Topographical Measurement System

Abstract

To provide a topography measurement system which can more easily and highly accurately measure the shape of ground surface.SOLUTION: A mobile object 1 is movable relative to the ground surface. A position detection unit 14 measures the position of the mobile object 1. An FST includes two links, a joint portion coupling the two links, and a joint angle detection unit 72 detecting the relative positions of the two links coupled by the joint portion. The FST is movable relatively to the ground surface, together with the mobile object 1, and contactable with the ground surface. The FST can change the relative positions of the two links by an external force acting from the ground surface. The shape of the ground surface is calculated on the basis of the position of the mobile object 1 and the relative positions of the links of the FST.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] This disclosure relates to a topographic measurement system. Mu Regarding. [Background technology]

[0002] Japanese Patent Publication No. 2017-227014 (Patent Document 1) discloses an execution system that calculates position data of the cutting edge of a hydraulic excavator bucket when the cutting edge is in contact with a measurement point on the bottom of the water, thereby calculating position data of the measurement point on the bottom of the water, and generates current topographical data of the bottom of the water based on multiple position data of the bottom of the water. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2017-227014 Summary of the Invention [Problem to be solved by the invention]

[0004] The technology described in the above document describes measuring the water bottom topography by contacting the cutting edge of a hydraulic excavator with the water bottom. The process of contacting the cutting edge with multiple measurement points on the water bottom is time-consuming. During underwater excavation work, the topography may collapse after excavation, making the topography unstable. Therefore, it is difficult to improve the accuracy of topography measurements based on the position data of the bucket cutting edge.

[0005] This disclosure provides a topographical measurement system that can measure the shape of the earth's surface more easily and accurately. Mu It is suggested. [Means for solving the problem]

[0006] A topography measurement system according to the present disclosure includes a moving mechanism unit that is movable relative to the ground surface, a positioning unit that measures the position of the moving mechanism unit, a contact deformation unit, and a shape calculation unit. The contact deformation unit has two links, a joint unit that connects the two links, and a detector that detects the relative position of the two links connected by the joint unit. The contact deformation unit is capable of moving relative to the ground surface together with the moving mechanism unit and coming into contact with the ground surface. The contact deformation unit is capable of changing the relative position of the two links due to an external force acting from the ground surface. The shape calculation unit calculates the shape of the ground surface based on the positioning results of the positioning unit and the detection results of the detector.

[0007] A sensor body according to the present disclosure is a sensor body used for measuring the shape of the earth's surface, and includes two links, a joint connecting the two links, and a detector that detects the relative positions of the two links connected by the joint. When the sensor body comes into contact with the earth's surface, the detector detects the relative positions of the two links that change due to an external force acting from the earth's surface. The sensor body outputs a detection result for measuring the shape of the earth's surface. [Effects of the Invention]

[0008] According to the present disclosure, the shape of the earth's surface can be measured more easily and accurately. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a schematic diagram showing a schematic configuration of a topographic measurement system according to an embodiment. FIG. [Figure 2] FIG. 2 is a first diagram showing the configuration of a sensor body. [Figure 3] FIG. 2 is a second diagram showing the configuration of the sensor body. [Figure 4] FIG. 1 is a functional block diagram showing an example of the configuration of a topographic measurement system. [Figure 5] 1 is a flowchart illustrating an example of a topography measurement method. [Figure 6] FIG. 10 is a schematic diagram showing the general configuration of a topographic measurement system according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, an embodiment will be described with reference to the drawings. In the following description, the same components are denoted by the same reference numerals. The names and functions of the components are also the same. Therefore, detailed description thereof will not be repeated.

[0011] FIG. 1 is a schematic diagram showing the general configuration of a topography measurement system according to an embodiment. The topography measurement system according to an embodiment is a system for measuring the shape of the earth's surface. The water bottom 100 shown in FIG. 1 is an example of the earth's surface. The water bottom 100 is, for example, a river bottom, a river side wall, the seabed, the bottom of a pond, or the bottom of a container containing oil. As shown in FIG. 1, the topography measurement system mainly includes a mobile body 1 and a topography detection unit 50.

