Unmanned Vehicles

Abstract

To reduce a repetitive simple work of an operator.SOLUTION: An unmanned mobile body 10, which can move freely in an underground space, includes: a board 12A having a three-dimensional laser scanner 20; at least four leg parts 14 for supporting the board 12A; and a controller 100 for controlling the operation of the three-dimensional laser san 20 and the leg parts 14; and an automatic levelling board 30 provided between the board 12A and the three-dimensional laser scanner 20, the automatic levelling board automatically levelling the three-dimensional laser scanner 20 in a horizontal direction. The controller 100 can perform horizontal holding processing of holding the board 12A to be horizontal by controlling operations of the leg parts 14 and can control turning-on or turning-off of an automatic levelling function of the automatic levelling board 30.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to an unmanned moving body, and relates to an unmanned moving body that can be used to obtain the cross-sectional shape of an underground space such as a tunnel. [Background technology]

[0002] In tunnel excavation work, which is an example of an underground space, it is common to drill holes in the tunnel face, charge explosives, and then detonate them, remove the debris, take a strike, install supports, lay the primary lining, and install rock bolts, repeating this sequence at intervals of about 1.5 m. After confirming that the behavior of the ground and the deformation of the tunnel interior have stabilized by, for example, checking that the internal displacement of the tunnel has converged within a specified range, the secondary lining is then performed. Here, in order to check whether the internal displacement has converged within a specified range, it is necessary to repeatedly obtain the shape of a preselected cross section in the tunnel interior for several days.

[0003] As a method for acquiring the cross-sectional shape of the interior of a tunnel, for example, Patent Document 1 describes a method in which a 3D laser scanner installed inside the tunnel scans targets attached to at least three points on the inner wall surface of the tunnel whose position coordinates are known, the current position (coordinates) of the 3D laser scanner inside the tunnel is identified based on the distance to each target, the 3D laser scanner whose current position has been identified is used to scan the inner wall surface of a selected cross section, and the shape of the selected cross section is acquired based on the scan results. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-58167 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the method described in Patent Document 1, every time the shape of the selected cross section is acquired, repetitive simple tasks including the transportation of the 3D laser scanner, the installation and position adjustment of the 3D laser scanner to improve the acquisition accuracy of the shape of the selected cross section, and the measurement using the 3D laser scanner are required. Therefore, the burden on the workers is large. This point is not limited to tunnels before secondary lining, but also includes underground spaces that are elongated in the axial direction compared to the height or width of the cross section, such as unlined tunnels, tunnels after secondary lining, tunnels and underground passages, and also applies to the acquisition of the cross-sectional shape of artificial caves and natural caves, such as large-scale underground spaces having shapes that are not limited to tunnel shapes, such as dome shapes.

[0006] Therefore, an object of the present invention is to reduce the repetitive, simple tasks performed by workers at observation sites of underground spaces such as tunnels. [Means for solving the problem]

[0007] Therefore, according to a first aspect of the present invention, an unmanned mobile body capable of moving freely within an underground space comprises a loading platform on which a 3D laser scanner is mounted, at least four legs supporting the platform, a control device controlling the operation of the 3D laser scanner and the legs, and an automatic leveling table provided between the loading platform and the 3D laser scanner and automatically leveling the 3D laser scanner horizontally, and the control device is capable of performing a horizontal holding process to keep the loading platform horizontal by controlling the operation of the legs, and is configured to control the on / off of the automatic leveling function of the automatic leveling table.

[0008] According to a second aspect of the present invention, an unmanned mobile body capable of moving freely within an underground space comprises a loading platform on which a total station is mounted, at least four legs supporting the loading platform, a control device controlling the operation of the total station and the legs, and an automatic leveling table provided between the loading platform and the total station and automatically leveling the total station horizontally, and the control device is capable of performing a horizontal holding process to hold the loading platform horizontally by controlling the operation of the legs, and is configured to control the on / off of the automatic leveling function of the automatic leveling table.

[0009] According to a third aspect of the present invention, an unmanned mobile body capable of moving freely within a site comprises a loading platform on which a 3D laser scanner is mounted, at least four legs supporting the platform, a control device controlling the operation of the 3D laser scanner and the legs, and an automatic leveling table disposed between the loading platform and the 3D laser scanner and automatically leveling the 3D laser scanner horizontally, and the control device is capable of performing a horizontal holding process to keep the loading platform horizontal by controlling the operation of the legs, and is configured to control the on / off of the automatic leveling function of the automatic leveling table.

[0010] According to a fourth aspect of the present invention, an unmanned mobile body capable of moving freely within a site comprises a loading platform on which a total station is mounted, at least four legs supporting the loading platform, a control device controlling the operation of the total station and the legs, and an automatic leveling table provided between the loading platform and the total station and automatically leveling the total station horizontally, and the control device is capable of performing a horizontal holding process to keep the loading platform horizontal by controlling the operation of the legs, and is configured to control the on / off of the automatic leveling function of the automatic leveling table. According to a fifth aspect of the present invention, an unmanned mobile body capable of moving freely along a route within a site comprises a loading platform on which at least one of a 3D laser scanner and a total station can be placed, at least four legs supporting the loading platform, and a control device controlling the operation of the legs, and the unmanned mobile body further comprises a stereo camera capable of capturing images of the surroundings of the unmanned mobile body, and a sensor for measuring the surrounding environment of the unmanned mobile body, and the control device creates an environmental map of the route based on images captured by the stereo camera, and the unmanned mobile body is capable of acquiring the images and the measurement results by the sensor together with the position coordinates of the unmanned mobile body on the route.

[0011] In this specification, "underground space" includes underground spaces that are long and narrow in the axial direction compared to their cross-sectional height or width, such as open-cut tunnels, tunnels before secondary lining, tunnels after secondary lining, tunnels, and underground passages, as well as artificial caves and natural caves, such as large-scale underground spaces having shapes that are not limited to tunnel shapes, such as dome shapes. Effect of the Invention

[0012] For example, according to the first aspect of the present invention, the movement (transportation), installation and position adjustment of the 3D laser scanner in an underground space, and the acquisition (measurement) of the cross-sectional shape can be performed without the help of workers. This reduces the repetitive and simple tasks performed by workers at the observation site of an underground space such as a tunnel, thereby reducing the burden on the workers. [Brief description of the drawings]

[0013] [Figure 1] FIG. 2 is a front view showing an example of a cross-sectional shape acquisition device. [Diagram 2] FIG. 2 is a left side view of FIG. [Diagram 3] FIG. 2 is an internal configuration diagram showing an example of a control device of the cross-sectional shape acquisition device. [Figure 4] 11 is a flowchart showing an example of the flow of a cross-sectional shape acquisition method. [Diagram 5]11A and 11B are diagrams for explaining an example of a cross-sectional shape acquisition method. [Figure 6] 11A and 11B are diagrams for explaining an example of a cross-sectional shape acquisition method. [Figure 7] 11A and 11B are diagrams for explaining an example of a cross-sectional shape acquisition method. [Figure 8] 11A and 11B are diagrams for explaining an example of a cross-sectional shape acquisition method. [Figure 9] 10 is a flowchart showing an example of a cross-sectional shape acquisition process executed by a control device. [Figure 10] 13 is a flowchart showing a modified example of the flow of a cross-sectional shape acquisition method. [Figure 11] 13A and 13B are diagrams for explaining a modified example of a cross-sectional shape acquisition method. [Figure 12] 13 is a flowchart showing a modified example of the cross-sectional shape acquisition process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, with reference to the accompanying drawings, an embodiment for carrying out the present invention will be described by taking acquisition of a cross-sectional shape of a tunnel as an example. FIG. 1 is a front view showing an example of a cross-sectional shape acquisition device. As indicated by the arrows in FIG. 1, the left side of FIG. 1 is the right side of the cross-sectional shape acquisition device 1, and the right side of FIG. 2 is the left side of the cross-sectional shape acquisition device 1. FIG. 2 is a left side view of FIG. 1, and is a side view of the cross-sectional shape acquisition device 1 as viewed from the right direction. The cross-sectional shape acquisition device 1 includes an unmanned mobile body 10 that is movable in the forward / backward and left / right directions as indicated by the arrows in FIGS. 1 and 2, and a three-dimensional laser scanner 20.

