Measurement target installation drone and measurement target installation method

Abstract

To provide a drone for installing a measurement target and a method for installing a measurement target which enable the safe and stable installation of a measurement target such as a standardization point for precisely preparing a drawing such as on a disaster site in a short time.SOLUTION: A measurement target is installed by landing a drone 100 for installing a measurement target on which a measurement target has been attached on a place for installing the measurement target. The measurement target can be set as a standardization point 10 for making three-dimensional measurement. It is desirable that the leg 24 of the drone 100 for installing the measurement target can be telescopic to have measurement means for measuring a distance between the leg 24 and a landing face. It is desirable to attach a deformable member or an anti-slip member below the leg 24 of the drone 100 for installing the measurement target.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a measurement target installation drone and a measurement target installation method. [Background technology]

[0002] In the past, when a landslide occurred near a highway or railway, it was necessary to grasp the extent of the collapse and the amount of sediment that had flowed out, and to carry out emergency restoration work quickly, so it was necessary to quickly create drawings for that purpose. For this reason, the disaster site was viewed from a distance, sketched, and then added to the existing drawings, but this took time and was prone to inaccuracies due to differences in the drawings depending on the person who created it.

[0003] Meanwhile, with regard to the use of drones in the field of surveying, Patent Document 1 describes an invention relating to a drone aerial photography surveying system that uses a drone to capture images of land to be surveyed and generates various surveying data based on the captured images.

[0004] Regarding the use of drones to install measuring instruments to monitor the inclination of slopes, Patent Document 2 describes an invention relating to a method of installing measuring instruments on slopes, in which a drone is used to install an inclination measuring instrument on slopes in mountainous areas, hilly regions, etc. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2019-60641 A [Patent Document 2] JP 2020-190463 A Summary of the Invention [Problem to be solved by the invention]

[0006] The above-mentioned conventional drawing method takes a long time to create and the completed drawing tends to be inaccurate, so there is a need to create drawings with high accuracy in a short time. To achieve this, it is considered to perform three-dimensional measurement using control points.

[0007] Figure 6 is an explanatory diagram of three-dimensional measurement using control points, showing a landslide caused by the collapse of a mountain slope. In order to create a map of the disaster site 1 where sediment flowed in, three control points 10, 10, 10 are set at the disaster site 1. Then, by scanning the three control points 10, 10, 10 from multiple directions with a scanner 2, a highly accurate map can be created in a short time.

[0008] However, in order to perform three-dimensional measurement at such a disaster site 1, control points 10 must be installed within the disaster site 1, but installing them manually poses problems due to safety concerns.

[0009] In contrast, Patent Document 1 does not state anything about setting control points at disaster sites. In addition, Patent Document 2 aims to install measuring instruments using drones, and does not cover the installation of control points for surveying.

[0010] In addition to control points for performing three-dimensional measurements at disaster sites, various measurement targets may be installed at various locations.

[0011] The present invention solves the above-mentioned conventional problems, and provides a measurement target installation drone and a measurement target installation method that are capable of safely and stably installing measurement targets such as control points for creating drawings of disaster sites, etc., in a short period of time with high accuracy. [Means for solving the problem]

[0012] In order to solve the above problems, the measurement target installation drone of the present invention is characterized by having a measurement target attached.

[0013] Preferably, the device is characterized by having extendable legs.

[0014] It is also preferable that the vehicle further comprises a measuring means for measuring the distance between the legs and the landing surface.

[0015] Preferably, the device further comprises a deformable member attached below the leg.

[0016] It is also preferable that the seat has anti-slip members attached to the lower portions of the legs.

[0017] In a further preferred embodiment, the measurement target is a control point for performing three-dimensional measurement.

[0018] In addition, the control point installation method of the present invention is characterized in that a measurement target installation drone with a measurement target attached is landed at a measurement target installation location to install the measurement target. Effect of the Invention

[0019] The measurement target installation drone of the present invention has a measurement target attached, so that the measurement target can be safely installed by landing the drone at a measurement target installation location, such as a disaster site.

[0020] In addition, by having extendable legs, the length of the legs can be adjusted to match the slope of the location where the measurement target is installed, allowing the drone to take off and land stably.

[0021] In addition, by having a measuring means for measuring the distance between the legs and the landing surface, the distance between the legs and the landing surface can be measured in the air and the length of the legs can be adjusted before landing to match the slope, etc. of the location where the measurement target is installed.

[0022] In addition, by having a deformable member attached below the legs, the drone can be landed with the deformable member facing the valley side, and the deformable member can be sandwiched between the legs and a slope, etc., allowing the drone to take off and land stably.

[0023] In addition, by having anti-slip members attached to the underside of the legs, the drone can be landed with the anti-slip members facing the mountain side, allowing the drone to take off and land stably.