[0012] The mobile body 1 according to the embodiment is a mobile boat that moves on a water surface 110. The mobile body 1 is capable of floating in a fluid. The mobile body 1 is capable of moving relative to the water bottom 100, the shape of which is to be measured. The mobile body 1 is equipped with a mobile body propulsion device 4. The mobile body propulsion device 4 includes, for example, a drive source such as a motor or an engine. The mobile body propulsion device 4, for example, propels the mobile body 1 by outputting a rotational driving force generated by the drive source to an output shaft, and the rotational driving force transmitted via the output shaft rotates a propeller, thereby moving the mobile body 1 relative to the water bottom 100.

[0013] The mobile object 1 includes an output unit 6 and a receiving unit 8. The output unit 6 and the receiving unit 8 constitute a communication unit that communicates with the outside.

[0014] The terrain detection unit 50 is disposed below the moving body 1. The terrain detection unit 50 is attached to the underside of the moving body 1. The terrain detection unit 50 is disposed so as to extend into the water from the moving body 1 floating on the water surface 110 and reach the water bottom 100.

[0015] The terrain detection unit 50 includes a flexible sensor tube (hereinafter referred to as FST) 60. The FST 60 is an example of a sensor body used to measure the shape of the earth's surface. The FST 60 is disposed below the moving body 1. FIGS. 2 and 3 are diagrams showing the configuration of the sensor body. FIG. 3 shows the FST 60 as viewed from the direction of arrow III shown in FIG. 2. FIG. 2 shows the FST 60 as viewed from the direction of arrow II shown in FIG. 3.

[0016] The FST 60 has a plurality of links 62 and joints 64, 66 that connect the links 62 together. The FST 60 has a multi-joint structure, and the joints 64, 66 are movable parts of the FST 60. The FST 60 is a multi-joint structure in which a plurality of links 62 are connected in a long shape via the joints 64, 66. The joint 64 connects two links 62 that are adjacent in the longitudinal direction of the FST 60. The two links 62 connected by the joint 64 can move and rotate relative to each other around the joint 64. The joint 66 connects two links 62 that are adjacent in the longitudinal direction of the FST 60. The two links 62 connected by the joint 66 can move and rotate relative to each other around the joint 66.

[0017] In the example shown in Figures 2 and 3, the joint 64 has a degree of freedom of rotation in a direction perpendicular to the plane of the paper in Figure 2, and the joint 66 has a degree of freedom of rotation in a direction perpendicular to the plane of the paper in Figure 3. The movement direction of the link 62 around the joint 64 and the movement direction of the link 62 around the joint 66 differ by 90 degrees. This example is not limited to this, and each of the joints 64 and 66 may have two or more degrees of freedom. For example, the joints 64 and 66 may have universal joints, or may be configured so that the angle formed by the two links 62 connected by the universal joint is freely changeable. The joints 64 and 66 may be configured so as to have an axial rotational joint.

[0018] Although five links 62 are illustratively shown in Figure 1 and six links 62 are illustratively shown in Figures 2 and 3, the FST 60 may have any number of links 62 greater than or equal to two. The FST 60 may also have many links 62, such as seven or more.

[0019] The FST 60 is disposed underwater below the water surface 110. The FST 60 is waterproof. The FST 60 is made waterproof by sealing each of the joints 64, 66. Lip seals may be provided at each of the joints 64, 66.

[0020] A rotating body 68 is attached to the tip of the FST 60. The rotating body 68 shown in Fig. 1 is in contact with the water bottom 100. When the entire FST 60 moves relative to the water bottom 100 with the rotating body 68 in contact with the water bottom 100, the rotating body 68 rotates relative to the water bottom 100. The rotating body 68 may have, for example, a tire.

[0021] The base end (upper end) of the FST 60 is attached to the FST left-right movement mechanism 56. An FST 60 is attached to each end of the FST left-right movement mechanism 56, which extends in the left-right direction in Figure 1. The topography measurement system is equipped with multiple FSTs 60.

[0022] The specific gravities of the multiple FSTs 60 are different from one another. A weight can be attached to each link 62 of the FSTs 60. By adjusting the weight of the weight attached to the link 62, the specific gravity of the FSTs 60 can be adjusted. For example, if the specific gravity of one FST 60 is set to 1200 kg / m, which is the same as the specific gravity of the floating mud layer, 3 On the other hand, the specific gravity of FST60 can be adjusted to 1200-2650 kg / m, which is higher than the specific gravity of the floating mud layer but lower than the specific gravity of the consolidated mud layer. 3 can be adjusted to.