[0015] The unmanned mobile body 10 includes a substantially rectangular parallelepiped main body 12 and at least four legs 14 supporting the main body 12, and is, for example, a four-legged walking robot called SPOT manufactured by Boston Dynamics. The unmanned mobile body 10 can move by remote control using a controller such as a tablet or a commercially available personal computer held by an operator at a base station outside the tunnel or near the entrance of the tunnel. The unmanned mobile body 10 can also move autonomously along a route created in advance, for example.

[0016] The upper surface of the main body 12 is formed flat and functions as a loading platform 12A on which a predetermined device such as a measuring device can be placed. In this specification, a three-dimensional laser scanner (hereinafter simply referred to as a "scanner") 20 is provided on the loading platform 12A.

[0017] The legs 14 include, for example, upper legs 14A attached to the four corners of the main body 12 and lower legs 14B attached to the lower ends of the upper legs 14A.

[0018] The upper leg 14A is attached to the main body 12 so as to be rotatable about an axis extending in the left-right direction of the unmanned mobile body 10 and to be capable of opening and closing with the attachment part to the main body 12 as a fulcrum. The upper leg 14A is adapted to rotate and open and close by driving an actuator, such as a servo motor or a hydraulic cylinder, provided near the connection part between the main body 12 and the upper leg 14A.

[0019] The lower leg 14B is attached to the lower end of the upper leg 14A so as to be rotatable about an axis extending in the left-right direction of the unmanned mobile body 10. The lower leg 14B is adapted to rotate about an axis extending in the left-right direction by driving an actuator, such as a servo motor or a hydraulic cylinder, provided near the connection between the lower leg 14B and the upper leg 14A. A non-slip pad made of, for example, rubber is attached to the lower end of the lower leg 14B.

[0020] The scanner 20 has an irradiating unit (not shown) that is rotatable around its central axis in the vertical direction and rotatable around its central axis in the horizontal direction and can irradiate a laser, and a light receiving unit (not shown) that is rotatable around a central axis extending in the vertical direction together with the irradiating unit and can receive the reflected laser. When the light receiving unit receives the reflected laser, the scanner 20 detects the distance to the object by acquiring 3D local point cloud data (3D position coordinates) of the object. The irradiating unit and the light receiving unit are driven to rotate by a predetermined actuator such as an electric motor. An example of such a scanner 20 is a commercially available 3D laser scanner that can acquire 3D local point cloud data by irradiating and receiving a laser with a wavelength of about 1550 nm in an angular range of about 360 degrees around an axis extending in the vertical direction and an angular range of about 280 degrees excluding an angular range of about 80 degrees downward around an axis extending in the horizontal direction.

[0021] The cross-sectional shape acquisition device 1 also includes an automatic leveling stand 30, a stereo camera 40, and an inclination sensor 50.

[0022] The automatic leveling table 30 is provided, for example, between the platform 12A and the scanner 20, and is fixed on the platform 12A. That is, the scanner 20 is attached to the platform 12A via the automatic leveling table 30. The automatic leveling table 30 has, for example, an automatic leveling function that adjusts the inclination of the scanner 20 so that the axis of the scanner 20 itself, which is located above the automatic leveling table 30, extending in the vertical direction, is vertical. A commercially available product can be used as such an automatic leveling table 30. In addition, the automatic leveling function of the automatic leveling table 30 can be controlled to be on or off by a control device described later.

[0023] The stereo cameras 40 are provided, for example, on the front, rear, left side, and right side of the main body 12, and capture images of the surroundings of the unmanned mobile body 10. The stereo cameras 40 are composed of, for example, a pair of left and right CCD (Charge Coupled Device) cameras or CMOS (Complementary Metal-Oxide Semiconductor) cameras.

[0024] The inclination sensor 50 is fixed on the loading platform 12A, for example, and detects the inclination angle of the loading platform 12A with respect to the horizontal direction by measuring the acceleration of gravity. However, the inclination sensor 50 is not limited to this, and may be any sensor capable of detecting the inclination angle of the loading platform 12A, such as a gyro sensor. The inclination sensor 50 may be built into the main body 12, for example, attached to a surface parallel to the surface of the loading platform 12A within the main body 12, so long as the inclination sensor is located at a position where the inclination angle of the loading platform 12A can be substantially detected.

[0025] The main body 12 has a built-in control device 100 that controls the operations of the legs 14 and the scanner 20 by driving actuators of the legs 14 and the scanner 20. A rechargeable battery (not shown) that supplies power to the actuators that drive the legs 14 and the scanner 20 is also detachably attached to the main body 12. The main body 12 is preferably configured, for example, from a waterproof and dustproof, substantially rectangular housing.

[0026] 3, the control device 100 includes, for example, a control unit 100A, a storage unit 100B, a communication unit 100C, an input / output unit 100D, and an image processing unit 100E. The control unit 100A, the storage unit 100B, the communication unit 100C, the input / output unit 100D, and the image processing unit 100E are connected to each other, for example, via a bus 100F.

[0027] The control unit 100A is composed of a CPU (Central Processing Unit) that executes various control programs by executing a command set written in a software program.

[0028] The storage unit 100B is composed of a volatile memory and a non-volatile memory that store various control programs and various data.

[0029] The communication unit 100C is a communication circuit that enables communication with the outside using a communication standard such as Ethernet. The communication unit 100C transmits the scan (measurement) results of the scanner 20, calculation results based on the results, and images captured by the stereo camera 40 to, for example, a personal computer at a base station. The communication unit 100C also receives instruction signals that are generated by an operator operating the controller and that instruct the operation of the legs 14 and the scanner 20.

[0030] The input / output unit 100D is a device that inputs signals from the scanner 20, the stereo camera 40, the tilt sensor 50, etc., and outputs signals to the leg 14, the scanner 20, and the automatic leveling table 30.

[0031] The control unit 100A, the storage unit 100B, the communication unit 100C, and the input / output unit 100D may be, for example, a microcomputer in which the control unit 100A, the storage unit 100B, the communication unit 100C, and the input / output unit 100D are integrated.

[0032] The image processing unit 100E is capable of calculating the distance to objects present around the unmanned mobile body 10 and the relative speed based on the time rate of change of the distance by processing the images captured by the stereo camera 40. Furthermore, based on the results of these calculations, the image processing unit 100E is capable of estimating the self-position of the unmanned mobile body 10 and creating an environmental map using known techniques such as SLAM (Simultaneous Localization and Mapping). Examples of such an image processing unit 100E include a GPU (Graphical Processing Unit) and an FPGA (Field Programmable Gate Array) having functions specialized for image processing.