[0024] Furthermore, if the measurement targets are control points for performing three-dimensional measurement, then three-dimensional measurements based on the control points can be used to create highly accurate drawings of disaster sites, etc. in a short amount of time.

[0025] In addition, the measurement target installation method of the present invention involves landing a measurement target installation drone with a measurement target attached at the measurement target installation location to install the measurement target, so that the measurement target can be installed safely without people having to enter a disaster site, etc.

[0026] In this way, according to the present invention, it is possible to provide a measurement target installation drone and a measurement target installation method that are capable of safely and stably installing measurement targets such as control points for creating drawings of disaster sites, etc., in a short period of time with high accuracy. [Brief description of the drawings]

[0027] [Figure 1] 1A and 1B are a plan view and a front view, respectively, showing a measurement target installation drone according to an embodiment of the present invention. [Diagram 2] (A) is a plan view showing the control points, and (B) is a front view. [Diagram 3] FIG. 2 is an explanatory diagram of a measurement target installation method according to the first embodiment. [Figure 4] FIG. 11 is an explanatory diagram of a measurement target installation method according to the second embodiment. [Diagram 5] FIG. 11 is an explanatory diagram of a measurement target installation method according to a third embodiment. [Figure 6] FIG. 1 is an explanatory diagram of three-dimensional measurement using control points. [Figure 7] FIG. 11 is a plan view showing a measurement target installation drone according to a fourth embodiment. [Figure 8] FIG. 13 is a schematic diagram showing a leg of a measurement target installation drone according to embodiment 4. [Figure 9] FIG. 13 is an explanatory diagram of a measurement target installation method according to a fourth embodiment. [Figure 10] 13 is an explanatory diagram of a leg restriction mechanism of a measurement target installation drone according to embodiment 4. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] Next, a measurement target installation drone and a measurement target installation method according to an embodiment of the present invention will be described with reference to Figs. 1 to 6. The measurement target is installed at a measurement site to perform various measurements and is used as a target to be scanned, photographed, etc. from the surroundings. In the measurement target installation drone and measurement target installation method according to this embodiment, the measurement target is used as a control point for performing three-dimensional measurement, and as shown in Fig. 6, when a mountain slope collapses and a landslide occurs, a control point 10 is installed at the disaster site 1 in order to create a drawing of the disaster site 1 into which the sediment has flowed in. Then, the control point 10 is scanned from multiple directions with a scanner 2 to perform three-dimensional measurement and create a drawing of the disaster site 1.

[0029] First, the basic configuration of the measurement target installation drone 100 according to this embodiment will be described. Fig. 1 shows (A) a plan view and (B) a front view of the measurement target installation drone 100. The measurement target installation drone 100 is a drone 20 equipped with a control point 10 for performing three-dimensional measurement.

[0030] The drone 20 is composed of a main body 21 in which a power supply unit, a transmission / reception unit, a control unit, a camera, etc. are stored, six arm units 22 extending radially from the main body 21, six propellers 23 attached to the upper end of each arm unit 22, and six legs 24 extending downward from the end of each arm unit 22. The control point 10 is attached to the upper surface of the main body 21. The attachment position of the control point 10 is not limited to the upper surface of the main body 21, and may be any position that can be seen from the surroundings so that it can be scanned by the scanner 2, such as the arm unit 22. The structure of the drone 20 is not particularly limited, including the number of arm units and propellers of the drone 20, as long as the control point 10 can be attached.

[0031] 2A is a plan view and FIG. 2B is a front view showing the control point 10. The control point 10 is composed of a spherical portion 11 and an attachment leg portion 12 extending downward from the spherical portion 11.

[0032] The measurement target installation drone 100 can be made to fly with the control point 10 attached to the location where the control point 10 is to be installed and land by operating a controller not shown.

[0033] Next, a measurement target installation method using the measurement target installation drone 100 will be described with reference to FIGS.

[0034] (Embodiment 1) 3 is an explanatory diagram of the measurement target installation method according to the embodiment 1. In the measurement target installation method according to the embodiment 1, the measurement target installation drone 100 is flown to the installation location of the control point 10 in the disaster site 1 and then lands on a slope at the installation location. The measurement target installation drone 100 that has landed will tilt depending on the slope of the slope, stones, etc., but if the slope is gentle or depending on the position of the center of gravity of the measurement target installation drone 100, it can take off and land stably.

[0035] (Embodiment 2) 4 is an explanatory diagram of a measurement target installation method according to embodiment 2. In the measurement target installation method according to embodiment 2, the legs 24 of the measurement target installation drone 100 are made extendable and retractable, and the length of each leg 24 is adjusted according to the inclination of the slope, stones, etc., so that the measurement target installation drone 100 is horizontal (the arm section 22 is horizontal) when the control point 10 is installed. Whether or not it is horizontal is determined by an IMU sensor (inertial measurement unit) or the like mounted on the drone 20. The adjustment of the legs 24 can be performed after landing or before landing.

