a rectangular hole guide 8a provided on the rotary table 8.

[0045] Based on coordinate data and verticality data transmitted from the transmitter 6 (see Figure 1) located at the upper end of the surveying staff 3, the horizontal position and verticality of the XY table 7 can be adjusted by moving it in the X and Y directions, allowing the surveying staff 3 to be positioned vertically.

[0046] Figure 4 shows the staff lower guide 12 in the embodiment of Figure 1, where (a) is a perspective view, (b) is a magnified view, and (c) is a magnified view from below. The staff lower guide 12 is attached to the lower frame 2b of the traveling carriage 2 and has a round hole guide 12a in the center. The lower end of the surveying staff 3 passes through the round hole guide 12a of the staff lower guide 12.

[0047] The round hole guide 12a of the staff lower guide 12 is preferably slightly larger in diameter than the cross-section of the surveying staff 3, and not so large as to obstruct the movement of the surveying staff 3 up and down. The staff lower guide 12 serves to guide the surveying staff 3 to stand upright and to stabilize the lower end of the surveying staff 3.

[0048] In the configuration described above, the level measurement robot 1 of the present invention allows a measurer to remotely operate the staff lifting means 9, thereby causing the surveying staff 3, which is mounted vertically through the inside of the traveling carriage 2, to move up and down inside the traveling carriage 2 and be positioned horizontally and vertically above the measurement point.

[0049] Next, we will explain the procedure for level measurement performed by a single operator using the measurement robot 1. Figure 5 is a flowchart showing an example of the procedure for level measurement performed using the measurement robot 1, and Figure 6 shows an image of the measurement flow.

[0050] The movement of the measurement robot 1, and the operation of the XY table 7, the rotary table 8, and the staff lifting mechanism 9 are all performed remotely using a remote control device 4 carried by the measurement operator.

[0051] (1) Move the measurement robot 1 to the measurement point 22. When moving the measurement robot 1, it is preferable that the lower end of the surveying staff 3 be below the staff lower guide 12 and slightly above the lower frame 2b of the traveling trolley 2. It is advisable to operate the staff lifting means 9 (cylindrical pusher 10, staff lifting cylinder 11, rod 11a) in advance to raise and temporarily fix the surveying staff 3.

[0052] (2) Set the trolley 2 directly above the measurement point 22. The measurement point 22 may have a marker placed in advance as shown in Figure 6, and the position of the measurement point 22 can be confirmed with the point confirmation camera 16 installed on the trolley 2. If the person taking the measurements can keep track of the position coordinates of the measurement point 22, it is not necessary to place a marker at the measurement point 22 in advance.

[0053] When surveying on a slope, if there is a risk that the trolley 2 may move due to the slope even when stopped, it is advisable to stabilize the trolley 2 by grounding the auxiliary legs for fixing the trolley 2 that are provided on the trolley 2.

[0054] (3) Based on the data regarding the horizontal position and verticality obtained from the transmitting device 6 installed at the upper end of the surveying staff 3, the XY table 7 is operated while the surveying staff 3 is lifted up to adjust it to stand upright vertically.

[0055] Before vertically grounding the surveying staff 3, the rotary table 8 can be operated to rotate the orientation of the surveying staff 3 so that the scale on the surveying staff 3 is easier for the measurer to read.

[0056] (4) The staff lifting cylinder 11 is operated to lower the cylindrical pusher 10, thereby lowering the surveying staff 3 onto the measurement point 22 and placing it on the ground. Based on the data obtained from the transmitting device 6, the XY table 7 is operated to check whether it has been set up vertically and to confirm its verticality.

[0057] (5) The measurer reads the scale on the surveying staff 3 through the level 21 and takes a measurement. At this time, the rotating table 8 is activated to adjust the orientation of the surveying staff 3 so that the scale on the level 21 is at an angle that is easy for the measurer to see.

[0058] If the tip of the surveying staff 3 is placed directly on the ground, the height at measurement point 22 is measured as is. If a protective support member is attached to the tip of the surveying staff 3, the measured height can be adjusted by subtracting the thickness of the support member.

[0059] (6) Once the measurement is complete, marking 14a is applied to the measurement point 22 using the spray 14. The marking 14a with the spray 14 is also performed remotely by the measurer using the remote control device 4.