[0033] An example of control that can be executed by the control device 100 configured as above will be described. When the control device 100 receives a signal from the base station instructing the unmanned mobile body 10 to move by remote control, it is able to control the operation of the legs 14 in accordance with this signal, thereby moving the unmanned mobile body 10. In addition, when the control device 100 receives a signal from the base station instructing the scanner 20 to perform measurement by remote control, it is able to make the scanner 20 perform measurement in accordance with this signal. This allows an operator at the base station to move the unmanned mobile body 10 and make the scanner 20 scan (measure) while observing images captured by the stereo camera 40 via the display of a personal computer.

[0034] Furthermore, when the control device 100 receives a signal from the base station instructing the autonomous movement of the unmanned mobile body 10 along a predetermined route prepared in advance, it can autonomously move the unmanned mobile body 10 in accordance with this signal. Furthermore, when the control device 100 receives a signal from the base station instructing the scanner 20 to perform autonomous measurement at a preset angle at a preset period, it can cause the scanner 20 to perform autonomous measurement in accordance with this signal.

[0035] Furthermore, for example, when the unmanned mobile body 10 is stopped, the control device 100 can execute a horizontal holding process that controls the operation of the legs 14 so as to hold the platform 12A approximately horizontal (for example, at an inclination angle of about ±4 degrees) based on the output signal of the inclination sensor 50. Also, as described above, the control device 100 can control the on / off of the automatic leveling function of the automatic leveling platform 30.

[0036] Furthermore, the control device 100 can control the driving of the legs 14 so that the unmanned mobile body 10 autonomously overcomes or detours around an object in front of it, based on the distance to the object and the relative speed around the unmanned mobile body 10. The control device 100 can also recognize the type of object, such as a staircase, that exists in front of the unmanned mobile body 10, and control the driving of the legs 14 so that the unmanned mobile body 10 autonomously ascends and descends the staircase. The unmanned mobile body 10 is also capable of moving even on inclined surfaces, such as uphill and downhill slopes.

[0037] Furthermore, the control device 100 can read a two-dimensional matrix code, such as a QR code (registered trademark), which is included in an image captured by the stereo camera 40 and stores predetermined information, and read out the information stored therein.

[0038] Furthermore, the control device 100 acquires the cross-sectional shape by, for example, calculating a cross-sectional shape line of the tunnel interior based on the scan result of the scanner 20. The control device 100 can calculate a cross-sectional shape line consisting of a point cloud in 3D local point cloud data obtained by scanning a plurality of points on the inner wall surface that defines the cross-sectional shape of the tunnel interior with the scanner 20, and a line that interpolates the point cloud. A conventionally known algorithm can be used to calculate the line that interpolates the point cloud, and a description thereof will be omitted.

[0039] The control device 100 can also calculate parameters that characterize the internal displacement based on the calculated cross-sectional shape line. The above-mentioned parameters include the perpendicular line length or horizontal line length calculated based on the position coordinate data of the spring line and center line included in the design data of the tunnel stored in advance in the storage unit 100B and the acquired cross-sectional shape line. The control device 100 calculates the difference between the perpendicular line length or horizontal line length acquired at different times, such as the next day. This difference indicates the internal displacement. Then, for example, when the control device 100 determines that the internal displacement is within a predetermined range, it can determine that the behavior of the ground and the deformation of the tunnel interior have stabilized and it is not necessary to continue observing the cross-sectional shape. After that, it becomes possible to perform the secondary lining. The above-mentioned method of calculating the perpendicular line length or horizontal line length is described in JP 2012-58167 A, which is listed in the prior art document, and a description thereof will be omitted.

[0040] In addition, it may be possible to determine whether the deformation inside the tunnel has stabilized based on the amount of change in the distance between two different points among multiple points on the inner wall surface scanned by the scanner 20 after a predetermined period of time has elapsed.

[0041] The control device 100 may also transmit the calculated cross-sectional shape line to a base station. In other words, a personal computer or the like of the base station may calculate parameters that characterize the internal displacement based on the received cross-sectional shape line, spring line, and center line, and determine whether the internal displacement is within a predetermined range.

[0042] Next, a method for acquiring a cross-sectional shape of a tunnel before secondary lining, which is an example of an underground space, using the cross-sectional shape acquisition device 1 configured as described above will be described with reference to Figs.

[0043] FIG. 4 is a flowchart showing an example of the flow of the cross-sectional shape acquisition method. FIG. 5 to FIG. 8 show a state where the cross-sectional shape acquisition device 1 is placed inside the tunnel during excavation. Here, the cross-sectional shape acquisition method is performed in the order of FIG. 5 → FIG. 6 → FIG. 7 → FIG. 8. In addition, in FIG. 5 to FIG. 8, it is assumed that the distance from the entrance of the tunnel to the face is about 200 m, and nine selected cross sections selected in advance to acquire the cross-sectional shape are arranged at 20 m intervals. However, in FIG. 5 to FIG. 8, only the first selected cross section closest to the entrance of the tunnel and the ninth selected cross section closest to the face are shown, and the other second to eighth selected cross sections are omitted from the illustration. FIG. 9 is a flowchart showing an example of a cross-sectional shape acquisition process that the control device 100 executes after starting the autonomous movement of the unmanned mobile body 10, among the cross-sectional shape acquisition methods.

[0044] Step 10 is an installation step in which a worker inside the tunnel installs targets 2, 4, and 6 at at least three points in the tunnel whose three-dimensional absolute position coordinates are known, as shown in Fig. 5. The targets 2, 4, and 6 are attached, for example, to at least three points on the inner wall surface of the tunnel whose position coordinates are known. However, this is not limited to this, and for example, the targets 2, 4, and 6 may be installed at at least three points in the tunnel whose position coordinates are known by installing a tripod or a support with the targets 2, 4, and 6 attached thereto, in the tunnel.

[0045] The targets 2, 4, and 6 are targets for the scanner 20, and are, for example, reflective sheet targets or prism targets. These targets 2, 4, and 6 are used to specify the current position (three-dimensional position) of the scanner 20 (for example, the machine center) by measuring the distance to each of the targets 2, 4, and 6 with the scanner 20. Such specification of the current position is a well-known method known as the so-called intersection method, in which the coordinates of one's own object are obtained using three or more points whose coordinates are known, and a description thereof will be omitted.

[0046] Step 12 is a creation process in which an operator at a base station remotely controls the unmanned mobile body 10 to move in the tunnel and create a route for autonomous movement. For this purpose, a worker first installs the cross-sectional shape acquisition device 1 near the entrance of the tunnel as shown in Fig. 5. However, this is not limited to this, and for example, when the excavation work progresses and the distance from the entrance of the tunnel to the face is about 200 m or more, the installation position may be a position about 200 m away from the face in the opposite direction to the excavation direction.

[0047] Next, the operator remotely controls the scanner 20 to scan each of the targets 2, 4, and 6. This identifies the current position of the scanner 20, and the three-dimensional position coordinates of the installation position are obtained. Then, the installation position is set as the standby position of the unmanned mobile body 10. Thereafter, the operator moves the unmanned mobile body 10 while observing the images captured by the stereo camera 40 in real time.