[0036] If this is done after landing, the measurement target installation drone 100 lands in an inclined position due to the inclination of the slope, etc., as shown in Figure 3, and then the legs 24 are adjusted so that they are longer toward the valley side, and then the drone is made horizontal.

[0037] When performing before landing, first, a measuring means is provided on the measurement target installation drone 100 to measure the distance between the legs 24 and the landing surface (for example, the distance between the tip of the legs 24 and the landing surface directly below). As the measuring means, a distance measurement sensor technology such as LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging) can be used. Then, as shown in FIG. 4, while the measurement target installation drone 100 is hovering in the sky above the installation location, the measuring means measures the distance between each leg 24 and the landing surface directly below, and the legs 24 are adjusted according to the measurement results as shown by the dashed lines in FIG. 4, and then the drone is landed at the installation location. The length of the legs 24 may be further adjusted after landing.

[0038] (Embodiment 3) 5 is an explanatory diagram of a measurement target installation method according to embodiment 3. In the measurement target installation method according to embodiment 3, a deformation member 30 is attached to the lower part of the leg 24 of the measurement target installation drone 100 so that the measurement target installation drone 100 is horizontal (the arm part 22 is horizontal) when the measurement target installation drone 10 is installed at the control point 10.

[0039] The deformable member 30 may be a member that can freely deform in response to pressure, such as a cushion filled with beads. In this embodiment, a box section 50 is provided on which the anti-slip member 40 is placed, and the deformable member 30 is attached to one side of the lower surface of the box section 50. The drone is then landed so that the deformable member 30 faces the valley side, and the drone is made horizontal by sandwiching the deformable member between the legs and the slope or the like.

[0040] In addition, an anti-slip member 40 can be attached to the lower part of the leg 24 to prevent the measurement target installation drone 100 from sliding down into the valley after landing. In this embodiment, a hook-shaped anti-slip member 40 is attached to the side of the box part 50. Then, the drone is landed so that the anti-slip member 40 faces the mountain side, so that the anti-slip member 40 bites into the slope. Note that the configuration may include only one of the deformation member 30 and the anti-slip member 40.

[0041] Next, a measurement target installation drone and a measurement target installation method according to embodiment 4 will be described with reference to Figs. 7 to 10. Note that the same components as those in embodiments 1 to 3 are denoted by the same reference numerals and will not be described.

[0042] (Embodiment 4) 7 is a plan view showing a measurement target setting drone 200 according to embodiment 4. The measurement target setting drone 200 and the measurement target setting drone 100 have the same main body 21, arm 22, and propeller 23, but different legs. The legs of the measurement target setting drone 200 are legs 60a, 60b, and 60c attached to three of the six arms 22 and slide vertically relative to the arms 22. The number of legs 60 is not particularly limited as long as it is three or more.

[0043] Fig. 8 is a schematic diagram showing the legs 60a, 60b, and 60c of the measurement target installation drone 200. For the sake of explanation, Fig. 8 shows only the arm 22 and the legs 60a, 60b, and 60c, which are simplified and shown in the horizontal direction, and omits the main body and propellers. Note that the legs 60a, 60b, and 60c slide in the vertical direction, so they are positioned so that they do not come into contact with the propellers when they slide upward.

[0044] The legs 60a, 60b, 60c are attached to the arm 22 via clamps 70a, 70b, 70c, respectively, and are in a state in which they can move freely during flight before landing on the ground, being in the lowest position due to their own weight as shown in Fig. 8. Locking parts are provided on the upper parts of the legs 60a, 60b, 60c to prevent them from falling off the clamps 70a, 70b, 70c.

[0045] Although the legs 60a, 60b, and 60c themselves do not extend or contract, by sliding them vertically relative to the arm portion 22, the length of the portion below the arm portion 22 changes, so that the legs are essentially extendable and contractible.

[0046] The lower ends of the legs 60a, 60b, and 60c are each attached to the ground. ground Switches SWa, SWb, and SWc are installed and turn ON when the

[0047] The clamps 70a, 70b, and 70c are provided with an opening / closing control means (not shown) that utilizes a solenoid, a servo motor, or the like, and are adapted to open and close in response to a signal from a leg restriction mechanism (described later). By closing the clamps 70a, 70b, and 70c, the legs 60a, 60b, and 60c are tightened to restrict sliding in the vertical direction.

[0048] 9-10, a measurement target installation method using the measurement target installation drone 200 will be described. As shown in Fig. 9(A), when the measurement target installation drone 200 descends to land on a slope, the leg 60a first touches the ground and the switch SWa turns ON. At this stage, the clamps 70a, 70b, and 70c are not closed, and the sliding of the legs 60a, 60b, and 60c is not restricted.