[0023] The lower end of the FST vertical movement mechanism 54 is attached to the center of the FST horizontal movement mechanism 56, which extends in the left-right direction in Figure 1. The upper end of the FST vertical movement mechanism 54 is attached to the moving body 1.

[0024] The lower end of the FST vertical movement mechanism 54 is movable in the vertical direction. The FST horizontal movement mechanism 56 is movable horizontally relative to the FST vertical movement mechanism 54. The FST horizontal movement mechanism 56 is movable horizontally relative to the moving body 1. As the lower end of the FST vertical movement mechanism 54 moves vertically, the FST 60 moves vertically. As the FST horizontal movement mechanism 56 moves horizontally, the FST 60 moves horizontally.

[0025] The FST 60 is movable relative to the ground surface. In the arrangement shown in Fig. 1, the rotating body 68 is in contact with the water bottom 100, and the link 62 of the FST 60 is not in contact with the water bottom 100, but by moving the FST 60 further downward and bringing the FST 60 closer to the water bottom 100, the link 62 of the FST 60 can be brought into contact with the water bottom 100. The FST 60 can change the relative position of the two links 62 connected by the joints 64, 66 due to an external force acting from the water bottom 100 on the rotating body 68 and link 62, which are in contact with the water bottom 100.

[0026] The link 62 that contacts the water bottom 100 is not limited to the link 62 at the tip of the FST 60, and multiple links 62 can be in contact with the water bottom 100. The number of measurement points for measuring the shape of the water bottom 100 is equal to the number of links 62 that contact the water bottom 100. Therefore, it is desirable to measure the shape of the water bottom 100 by bringing the FST 60 close enough to the water bottom 100 that multiple links 62 contact the water bottom 100.

[0027] The moving body 1, the FST vertical movement mechanism 54, and the FST horizontal movement mechanism 56 constitute a movement mechanism of the embodiment that is movable relative to the ground surface. The movement mechanism is configured to be movable at least forward, backward, left, or right. The moving body 1 and the FST horizontal movement mechanism 56 constitute a horizontal movement mechanism of the embodiment that is movable in the horizontal direction. The FST vertical movement mechanism 54 constitutes a vertical movement mechanism of the embodiment that is movable in the vertical direction. The moving body 1, the FST vertical movement mechanism 54, and the FST horizontal movement mechanism 56 are arranged away from the water bottom 100 and are movable on the water surface 110 or underwater.

[0028] The FST 60, together with the movement mechanism, can move relative to the ground surface and come into contact with the ground surface. The FST 60 in contact with the ground surface is deformed by an external force acting from the ground surface. The FST 60 constitutes a contact deformation unit of the embodiment, in which the relative positions of two linked links 62 change due to the external force acting from the ground surface when the FST 60 comes into contact with the ground surface.

[0029] 4 is a functional block diagram showing an example of the configuration of a terrain measurement system. As described above, the terrain detection unit 50 includes an FST up / down movement mechanism 54 and an FST left / right movement mechanism 56. The terrain detection unit 50 further includes a joint angle detection unit 72 and a rotation detection unit 74.

[0030] The joint angle detection unit 72 is provided in the joints 64, 66 of the FST 60. The joint angle detection unit 72 constitutes a detector of the embodiment that detects the angle between the two links 62 connected by the joints 64, 66. The joint angle detection unit 72 is a change amount detection sensor, such as a potentiometer.

[0031] The rotation detector 74 is provided on the rotor 68 at the tip of the FST 60. The rotation detector 74 detects the rotation of the rotor 68. The rotation detector 74 is, for example, a rotary encoder.

[0032] As described above, the moving body 1 includes the moving body propulsion device 4, the output unit 6, and the receiving unit 8. The moving body 1 further includes an attitude detection unit 12, a position detection unit 14, and a controller 20.

[0033] The attitude detection unit 12 is mounted on the moving body 1. The attitude detection unit 12 detects the attitude of the moving body 1. The attitude detection unit 12 is, for example, an inertial measurement unit (IMU). The IMU detects three-dimensional angular velocity and acceleration of the moving body 1. A change in the attitude of the moving body 1 is calculated based on the angular velocity and acceleration detected by the IMU.