[0048] During the movement of the unmanned mobile body 10, the control device 100 creates an environmental map (map) of the inside of the tunnel while estimating the current position of the unmanned mobile body 10 at a predetermined period based on the image of the stereo camera 40 according to the relative positional relationship between the unmanned mobile body 10 and surrounding objects such as the inner wall and face of the tunnel, and the movement amount (distance) of the unmanned mobile body 10. As described above, the estimation of the current position and the creation of the map are performed using known techniques such as SLAM. The control device 100 stores (learns) the route traveled by the unmanned mobile body 10 by remote control as a created route. However, this is not limited to this, and for example, the control device 100 may transmit the created map to a base station, and the control device 100 may store the specified route as a created route by an operator specifying the route on the map. The created route is preferably a route in which the unmanned mobile body 10 moves back and forth from the waiting position to the waiting position, passing through the first to ninth selected cross sections, as shown by a plurality of arrows in FIG. 6.

[0049] Also, while the unmanned mobile body 10 is moving, for example, the scanner 20 may be made to scan the targets 2, 4, and 6 at a predetermined cycle. This allows the control device 100 to detect a plurality of current positions at a predetermined cycle, and therefore allows the control device 100 to create a map by combining the detected current positions with a current position estimated based on images from the stereo camera 40.

[0050] Furthermore, while the unmanned mobile body 10 is moving, the operator sets a scan position on the created route for causing the scanner 20 to scan the inner wall surface that defines the shape of each selected cross section. For example, the scan position is set to a position on the created route that is about 2 m away from each selected cross section in the excavation direction. However, the measurement position is not limited to being set while the unmanned mobile body 10 is moving. For example, the operator may set the scan position on the created map.

[0051] Furthermore, the operator sets the operation of the scanner 20 together with the setting of the scan position. More specifically, the operator sets the irradiation angle of the laser by the scanner 20 at the scan position. Here, in order to obtain a cross-sectional shape line for the selected cross section, it is considered sufficient to obtain, for example, three-dimensional position coordinates of about five points on the inner wall surface that define the shape of the selected cross section. In other words, an irradiation angle is set for irradiating the laser at each scan position to the five points on the inner wall surface for the corresponding selected cross section.

[0052] Step 14 is a movement process in which, in response to an instruction from the operator to start autonomous movement, the unmanned mobile body 10 is autonomously moved along the route created in step 12 (created route). When the control device 100 receives an instruction signal to start autonomous movement from the base station, it starts the autonomous movement of the unmanned mobile body 10 along the created route while estimating the current position of the scanner 20 at a predetermined period, similar to when the map was created in step 12.

[0053] Step 16 is an acquisition step in which the control device 100 causes the scanner 20 to scan the inner wall surface of the selected cross section when the current position of the scanner 20 reaches a predetermined position for the selected cross section, and acquires the cross-sectional shape based on the scan result. Here, the predetermined position is the scan position for each selected cross section set together with the creation of the route in the process of step 12. After the autonomous movement of the unmanned mobile body 10 starts, the image processing unit 100E of the control device 100 outputs a signal corresponding to the estimated current position to the control unit 100A every time it estimates the current position of the scanner 20. The control unit 100A executes the cross-sectional shape acquisition process when it receives a signal corresponding to the estimated current position from the image processing unit 100E. An example of the cross-sectional shape acquisition process will be described below with reference to FIG. 9.

[0054] In step 100, the control unit 100A initializes a variable n to 0. The variable n can take a value from 1 to the number N of selected cross sections. In Figs. 5 to 8, the number of selected cross sections is 9, and N=9.

[0055] In step 102, the control unit 100A adds 1 to the variable n. When the process of step 102 is executed for the first time after the cross-sectional shape acquisition process is started, n=1, and in the processes from step 104 onwards, first, the cross-sectional shape of the first selected cross section is acquired.

[0056] In step 104, the control unit 100A judges whether the estimated current position (estimated position) of the scanner 20 has become the nth scan position set as the scan position corresponding to the nth selected cross section. However, this is not limited thereto, and for example, it is preferable to set a range in which the estimated position is allowed to become the nth scan position in advance and judge whether the estimated position is within the allowable range. Then, when the control unit 100A judges that the estimated position is not the nth scan position, it repeatedly executes the process of step 104 until it judges that the estimated position has become the nth scan position.

[0057] On the other hand, if the control unit 100A determines in step 104 that the estimated position has reached the n-th scan position, the control unit 100A advances the process to step .

[0058] In step 106, the control unit 100A stops the movement of the unmanned mobile body 10 and executes the above-mentioned horizontal maintenance process, thereby maintaining the platform 12A approximately horizontally.

[0059] In step 108, the control unit 100A prohibits the execution of the horizontal holding process and sets the automatic leveling function of the automatic leveling platform 30 to ON. This causes the scanner 20 to be leveled horizontally. Note that when the unmanned mobile body 10 is moving, the automatic leveling function is basically set to OFF.

[0060] 7, the control unit 100A causes the scanner 20 to scan the targets 2, 4, and 6, and identifies the current position of the scanner 20 by detecting the distances to the targets 2, 4, and 6. The current position is identified by a known method such as the intersection method as described above.

[0061] In step 112, the control unit 100A determines whether the identified current position (specific position) has become the n-th scan position. If the control unit 100A determines that the specific position has become the n-th scan position, the control unit 100A advances the process to step 114.

[0062] In step 114, the control unit 100A causes the scanner 20 to scan the inner wall surface that defines the shape of the nth selected cross section, as shown in Fig. 8, and acquires the shape of the nth selected cross section based on the scan result. More specifically, the control unit 100A causes the scanner 20 to irradiate a laser at a set irradiation angle and receive the reflected laser, thereby acquiring three-dimensional local point cloud data (three-dimensional position coordinates) for multiple points (e.g., five points) on the inner wall surface of the first selected cross section as shown in Fig. 8. Thereafter, the control unit 100A acquires the shape of the nth selected cross section by calculating a cross-sectional shape line by interpolating the multiple point clouds acquired using a well-known algorithm.

[0063] In step 116, the control unit 100A stores the results acquired in step 114 and the calculation results based thereon, that is, the point cloud data and the cross-sectional shape (cross-sectional shape line), together with the scan date and time.

[0064] In step 118, the control unit 100A determines whether the variable n is N. If the control unit 100A determines that the variable n is N, it ends the process. On the other hand, if the control unit 100A determines that the variable n is not N, it returns the process to step 102, resumes the autonomous movement of the unmanned mobile body 10, and adds 1 to the current variable n. If the current variable n is 1, the variable n becomes 2 in step 102. That is, in the process from step 104 onwards, the control unit 100A moves the unmanned mobile body 10 to aim for a second scan position corresponding to the second selected cross section, and acquires a cross-sectional shape for the second selected cross section.

[0065] On the other hand, if it is determined in step 112 that the specific position is not the n-th scan position, the control unit 100A advances the process to step 120.

[0066] In step 120, the control unit 100A adjusts the current position of the scanner 20 by moving the unmanned mobile body 10. For example, the control unit 100A moves the unmanned mobile body 10 according to the difference between the specific position and the nth scan position. Thereafter, the control unit 100A returns the process to step 106, stops the movement of the unmanned mobile body 10 again, and executes the horizontal holding process. Then, after prohibiting the execution of the horizontal holding process and setting the automatic leveling function to ON, if the current position specified based on the scan results of the targets 2, 4, and 6 becomes the nth scan position, the scan of the inner wall surface that defines the shape of the nth selected cross section is executed. This makes it possible to acquire the shape of the selected cross section with reduced variation in the installation position of the scanner 20.