[0049] When the measurement target installation drone 200 descends further, the leg 60b touches the ground and the switch SWb turns ON, as shown in FIG. 9B. The leg 60a slides upward by the additional amount of descent. Even at this stage, the clamps 70a, 70b, and 70c are not closed, and the sliding of the legs 60a, 60b, and 60c is not restricted.

[0050] When the measurement target installation drone 200 descends further, the leg 60c touches the ground and the switch SWc turns ON, as shown in Fig. 9(C). The legs 60a and 60b slide upward by the additional distance they descended. Then, when all the switches SWa, SWb, and SWc turn ON, the clamps 70a, 70b, and 70c close, restricting the sliding of the legs 60a, 60b, and 60c and fixing their lengths.

[0051] 10 is an explanatory diagram of the leg restriction mechanism of the measurement target installation drone 200. The switches SWa, SWb, and SWc attached to the lower ends of the legs 60a, 60b, and 60c are connected in series. When all the switches SWa, SWb, and SWc are turned ON, all the clamps 70a, 70b, and 70c are actuated and closed by a signal from the controller 80.

[0052] In this way, the length of the legs 60a, 60b, and 60c below the arm portion 22 can be extended or retracted, allowing the measurement target installation drone 200 to land horizontally.

[0053] The measurement target installation drones 100, 200 in this embodiment are equipped with measurement targets, so that the measurement targets can be safely installed by landing the drone at a measurement target installation location, such as a disaster site.

[0054] In addition, by having extendable legs, the length of the legs can be adjusted to match the slope of the location where the measurement target is installed, allowing the drone to take off and land stably.

[0055] In addition, by having a measuring means for measuring the distance between the legs and the landing surface, the distance between the legs and the landing surface can be measured in the air and the length of the legs can be adjusted before landing to match the slope, etc. of the location where the measurement target is installed.

[0056] In addition, by having a deformable member attached below the legs, the drone can be landed with the deformable member facing the valley side, and the deformable member can be sandwiched between the legs and a slope, etc., allowing the drone to take off and land stably.

[0057] In addition, by having anti-slip members attached to the underside of the legs, the drone can be landed with the anti-slip members facing the mountain side, allowing the drone to take off and land stably.

[0058] In addition, since the measurement targets are control points 10 for performing three-dimensional measurement, three-dimensional measurement based on the control points 10 makes it possible to create highly accurate drawings of disaster sites, etc. in a short period of time.

[0059] In addition, the measurement target installation method of this embodiment involves landing a measurement target installation drone with a measurement target attached at the measurement target installation location to install the measurement target, so that the measurement target can be installed safely without people having to enter a disaster site, etc.

[0060] In this way, the measurement target installation drone and measurement target installation method of this embodiment make it possible to safely and stably install measurement targets such as control points for creating drawings of disaster sites, etc., in a short period of time with high accuracy.

[0061] The above describes the measurement target installation drone and measurement target installation method according to this embodiment, but the present invention is not limited to the above-described embodiment and various other modifications are possible.

[0062] In this embodiment, the measurement targets are control points for three-dimensional measurement, but the present invention is not limited to this and can be applied to various measurement targets. For example, a drone equipped with a ground behavior measurement target is landed at the installation site and photographed for monitoring, so that initial displacement measurement of unstable collapsed soil can be performed.

[0063] Further, in this embodiment, a case where a control point is set in a disaster site has been described, but the location is not limited to a disaster site, and may be a mountainous area under normal circumstances. [Explanation of symbols]

[0064] 1. Disaster site 2. Scanner 10 control points 11 Sphere section 12 Mounting feet 20. Drone 21 Main body 22 Arm section 23 Propeller 24 Legs 30 Deformable member 40 Anti-slip material 50 Hakobe 60 Legs 70 Clamp 80 Controller SW Switch 100 Measurement target placement drone 200 Measurement target placement drone

Claims

1. A measurement target installation drone having a measurement target attached thereto, A measurement target installation drone characterized by having three or more legs that slide vertically relative to the arm portion that constitutes the measurement target installation drone, and a leg restriction mechanism that restricts the sliding of all of the legs when all of the legs touch the ground.

2. The measurement target installation drone described in Claim 1, characterized in that the leg regulating mechanism is composed of a switch attached to each of the legs and turned ON when each of the legs touches the ground, and a clamp that tightens all of the legs when all of the switches are turned ON.

3. The measurement target installation drone according to claim 1 or claim 2, characterized in that the measurement target is a control point for performing three-dimensional measurement.

4. A measurement target installation method, characterized by landing the measurement target installation drone described in claim 1 at a measurement target installation location and installing the measurement target.

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