[0034] The position detection unit 14 is mounted on the mobile object 1. The position detection unit 14 detects the position of the mobile object 1. For example, the position detection unit 14 uses a satellite positioning system to detect the position of the mobile object 1 in a global coordinate system based on the Earth. The position detection unit 14 uses, for example, a Global Navigation Satellite System (GNSS) and has a GNSS receiver. For example, the antenna of the GNSS receiver is disposed so as to protrude upward from the mobile object 1. The GNSS receiver receives positioning signals from satellites. The satellite positioning system calculates the position of the antenna of the GNSS receiver based on the positioning signals received by the GNSS receiver, thereby calculating the position of the mobile object 1.

[0035] The controller 20 includes an FST detection data processing unit 22 , an FST vertical position control unit 24 , an FST horizontal position control unit 26 , a propulsion device control unit 28 , and a memory unit 30 .

[0036] The FST sensed data processing unit 22 estimates the shape of the FST 60 based on the angles between the links 62 detected by the joint angle detection unit 72. The FST sensed data processing unit 22 calculates the overall shape of the FST 60 by aggregating the output signals of the joint angle detection units 72 provided at each of the joints 64, 66 of the FST 60.

[0037] The FST vertical position control unit 24 controls the vertical position of the FST 60. The FST vertical position control unit 24 generates a control signal that is output to the FST vertical movement mechanism unit 54. The lower end of the FST vertical movement mechanism unit 54 moves vertically in accordance with the input control signal, thereby moving the FST 60 vertically.

[0038] FST horizontal position control unit 26 controls the horizontal position of FST 60. FST horizontal position control unit 26 generates a control signal that is output to FST left / right movement mechanism unit 56. FST left / right movement mechanism unit 56 moves horizontally relative to moving body 1 in accordance with the input control signal, thereby moving FST 60 horizontally.

[0039] The propulsion device control unit 28 controls the mobile body propulsion device 4. The propulsion device control unit 28 generates a control signal that is output to the mobile body propulsion device 4. The mobile body propulsion device 4 propels the mobile body 1 in accordance with the input control signal, causing the FST 60 to move in the horizontal direction.

[0040] The storage unit 30 is a non-volatile memory provided as an area for storing necessary data. The storage unit 30 stores a program for controlling the operation of the topography measurement system to measure the shape of the earth's surface, as well as various data required to execute the program. The storage unit 30 also temporarily stores working data generated in conjunction with the shape measurement of the earth's surface.

[0041] The mobile object 1 and the terrain detection unit 50 are connected by a signal line 45. The detection results of the joint angle detection unit 72 and the rotation detection unit 74 are output from the terrain detection unit 50 to the controller 20 of the mobile object 1 via the signal line 45. The control signal generated by the FST vertical position control unit 24 and the control signal generated by the FST horizontal position control unit 26 are output from the controller 20 of the mobile object 1 to the terrain detection unit 50 via the signal line 45.

[0042] The output unit 6 and the receiving unit 8 are connected to an external remote controller 80 via a network. The output unit 6 transmits information related to the shape measurement of the water bottom 100 to the remote controller 80. The receiving unit 8 receives a control signal related to the shape measurement of the water bottom 100 from the remote controller 80.

[0043] The remote controller 80 receives the calculation results of the shape of the FST 60 by the FST detection data processing unit 22. The remote controller 80 also receives the detection results of the position and attitude of the moving body 1 by the attitude detection unit 12 and the position detection unit 14. The remote controller 80 estimates the shape of the water bottom 100 based on the position and attitude of the moving body 1 and the shape of the FST 60. The remote controller 80 estimates the shape of the water bottom 100 from changes in the shape of the FST 60 when the entire FST 60 moves relative to the water bottom 100 with the links 62 in contact with the water bottom 100. The remote controller 80 constitutes a shape calculation unit in an embodiment that calculates the shape of the ground surface.

[0044] The rotation detection unit 74 detects the rotation of the rotating body 68, thereby improving the accuracy of estimating the shape of the water bottom 100. When the rotating body 68 moves relative to the water bottom 100 while in contact with the water bottom 100, the rotating body 68 rotates relative to the water bottom 100. The rotation of the rotating body 68 is detected by the rotation detection unit 74. When the rotation detection unit 74 detects that the rotating body 68 is rotating, the rotating body 68 is in contact with the water bottom 100. The remote controller 80 estimates the shape of the water bottom 100 from the position of the rotating body 68, based on the overall shape of the articulated structure including the FST 60 and the rotating body 68.

[0045] Fig. 5 is a flowchart showing an example of a topography measurement method. Although there is some overlap with the content explained with reference to Fig. 4, the process of measuring the shape of the ground surface of the measurement target will be explained below with reference to Fig. 5.