[0067] When the cross-sectional shape acquisition for all selected cross sections is completed, the cross-sectional shape acquisition method is also completed. After that, for example, by performing steps 14 and 16 of the cross-sectional shape acquisition method every time one day passes, cross-sectional shapes at different times can be acquired.

[0068] Here, the scan result of the inner wall surface and the cross-sectional shape (cross-sectional shape line) acquired based thereon may be stored in association with the scan date and time in step 116 of the cross-sectional shape acquisition process and transmitted to the personal computer of the base station. As described above, the personal computer of the base station calculates the perpendicular line length or horizontal line length, which is a parameter characterizing the internal displacement, based on the received cross-sectional shape line, spring line, center line, etc. Then, by comparing the difference between the parameters calculated at different timings with a predetermined range, it is determined whether the internal displacement has converged within the predetermined range. If the internal displacement has not converged within the predetermined range, for example, after one day has passed, the processes of steps 14 and 16 are performed again. On the other hand, if the internal displacement has converged within the predetermined range, it is possible to determine that the behavior of the ground and the deformation of the tunnel interior have stabilized, and secondary lining can be performed.

[0069] For example, a parameter characterizing the internal displacement, such as a perpendicular length or a horizontal length, may be calculated between steps 116 and 118 of the cross-sectional shape acquisition process, and it may be determined whether the internal displacement has converged within a predetermined range, and the determination result may be transmitted to the base station.

[0070] According to the above-described cross-sectional shape acquisition method using the cross-sectional shape acquisition device 1, a worker in the tunnel attaches at least three targets for identifying the position of the scanner 20 to the inner wall surface, and an operator at a base station remotely controls the unmanned mobile body 10 to move in the tunnel to create a route, and then the shape of the selected cross section is automatically acquired. More specifically, it is possible to automatically perform the following operations without the help of a worker: transporting the scanner 20 to the vicinity of each selected cross section in the tunnel, positioning the scanner 20 at the scanning position while identifying the current position of the scanner 20, scanning the inner wall surface of each selected cross section with the scanner 20, and acquiring the shape of the selected cross section based on the scan result. Therefore, it is possible to reduce repetitive, simple tasks at the observation site of the abnormality inside the tunnel, and to reduce the burden on the workers.

[0071] Here, it is considered that the scanning position for acquiring the shape of each selected cross section is preferably the same position every time in order to suppress the variation in the acquisition results. Therefore, it is considered that manually adjusting the position of the scanner 20 places a large burden on the worker. Therefore, according to the cross-sectional shape acquisition method using the cross-sectional shape acquisition device 1 described above, since it is possible to automatically adjust the position of the scanner 20, it is possible to reduce the burden on the worker while maintaining or improving the acquisition accuracy of the shape of the selected cross section.

[0072] In addition, from a safety perspective, it is preferable to minimize the number of workers entering and exiting the tunnel during excavation of the tunnel. In this regard, the cross-sectional shape acquisition method using the cross-sectional shape acquisition device 1 reduces repetitive, simple tasks, and therefore the amount of work requiring workers to enter and exit the tunnel can be minimized.

[0073] In addition, when the unmanned mobile body 10 moves near the face on a route created for the autonomous movement of the unmanned mobile body 10, the face may be photographed by the stereo camera 40 in order to observe the state of the face. This makes it possible to observe the state of the face, such as the presence or absence of water spouts or cracks, without having workers approach the face, further reducing the amount of work requiring workers to enter and exit the tunnel.

[0074] Next, a modified example of the cross-sectional shape acquisition method will be described with reference to FIGS. Fig. 10 is a flowchart showing the flow of a modified example of the cross-sectional shape acquisition method. Fig. 11 is a diagram for explaining the work performed by a worker in a tunnel in the modified example of the cross-sectional shape acquisition method. Fig. 12 is a flowchart showing a modified example of the cross-sectional shape acquisition process executed by the control device 100 after the unmanned mobile body 10 starts autonomous movement.

[0075] This modified example differs from the cross-sectional shape acquisition method described with reference to FIG. 4 in that steps 10, 12, and 16 in FIG.

[0076] In step 18, the worker in the tunnel installs targets 2, 4, and 6 as in step 10, and also attaches matrix type two-dimensional codes such as QR Code (registered trademark) to the inner wall surfaces that define the shapes of the first to ninth selected cross sections, as shown in FIG. 11. However, the codes are not limited to being attached to the inner wall surfaces, and tripods or supports to which the codes are attached may be installed near each selected cross section, as in the case of targets 2, 4, and 6. Here, FIG. 11 shows only matrix type two-dimensional codes (hereinafter simply referred to as "codes") 60 and 61 attached to the inner wall surfaces of the first and ninth selected cross sections, and other codes are omitted from the illustration, as in the case of the second to eighth selected cross sections. More specifically, the codes are preferably attached to positions where the stereo camera 40 can capture images near each selected cross section, such as at a height position that is approximately equal to the total height of the unmanned mobile body 10 (the height of the main body 12 above the ground).

[0077] In step 20, the operator at the base station moves the unmanned mobile body 10 in the tunnel by remote control, and creates a map and a route as described above, and sets the operation of the scanner 20. The creation of the map and the route is the same as that described in step 12 of FIG. 4. The operation of the scanner 20 may be set using the codes 60 and 61 attached in step 18. For example, when the control device 100 recognizes a code based on the image of the stereo camera 40 during remote control movement, the operator stores information such as the position coordinates of the scan position and the irradiation angle of the scanner 20 for the corresponding selected cross section in the recognized code. As a result, when the control device 100 recognizes the code during the autonomous movement of the unmanned mobile body 10 in step 14, it becomes possible to read out the scan position and the irradiation angle, and control the movement of the unmanned mobile body 10. In addition, a code storing the position coordinates of the standby position, etc., may be attached to the inner wall surface of the tunnel close to the standby position of the unmanned mobile body 10, and the control device 100 may recognize the standby position.

[0078] When the autonomous movement of the unmanned mobile body 10 along the created route is started in step 14, the shape of the selected cross section is acquired in step 22. To achieve this, the control device 100 executes a modified example of the cross-sectional shape acquisition process shown in FIG. 12 in step 22. The modified example of the cross-sectional shape processing will be described below. This modified example differs from the cross-sectional shape acquisition process shown in FIG. 9 in that a new step 122 is inserted between step 102 and step 106, so that for the n-th selected cross section, the process proceeds to step 106 when the image processing unit 100E of the control device 100 recognizes a code or when the estimated position becomes the scan position. The differences will be mainly described below.

[0079] When the control unit 100A adds 1 to the current variable n in step 102, in step 122, it determines whether the image processing unit 100E has recognized the nth code corresponding to the nth selected section (for example, the 1st and 9th codes corresponding to the 1st and 9th selected sections are codes 60 and 61). More specifically, when the image processing unit 100E recognizes a code as a result of processing the image of the stereo camera 40, it reads out information stored in the recognized code and outputs a signal corresponding to this information to the control unit 100A. Then, when the control unit 100A inputs a signal corresponding to the information stored in the code from the image processing unit 100E, it determines that the nth code has been recognized and proceeds to step 106. That is, when the process proceeds directly from step 122 to step 106, the specific position is adjusted using the scanner 20 from the position where the image processing unit 100E recognized the code (steps 106, 108, 110, 112, and 120).