[0060] (7) The staff lifting means 9, consisting of a cylindrical pusher 10, a staff lifting cylinder 11, and a rod 11a, is activated to raise the surveying staff 3, thereby lifting it from the measurement point 22 and storing the surveying staff 3 inside the traveling trolley 2.

[0061] (8) The measurer remotely controls the trolley 2 using the remote control device 4 to move it to the next measurement point. Repeat steps (1) to (8) until the level measurement at each measurement point is completed. [Industrial applicability]

[0062] This invention allows a single operator to perform level surveys by remotely controlling a staff that can freely move between measurement points within a survey area, and by setting up and retrieving the mounted staff at the measurement points. [Explanation of Symbols]

[0063] 1. Level measurement pairing robot 2. Running bogie 2a Upper frame 2b Lower frame 3. Surveying staff 4. Remote control device 4a Monitor 5. Fixing member (staff gripping means) 6. Transmitter 7. XY Table (Mechanism for adjusting staff horizontal position and verticality) 7a X-direction table 7b Y-direction table 8. Rotating table (staff rotation mechanism) 8a Rectangular hole guide 9. Staff lifting mechanism 10 Cylindrical Pusher 11. Staff Lifting Cylinder 11a Rod 12 Staff Lower Guide 12a Round hole guide 13. Auxiliary legs for securing the trolley. 14 sprays 14a Marking 15. Camera for confirming direction of travel 16-point confirmation camera 17 batteries 18 Control Box 19 Driven swivel wheel 20 drive wheels 21. Surveying equipment (levels) 22 measurement points

Claims

1. A level measurement robot for level measurement, which is performed using a surveying staff and a level measuring machine that reads the scale of the surveying staff, the level measurement robot comprises a mobile cart that moves autonomously between measurement points within a survey area, a staff holding device that mounts the surveying staff on the mobile cart, and a remote control device that remotely operates the mobile cart, the staff holding device having a staff gripping means that grips the longitudinal midpoint of the surveying staff, and the remote control device remotely operates the surveying staff being gripped by the staff gripping means and moves the surveying staff being gripped by the staff gripping means to the mobile cart A level measuring robot characterized by comprising: staff horizontal position and verticality adjustment means for moving the surveying staff in a horizontal plane relative to the vehicle and adjusting the horizontal position and verticality of the surveying staff relative to the traveling trolley; staff rotation means, which is remotely operated by the remote control device and rotates the surveying staff, which is gripped by the staff gripping means, around the axis of the surveying staff; and staff lifting means, which is remotely operated by the remote control device and raises and lowers the surveying staff, which is gripped by the staff gripping means, in the vertical direction relative to the traveling trolley.

2. A level measurement robot according to claim 1, wherein the staff holding device is further fixed to the lower part of the traveling carriage and includes a staff lower guide that guides the movement of the lower part of the surveying staff by the staff lifting means between an elevated position in which the lower end of the surveying staff is separated from the traveling surface when the traveling carriage is moving, and a lowered position in which the surveying staff is lowered toward the measurement point.

3. A level measuring robot according to claim 1, wherein the staff horizontal position and verticality adjustment means comprises a transmitting device attached to the surveying staff, and an XY table that uses coordinate data of the surveying staff sent from the transmitting device to move a predetermined position of the surveying staff in two horizontal directions to adjust the horizontal position and verticality of the surveying staff.

4. A level measuring robot according to claim 1, characterized in that the staff rotating means is a rotary table equipped with a rectangular hole guide into which the surveying staff is inserted in a loosely fitted state.

5. A level measuring and matching robot according to claim 1, characterized in that the staff lifting and lowering means comprises a pusher whose upper end can abut against the staff gripping means, and a cylinder for raising and lowering the pusher.

6. A level measurement robot according to claim 1, characterized in that it is provided with auxiliary legs for fixing the trolley when the trolley is stopped within the measurement area.

7. A level measurement pairing robot according to claim 1, characterized in that the traveling carriage comprises a point confirmation camera that photographs the position of the measurement point downwards, and a direction confirmation camera that photographs the direction of travel of the level measurement pairing robot.

8. A level measurement sequence robot according to claim 1, characterized in that a spray paint ejection means for marking measurement points is provided at the lower part of the traveling carriage.

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