[0046] First, in step S1, shape measurement of the FST 60 is started. The FST sensed data processor 22 receives the detection results from the joint angle detector 72. The FST sensed data processor 22 calculates the overall shape of the FST 60 by aggregating the output signals of the joint angle detectors 72 provided at each of the joints 64, 66 of the FST 60. Once shape measurement of the FST 60 is started, measurement of the shape of the FST 60 and recording of the shape data acquired by measurement continue until measurement is terminated in step S5, which will be described later.

[0047] In step S2, it is determined whether or not estimation of the shape of the ground surface has been completed for the entire area of ​​the ground surface to be measured. If it is determined that estimation of the topographic shape of the entire area has not been completed (NO in step S2), the process proceeds to step S3, where the shape of the ground surface is estimated based on the position and orientation information of the moving object 1 and the shape measurement results of the FST 60.

[0048] The attitude of the moving body 1 detected by the attitude detection unit 12 is input to the controller 20. The position of the moving body 1 detected by the position detection unit 14 is input to the controller 20. The attitude detection unit 12 and the position detection unit 14 constitute a positioning unit of the embodiment that measures the position of the moving body 1. The relative position of the FST 60 with respect to the moving body 1 is determined by the FST vertical position control unit 24 and the FST horizontal position control unit 26. The position of the FST 60 in the global coordinate system is calculated from information on the attitude of the moving body 1, information on the position of the moving body 1, and information on the relative position of the FST 60 with respect to the moving body 1, making it possible to determine which position on the water bottom 100 is being measured.

[0049] The remote controller 80 estimates the shape of the bottom of the water 100 from the change in shape of the FST 60 when the entire FST 60 moves relative to the bottom of the water 100 with the link 62 in contact with the bottom of the water 100. The position and shape of the bottom of the water 100 in the global coordinate system are estimated from the result of estimating the shape of the bottom of the water 100 using the FST 60 and the position of the FST 60 at that time.

[0050] In step S4, based on the topography estimation results from step S3, the FST 60 is moved to an unexplored area where the shape of the ground surface has not yet been measured. The mobile propulsion device 4 is driven, and the FST up / down movement mechanism 54 and the FST left / right movement mechanism 56 are driven as needed to move the FST 60 to an appropriate position. The shape of the unexplored area is measured from changes in the shape of the FST 60 during this movement.

[0051] Returning to the determination in step S2, while it is determined that estimation of the topographic shape of the entire area has not been completed, the estimation of the topographic shape in step S3 and the movement of the FST 60 in step S4 are repeated. When it is determined that estimation of the topographic shape of the entire area has been completed (YES in step S2), the process proceeds to step S5, and measurement of the shape of the ground surface using the FST 60 is completed.

[0052] Fig. 6 is a schematic diagram showing the general configuration of a topography measurement system according to a second embodiment. In the topography measurement system shown in Fig. 1, the base end (upper end) of the FST 60 is attached to the mobile body 1 via the FST left-right movement mechanism 56 and the FST up-down movement mechanism 54, and the lower end of the FST 60 extends toward the water bottom 100. In contrast, in the topography measurement system of the second embodiment shown in Fig. 6, both ends of the FST 60 are attached to the mobile body 1, and the center of the FST 60 extends toward the water bottom 100.

[0053] In the configuration of Figure 1, in which the tips of the FSTs 60 extend toward the water bottom 100, there is a possibility that the tips of multiple FSTs 60 will cross and become tangled underwater depending on the movement path of the moving body 1 and the water current, requiring ingenuity in the method of movement of the moving body 1. In contrast, by fixing both ends of the FSTs 60 to the moving body 1 as shown in Figure 6, multiple FSTs 60 are less likely to cross each other. This makes it possible to bring the FSTs 60 into contact with the water bottom 100 and accurately measure the shape of the water bottom 100 without multiple FSTs 60 becoming tangled underwater.

[0054] As described above, in the topography measurement system according to the embodiment, the position of the FST 60 in the global coordinate system is calculated based on the position and orientation information of the moving body 1 detected by the orientation detection unit 12 and the position detection unit 14. As shown in Figure 5, the position and shape of the water bottom 100 in the global coordinate system are estimated based on the shape of the FST 60 that deforms upon contact with the water bottom 100, which is the ground surface of the shape measurement target, and the position information of the FST 60.