[0080] On the other hand, if the control unit 100A determines in step 122 that it has not recognized the nth code, it advances the process to step 104 and determines whether or not the estimated position has become the nth scan position. If it determines that the estimated position has become the nth scan position, it executes or appropriately repeats the processes of steps 106, 108, 110, and 112 as necessary until the specific position becomes the nth scan position, similar to the cross-sectional shape acquisition process described with reference to Fig. 9.

[0081] In the above-described modified example, a code corresponding to each selected cross section is installed near the selected cross section, and when the control device 100 recognizes the code or when the estimated position becomes the scan position, the scanner 20 is caused to scan each target 2, 4, 6. Then, when the current position becomes the scan position based on the scan result, the scanner 20 is caused to scan the inner wall surface of the selected cross section. This makes it possible to adjust the position to scan the inner wall surface of the selected cross section when the unmanned mobile body 10 reaches a position where the stereo camera 40 can capture the code for each selected cross section. Therefore, it is possible to suppress the occurrence of a situation in which it takes a long time for the estimated position to become the scan position, such as when the unmanned mobile body 10 deviates significantly from the created route or the control device 100 misrecognizes the created route, making it difficult for the estimated position to become the scan position even if the current position is estimated.

[0082] In the above, the acquisition of the shape of the cross section of the tunnel interior before the secondary lining (i.e., the cross-sectional shape) has been described, but the present invention is not limited to this. For example, the acquisition of the cross-sectional shape of an underground space including an unlined tunnel, a tunnel after the secondary lining, a tunnel tunnel, an underground passageway, and other underground spaces that are elongated in the axial direction compared to the height or width of the cross section, as well as an artificial cavern or a natural cavern, such as a large-scale underground space having a shape that is not limited to a tunnel shape, such as a dome shape, is also applicable.

[0083] Hereinafter, a case where the cross-sectional shape acquisition device 1 is applied to acquisition of a cross-sectional shape of an underground space other than a tunnel before the secondary lining will be described. The movement path of the unmanned moving body 10 is not limited to the above-mentioned round trip path from the waiting position (the installation position of the cross-sectional shape acquisition device 1) through the vicinity of the face and back to the waiting position, and the unmanned moving body 10 may be moved in the underground space by remote control and an arbitrary path may be created while checking the image of the stereo camera 40. More specifically, the control device 100 is caused to create an environmental map of the underground space based on the image captured by the stereo camera, and an arbitrary path is created on the environmental map. In addition, each selected cross section in the underground space does not necessarily have to be arranged at 20 m intervals along the created movement path. For example, each selected cross section may be arranged at an arbitrary interval along the created movement path so as to be a cross section approximately perpendicular to the movement direction of the unmanned moving body 10 (sufficient to be approximately parallel to the naked eye). In this case, in the creation process, it is preferable to set a position on the creation route that is about 2 m away from each selected cross section on the opposite side to the straight-ahead direction of the unmanned mobile body 10 as the scanning position (predetermined position) of the inner wall surface of the selected cross section, that is, the laser irradiation position by the scanner 20. Furthermore, for example, in the case where the underground space has a tunnel shape, in addition to the inner wall surface at the innermost part, the inner wall surface of the underground space may be photographed at any location if the underground space is not shaped like a tunnel. In addition, at least three targets for identifying the current position of the scanner 20, such as a reflective sheet target or a prism target, may be directly attached to the inner wall surface of the underground space by a worker in the underground space, or may be installed via a tripod or a support at at least three points in the underground space whose position coordinates are known. This makes it possible to reduce repetitive, simple tasks at the observation site of the underground space, which is not limited to tunnels before secondary lining, and to reduce the burden on the workers. In addition, even if the underground space is a tunnel, a bare-dug tunnel, or a natural cave, which should not be entered by people as much as possible for safety reasons, the cross-sectional shape acquisition device 1 can be used to safely acquire the cross-sectional shape of the underground space.

[0084] In the above description, the scanner 20 is provided on the platform 12A of the unmanned mobile body 10 in order to identify the current position and obtain the shape of the selected cross section, but this is not limiting, and a total station may be provided on the platform 12A instead of the scanner 20. The total station is, for example, a combination of an optical range finder capable of irradiating an object such as a reflection point target or a prism target that exists at a predetermined horizontal angle and vertical angle in an angle range similar to the angle range in which the laser of the scanner 20 can be irradiated, and an electronic theodolite for measuring angles including the horizontal angle and vertical angle of the object, and is capable of acquiring the position coordinates of the object (the position coordinates of the object with the mechanical center of the total station as the origin) from the distance, horizontal angle, and vertical angle of the object. In this case, when installing targets 2, 4, 6 (first targets) for identifying the current position in order to obtain the position coordinates of multiple points on the inner wall surface of the selected cross section using a total station, it is preferable to install (attach) multiple (e.g., about five points on the inner wall surface) reflection point targets or prism targets (second targets) on the inner wall surface of each selected cross section.

[0085] That is, when a total station is used, in the installation step, a first target is installed at at least three points whose position coordinates are known in the underground space, and a plurality of second targets are installed on the inner wall surface of a preselected selected section in the underground space. In addition, in the acquisition step, when the current position of the total station obtained by having the total station acquire the position coordinates of the first target becomes a predetermined position for the selected section, the total station is caused to acquire the position coordinates of the second target for the selected section, and the control device 100 is caused to acquire the shape of the selected section based on the acquisition result. In this case, the predetermined position is a position where the total station acquires the position coordinates of the second target for the selected section, and is preferably set on the route created in the creation step. For example, a position about 2 m away from each selected section on the created route on the rear side opposite to the straight direction of the unmanned mobile body 10 is set as the predetermined position, that is, the irradiation position of the light wave by the total station. In this case, the irradiation position may be set while the unmanned mobile body 10 is moving, or the irradiation position may be set on a map created by the operator. It is preferable to set the irradiation angle of the light wave by the total station so that the light wave is irradiated to a plurality of second targets on the inner wall surface of the selected cross section corresponding to each irradiation position. However, if the total station has an automatic collimation function for automatically collimating, for example, a reflection point target or a prism target, the setting of the irradiation angle may be omitted. In addition, when a matrix type two-dimensional code such as a QR code (registered trademark) 60 or 61 is attached, it is preferable that in the acquisition process, the stereo camera 40 recognizes the matrix type two-dimensional code and the total station scans the first target, and the unmanned mobile body 10 is moved so that the current position of the total station becomes a predetermined position. Furthermore, when acquiring the position coordinates of the first target and the second target, it is preferable that the control device 100 performs a horizontal holding process by controlling the operation of the legs 14 while stopping the movement of the unmanned mobile body 10, and then prohibits the execution of the horizontal holding process and turns on the automatic leveling function of the automatic leveling platform 30.

[0086] The control device 100 may also be configured to monitor the battery status during the autonomous movement of the unmanned mobile body 10, and calculate the available movement time of the unmanned mobile body 10 and the available operation time of the scanner 20, etc. Even if scanning of the inner wall surfaces of all selected cross sections has not been completed, the control device 100 may interrupt the scan and move the unmanned mobile body 10 to the standby position, taking into consideration the movement distance and time from the current position to the standby position, as well as the calculated available movement time and available operation time, etc.

[0087] Here, the unmanned mobile body 10 described above is not limited to obtaining the cross-sectional shape of a tunnel. For example, the unmanned mobile body 10 may be used for checking the presence or absence of cracks in drainage pipes and water distribution pipes during inspection work of a dam inspection gallery or a water purification plant. For example, the inspection gallery of a dam is spread throughout the entire dam, so it includes many stairs and requires workers to move long distances, which places a heavy burden on workers. For example, a water purification plant is vast, has many narrow spaces, and has many inspection work items, which similarly places a heavy burden on workers. Therefore, by using the unmanned mobile body 10 to photograph the inspection gallery of a dam or the drainage pipes and water distribution pipes of a water purification plant with the stereo camera 40, it is possible to check the presence or absence of cracks without the worker actually visiting the plant, thereby reducing the burden on workers.

[0088] Also, since the presence or absence of abnormal sounds or vibrations from motors that drive pumps in the inspection gallery of a dam or in a water purification plant is one of the inspection work items, it is preferable to provide an abnormal sound detection sensor in the unmanned mobile body 10. Also, since one of the inspection work items in a water purification plant is the work of checking the presence or absence of an abnormal odor in the water in a water quality survey, it is preferable to provide an odor sensor in the unmanned mobile body 10. This makes it possible to reduce the amount of inspection work that requires workers to actually visit the inspection gallery of a dam or in a water purification plant.

[0089] Furthermore, the unmanned mobile body 10 may be used to patrol, for example, sewer pipes and underground pits for maintenance provided in the basement of a building, to check for the presence or absence of cracks in sewer pipes and water distribution pipes, and for the presence or absence of abnormal noises in electrical equipment. Here, in underground pits, etc., there is a risk that the carbon monoxide concentration will increase and the oxygen concentration will decrease depending on the operating state and ventilation state of electrical equipment that generates engine exhaust. Therefore, the unmanned mobile body 10 may be provided with sensors for measuring the carbon monoxide concentration and the oxygen concentration, and the unmanned mobile body 10 may measure the carbon monoxide concentration and the oxygen concentration during its patrol.

[0090] In addition, the unmanned mobile body 10 may be used to grasp the situation of a disaster site where people should avoid entering and exiting, such as a place with low oxygen concentration or a place with high radiation. For example, in a disaster site with high radiation, a radiation dosimeter may be provided on the unmanned mobile body 10, and a map may be created that indicates places in the disaster site where radiation levels are relatively high and relatively low. In addition, a door opening and closing work arm capable of gripping a doorknob at its tip may be provided on the loading platform 12A of the unmanned mobile body 10. For example, it is preferable that the tip, base, and joints between these are each freely rotatable around an arbitrary axis. Even if the door of a building in the disaster site is closed and the situation beyond the door cannot be grasped, the door can be opened by the work arm and the unmanned mobile body 10 can be moved beyond the door to grasp the situation. In addition, the unmanned mobile body 10 may be used to patrol a construction site, for example, to find dangerous objects such as beehives, and to create a map that takes these into consideration.

[0091] Furthermore, the unmanned mobile body 10 may be provided with an outside air temperature sensor and a body temperature sensor, and the image processing unit 100E may have a function of recognizing a person's facial color based on images from the stereo camera 40. The unmanned mobile body 10 may then be moved to a work site where many workers are working, and the risk of heat stroke may be detected from the outside air temperature, and workers who are feeling unwell may be detected from their body temperatures and facial colors.

[0092] In addition, the unmanned mobile body 10 may be equipped with a predetermined drawing device capable of automatically performing marking work, and the unmanned mobile body 10 may be used to patrol inside a building at a construction site and perform marking work.

[0093] Although the preferred embodiments of the present invention and their modifications have been described above, the present invention is not limited to the above-described embodiments, and various modifications and changes are possible based on the technical concept of the present invention. In addition, the claims at the time of filing of Patent Application No. 2020-92161 were as follows: [Claim 1] A step of installing targets at at least three points with known position coordinates within an underground space; a creation process for remotely controlling a freely movable unmanned mobile body, the mobile body including a platform equipped with a 3D laser scanner, at least four legs supporting the platform, and a control device for controlling the operation of the 3D laser scanner and the legs, to move within the underground space and create a path for the unmanned mobile body to move through a preselected cross section within the underground space; A moving step of autonomously moving the unmanned moving body along the created route; an acquisition step of causing the three-dimensional laser scanner to scan an inner wall surface of the selected cross section when the current position of the three-dimensional laser scanner obtained by scanning the target with the three-dimensional laser scanner reaches a predetermined position for the selected cross section, and causing the control device to acquire the shape of the selected cross section based on the scan result; A cross-sectional shape acquisition method comprising: [Claim 2] The unmanned vehicle further includes an automatic leveling platform that is provided between the platform and the three-dimensional laser scanner and automatically levels the three-dimensional laser scanner to a horizontal position; The cross-sectional shape acquisition method according to claim 1, wherein the control device is configured to perform a horizontal holding process for holding the platform horizontal by controlling the operation of the legs, and to control the on / off of an automatic leveling function of the automatic leveling table. [Claim 3] The cross-sectional shape acquisition method according to claim 2, wherein, when scanning the target and the inner wall surface, the control device performs the horizontal holding process while stopping the movement of the unmanned mobile body, and then prohibits the execution of the horizontal holding process and turns on the automatic leveling function. [Claim 4] the predetermined position is a position where the 3D laser scanner is caused to scan an inner wall surface of the selected cross section, 4. The cross-sectional shape acquiring method according to claim 1, wherein the creating step includes a step of setting the predetermined position on the created path. [Claim 5] The unmanned moving body further includes a stereo camera capable of capturing an image of its surroundings, The cross-sectional shape acquisition method according to any one of claims 1 to 4, wherein in the creation process, while the unmanned mobile body is moving, the control device is caused to create an environmental map of the underground space based on images captured by the stereo camera, and the route is created on the environmental map. [Claim 6] the setting step includes a step of attaching a matrix type two-dimensional code to an inner wall surface of the selected cross section at a position recognizable by the stereo camera; The cross-sectional shape acquisition method according to claim 5, wherein in the acquisition step, when the stereo camera recognizes the matrix-type two-dimensional code, the three-dimensional laser scanner is caused to scan the target, and the unmanned mobile body is moved so that the current position becomes the specified position. [Claim 7] An installation step of installing first targets at at least three points whose position coordinates are known in an underground space and installing a plurality of second targets on an inner wall surface of a preselected cross section in the underground space; a creation process of remotely controlling a freely movable unmanned vehicle, the vehicle comprising a platform provided with a total station capable of acquiring position coordinates of the first target and the second target, at least four legs supporting the platform, and a control device for controlling the operation of the total station and the legs, to move the vehicle within the underground space and create a route for the unmanned vehicle to move through the selected cross section; A moving step of autonomously moving the unmanned moving body along the created route; an acquisition step of having the total station acquire position coordinates of the first target when the current position of the total station reaches a predetermined position for the selected cross section, and having the control device acquire the shape of the selected cross section based on the acquisition result; A cross-sectional shape acquisition method comprising: [Claim 8] The unmanned vehicle further includes an automatic leveling platform that is provided between the platform and the total station and automatically levels the total station to a horizontal position; The cross-sectional shape acquisition method according to claim 7, wherein the control device is configured to perform a horizontal holding process for holding the platform horizontal by controlling the operation of the legs, and to control on / off of an automatic leveling function of the automatic leveling table. [Claim 9] The cross-sectional shape acquisition method according to claim 8, wherein, when acquiring the position coordinates of the first target and the second target, the control device performs the horizontal holding process while stopping the movement of the unmanned mobile body, and then prohibits the execution of the horizontal holding process and turns on the automatic leveling function. [Claim 10] the predetermined position is a position that causes the total station to acquire position coordinates of a second target for the selected cross section; 10. The cross-sectional shape acquiring method according to claim 7, wherein the creating step includes a step of setting the predetermined position on the created path. [Claim 11] The unmanned moving body further includes a stereo camera capable of capturing an image of its surroundings, The cross-sectional shape acquisition method according to any one of claims 7 to 10, wherein in the creation process, while the unmanned mobile body is moving, the control device is caused to create an environmental map of the underground space based on images captured by the stereo camera, and the route is created on the environmental map. [Claim 12] the setting step includes a step of attaching a matrix type two-dimensional code to an inner wall surface of the selected cross section at a position recognizable by the stereo camera; The cross-sectional shape acquisition method according to claim 11, wherein in the acquisition process, when the stereo camera recognizes the matrix-type two-dimensional code, the total station is caused to scan the first target, and the unmanned mobile body is moved so that the current position becomes the specified position. [Claim 13] A freely movable unmanned moving body having a loading platform and at least four legs supporting the loading platform; A 3D laser scanner provided on the platform; A storage unit capable of storing a route that is created in advance so that the unmanned moving body passes through a preselected cross section in an underground space; a control device configured to control the operation of the legs to move the unmanned mobile body along the path, and to control the operation of the three-dimensional laser scanner to cause the three-dimensional laser scanner to scan targets that have been installed in advance at at least three points whose position coordinates are known in the underground space, and when the current position of the three-dimensional laser scanner reaches a predetermined position for the selected cross section, to have the three-dimensional laser scanner scan an inner wall surface for the selected cross section, and to obtain the shape of the selected cross section based on the scan result of the inner wall surface; A cross-sectional shape acquisition device comprising: [Claim 14] A freely movable unmanned moving body having a loading platform and at least four legs supporting the loading platform; a total station provided on the platform and capable of acquiring position coordinates of a predetermined target; A storage unit capable of storing a route that is created in advance so that the unmanned moving body passes through a preselected cross section in an underground space; a control device configured to control the operation of the legs to move the unmanned mobile body along the path, and to control the operation of the total station to cause the total station to acquire position coordinates of first targets that have been installed in advance at at least three points in the underground space whose position coordinates are known, and when the current position of the total station reaches a predetermined position for the selected cross-section, cause the total station to acquire position coordinates of second targets that are installed in multiple locations on an inner wall surface for the selected cross-section, and to acquire the shape of the selected cross-section based on the acquisition results; A cross-sectional shape acquisition device comprising: [Explanation of symbols]