[0055] Conventionally, acoustic sonar has generally been used to measure the shape of the water bottom 100, but measurement errors occur due to disturbances such as sand and dust. In the topography measurement system according to the embodiment, the FST 60 is brought into contact with the water bottom 100 to directly measure the topography. Therefore, even when the water is turbid with mud or when a floating mud layer has formed in the water, the shape of the water bottom 100 can be accurately measured in real time without being affected by disturbances. Since the shape of the ground surface can be measured using the FST 60, which has a simple structure, the cost of topography measurement can be reduced and topography can be measured more easily. When excavating the water bottom 100, such as dredging the mouth of a river or bay, accurate measurement of the topography of the water bottom 100 before and after excavation enables high-quality construction management.

[0056] By accurately understanding the current topography of the bottom of the water 100, unnecessary excavation can be eliminated when operating a dredging shovel, improving work efficiency. Measuring the current topography of the bottom of the water 100 in real time further improves the accuracy of construction. When using an shovel equipped with ICT (Information and Communication Technology) functionality, accurate information on the current topography can be used to automatically operate the shovel. Furthermore, in an underwater bulldozer that can excavate and transport soil on the bottom of the water 100 while traveling on the bottom of the water 100, accurate information on the current topography can be used to accurately control the position of the underwater bulldozer's blade to create the desired shape of the bottom of the water 100. After dredging is completed, the topography after construction can also be accurately measured.

[0057] As shown in Figures 1 and 6, the topography measurement system may include a plurality of FSTs 60, and the specific gravities of the plurality of FSTs 60 may be different from one another. 3 The specific gravity of the other FST60 is set to 1200-2650 kg / m 3 Even when floating mud layers and consolidated layers are mixed, simultaneous measurements can be taken using FST60 with different specific gravities, making data analysis easy and reducing the time required. By adjusting the specific gravity of the FST60 so that one FST60 floats in the floating mud layer and the other sinks in the floating mud layer, it becomes possible to measure the thickness of the floating mud layer.

[0058] 1, the mobile body 1, the FST up / down movement mechanism 54, and the FST left / right movement mechanism 56 may be movable within a space separated from the water bottom 100. By moving the FST 60 relative to the water bottom 100 with part of the FST 60 in contact with the water bottom 100 without having the mobile body 1, the FST up / down movement mechanism 54, and the FST left / right movement mechanism 56 in contact with the water bottom 100, the shape of the water bottom 100 can be measured using the FST 60 with high accuracy.

[0059] 1, the topography measurement system may include a mobile body 1 that moves on the water surface 110, and an FST left-right movement mechanism 56 that can move horizontally relative to the mobile body 1. By attaching the FST 60 to the FST left-right movement mechanism 56, the FST 60 can be moved horizontally. By detecting changes in the shape of the FST 60 as it moves relative to the water bottom 100, the shape of the water bottom 100 can be measured with high accuracy.

[0060] 1, at least the lower end of the FST vertical movement mechanism 54 may be movable in the vertical direction. An FST left-right movement mechanism 56 is attached to the lower end of the FST vertical movement mechanism 54, and the FST 60 is attached to the FST left-right movement mechanism 56, so that the FST 60 can be moved in the vertical direction by moving the lower end of the FST vertical movement mechanism 54 in the vertical direction. This allows the FST 60 to be reliably brought into contact with the water bottom 100, allowing the shape of the water bottom 100 to be measured.

[0061] As shown in Figure 1, an FST 60 is attached to a mobile body 1 moving on the water surface 110 via an FST up / down movement mechanism 54 and an FST left / right movement mechanism 56. The lower end of the FST up / down movement mechanism 54 is movable vertically relative to the mobile body 1. The FST left / right movement mechanism 56 is movable horizontally relative to the mobile body 1. In this way, the FST 60 can be moved relative to the water bottom 100 and the shape of the water bottom 100 can be measured using the FST 60 without moving the mobile body 1.

[0062] If the FST 60 extending from the moving body 1 has a length sufficient to allow it to contact the water bottom 100, the FST up / down movement mechanism 54 is not necessarily required, but the provision of the FST up / down movement mechanism 54 makes it easier to bring the FST 60 into contact with the water bottom 100 even if the FST 60 is short. This reduces the cost of the topography measurement system.

[0063] As shown in Figures 1 and 4, the topography measurement system may include an output unit 6. The output unit 6 transmits information related to the shape measurement of the water bottom 100, such as the position and attitude of the mobile body 1 and the shape of the FST 60, to an external remote controller 80. The remote controller 80 calculates the shape of the water bottom 100 based on the received information, thereby enabling the shape of the water bottom 100 to be measured with high accuracy. Since the configuration included in the mobile body 1 and the topography detection unit 50 can be simplified, the cost of the topography measurement system can be reduced.

[0064] 1 and 4, the topography measurement system includes a receiving unit 8. By transmitting control signals from a remote controller 80 to the mobile body 1 to drive the FST vertical movement mechanism 54 and the FST horizontal movement mechanism 56, it becomes possible to measure the shape of the earth's surface by remote operation. Furthermore, by operating the topography measurement system automatically, it becomes possible to measure the shape of the earth's surface unmanned.

[0065] In the explanation so far, an example has been given in which the mobile body 1 is a mobile boat floating on the water surface 110, but the mobile body 1 is not limited to this example. The mobile body 1 may also be an underwater drone such as an underwater ROV (Remotely Operated Vehicle) that can move underwater by remote control. Because the underwater drone itself can move in the vertical and horizontal directions, the FST 60 may be attached directly to the underwater drone without using the FST vertical movement mechanism 54 and the FST horizontal movement mechanism 56.

[0066] The ground surface to be measured is not limited to the bottom of the sea 100. The moving body 1 may be an aerial drone, and the topography measurement system may be a system for measuring land topography. According to the topography measurement system of the embodiment in which the FST 60 is brought into contact with the ground surface to measure the topography, the shape of the ground surface to be measured can be measured with high accuracy even when visibility of the ground surface is reduced due to fog or smoke, or at night.

[0067] The computer that performs the calculations to calculate the shape of the earth's surface does not have to be the remote controller 80 located at a remote location. The controller 20 included in the moving object 1 may calculate the shape of the earth's surface based on the shape of the FST 60 and position information of the FST 60. The shape of the earth's surface calculated by the controller 20 may be transmitted from the output unit 6 to the remote controller 80. In this case, the controller 20 constitutes the shape calculation unit, and the calculation result of the shape of the earth's surface corresponds to the "information related to measurement of the shape of the earth's surface" transmitted from the output unit 6.

[0068] The embodiments disclosed herein are to be considered in all respects as illustrative and not restrictive. The scope of the present invention is defined not by the above description but by the claims, and it is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0069] 1 Mobile body, 4 Mobile body propulsion device, 6 Output unit, 8 Receiving unit, 12 Attitude detection unit, 14 Position detection unit, 20 Controller, 22 FST detection data processing unit, 24 FST up / down position control unit, 26 FST horizontal position control unit, 28 Propulsion position control unit, 30 Memory unit, 45 Signal line, 50 Terrain detection unit, 54 FST up / down movement mechanism unit, 56 FST left / right movement mechanism unit, 60 Flexible sensor tube (FST), 62 Link, 64, 66 Joint unit, 68 Rotating body, 72 Joint angle detection unit, 74 Rotation detection unit, 80 Remote controller, 100 Bottom of water, 110 Water surface.

Claims

1. a movement mechanism that is movable relative to the ground surface; a positioning unit that measures the position of the movement mechanism unit; at least one contact deformation unit having two links, a joint unit connecting the two links, and a detector that detects the relative position of the two links connected by the joint unit, which is capable of moving relative to the ground surface together with the movement mechanism unit to come into contact with the ground surface, and which is capable of changing the relative position due to an external force acting from the ground surface; a shape calculation unit that calculates the shape of the earth's surface based on the positioning result of the positioning unit and the detection result of the detector.

2. the at least one contact deformation portion has a plurality of contact deformation portions; The topographical measurement system according to claim 1 , wherein the specific gravities of the plurality of contact deformation portions are different from one another.

3. 3. The topographical measurement system according to claim 1, wherein the moving mechanism is movable within a space separated from the ground surface.

4. The topographical measurement system according to claim 3 , wherein the movement mechanism includes a horizontal movement unit that is movable in a horizontal direction.

5. 5. The topographical measurement system according to claim 3, wherein the movement mechanism includes a vertical movement unit that is movable in a vertical direction.

6. The topographical measurement system according to claim 1 , further comprising a communication unit that transmits information relating to the shape measurement of the earth's surface.

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