[0094] 1...cross-sectional shape acquisition device, 2, 4, 6...target, 10...unmanned vehicle, 12A...cargo platform, 14...legs, 20...3D laser scanner, 30...automatic leveling platform, 40...stereo camera, 50...tilt sensor, 100...control device, 100A...control unit, 100B...storage unit, 100E...image processing unit, 60, 61...matrix type two-dimensional code (QR code (registered trademark))

Claims

1. An unmanned mobile body that can move freely within an underground space, A loading platform equipped with a 3D laser scanner; At least four legs supporting the platform; A control device for controlling the operation of the three-dimensional laser scanner and the leg; an automatic leveling table provided between the platform and the three-dimensional laser scanner and configured to automatically level the three-dimensional laser scanner horizontally; Equipped with The control device is configured to perform a horizontal holding process to hold the platform horizontal by controlling the operation of the legs, and to control the on / off of an automatic leveling function of the automatic leveling platform.

2. The unmanned mobile body described in claim 1, wherein when scanning a target installed in the underground space and the inner wall surface of the underground space with the three-dimensional laser scanner, the control device performs the horizontal holding process while stopping the movement of the unmanned mobile body, and then prohibits the execution of the horizontal holding process and turns on the automatic leveling function.

3. An unmanned mobile body that can move freely within an underground space, A loading platform equipped with a total station, At least four legs supporting the platform; A control device for controlling the operation of the total station and the leg; an automatic leveling table provided between the platform and the total station and configured to automatically level the total station; Equipped with The control device is configured to perform a horizontal holding process to hold the platform horizontal by controlling the operation of the legs, and to control the on / off of an automatic leveling function of the automatic leveling platform.

4. The unmanned mobile body described in claim 3, wherein when the position coordinates of a target installed in the underground space are obtained by the total station, the control device performs the horizontal holding process while stopping the movement of the unmanned mobile body, and then prohibits the execution of the horizontal holding process and turns on the automatic leveling function.

5. The unmanned moving body further includes a stereo camera capable of capturing an image of the surroundings of the unmanned moving body, The unmanned mobile body according to any one of claims 1 to 4, wherein the control device creates an environmental map of the underground space based on images captured by the stereo camera.

6. The unmanned mobile body according to any one of claims 1 to 5, wherein the unmanned mobile body is used to acquire a cross-sectional shape of the underground space.

7. An unmanned vehicle that can move freely within a site, A loading platform equipped with a 3D laser scanner; At least four legs supporting the platform; A control device for controlling the operation of the three-dimensional laser scanner and the leg; an automatic leveling table provided between the platform and the three-dimensional laser scanner and configured to automatically level the three-dimensional laser scanner horizontally; Equipped with The control device is an unmanned mobile body configured to perform a horizontal holding process for holding the platform horizontal by controlling the operation of the legs, and to control the on / off of an automatic leveling function of the automatic leveling table.

8. An unmanned vehicle that can move freely within a site, A loading platform equipped with a total station, At least four legs supporting the platform; A control device for controlling the operation of the total station and the leg; an automatic leveling table provided between the platform and the total station and configured to automatically level the total station; Equipped with The control device is an unmanned mobile body configured to perform a horizontal holding process for holding the platform horizontal by controlling the operation of the legs, and to control the on / off of an automatic leveling function of the automatic leveling table.

9. The unmanned moving body further includes a stereo camera capable of capturing an image of the surroundings of the unmanned moving body, The unmanned mobile body according to claim 7 or 8, wherein the control device creates an environmental map of the site based on the images captured by the stereo camera.

10. An unmanned mobile body that can move freely along a route within a site, A platform on which at least one of a three-dimensional laser scanner and a total station can be placed; At least four legs supporting the platform; A control device for controlling the movement of the leg; Equipped with The unmanned moving body further includes a stereo camera capable of capturing an image of the surroundings of the unmanned moving body, and a sensor for measuring the surrounding environment of the unmanned moving body, The control device creates an environmental map of the route based on the images captured by the stereo camera, The unmanned mobile body is capable of acquiring the image and the measurement results by the sensor, together with the position coordinates of the unmanned mobile body on the route.

11. The unmanned vehicle according to claim 10 , wherein the sensor includes at least one of an abnormal sound detection sensor, an odor sensor, a carbon monoxide concentration sensor, an oxygen concentration sensor, a radiation dosimeter, an outside air temperature sensor, and a body temperature sensor.

12. 12. The unmanned mobile body according to claim 10, wherein a working arm having a gripping portion and a joint portion is provided on the platform.

13. Further, an inclination sensor is provided for detecting an inclination angle of the loading platform relative to a horizontal direction, The unmanned mobile body according to any one of claims 10 to 12, wherein the control device is capable of executing a horizontal holding process for holding the platform horizontal by controlling the movement of the legs based on the output signal of the inclination sensor.

Images