JPH07128057A - Mobile gas survey system - Google Patents

Abstract

PURPOSE:To facilitate survey of a ground having level difference in safety utilizing GPS. CONSTITUTION:A telescopic arm 7 is installed swingingly up and down on a running vehicle 2 and a mounting unit 40 is disposed at the fixing part 7a of telescopic arm. A GPS antenna 51 is mounted on the mounting unit 40 along with a unit 60 for measuring the height RH of the antenna 51 with respect to a measuring point Pn and a laser pointer 56 disposed at a specific position with respect to the GPS antenna 51.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a self-propelled GPS surveying device suitable for measuring a three-dimensional position on the ground by utilizing a global positioning system (hereinafter referred to as GPS).

[0002]

2. Description of the Related Art Conventionally, a GPS surveying apparatus using GPS is a GP which receives a satellite signal emitted by a GPS artificial satellite.
It is composed of an S antenna and a predetermined analysis device that analyzes and calculates the reception position of the antenna based on the satellite signal received by the GPS antenna. The GPS surveying device performs surveying in a predetermined survey area. If, in general,
The GPS tripod is attached to a tripod or the like, and the tripod is erected on the ground surface in the surveying location so that the receiving position of the GPS antenna is located on the surveying location in the surveying location to be surveyed. The satellite signal received by the GPS antenna from the artificial satellite is analyzed and calculated by an analyzer to obtain the three-dimensional position of the reception position of the GPS antenna to measure the surveyed position. That is, GPS using GPS
If a surveying device is used, it is possible to survey simply by installing the GPS antenna on the desired surveying position.
Compared with the conventional survey using Transit etc., the surveying work became much easier.

[0003]

However, even if the GPS surveying device is used, for example, when surveying a surveying place having a height difference such as a steep slope, the surveying operator has a GPS antenna and an analyzing device. Climb up and down the surveying area with height difference, move to each surveying position of the surveying location, install GPS antennas one by one at surveying locations with poor footing such as on slopes, and analyze and calculate the receiving position Therefore, the surveyor should make a great effort to secure the safety of surveying work such as when the surveyor moves to the surveyed place with the height difference and installs the GPS antenna for surveying. Not only was it necessary, it was a heavy labor for the surveyor.

Therefore, in view of the above circumstances, the present invention provides a GP
It is an object of the present invention to provide a self-propelled GPS surveying device capable of easily and safely surveying a surveying place having a height difference by using S.

[0005]

That is, the first of the present invention
Of the present invention has a traveling main body (2) that can travel freely, and a supporting arm (7) is swingably driven in the vertical direction on the traveling main body, and a horizontal support is provided at a tip portion (7a) of the supporting arm. A means (40) is provided, a GPS positioning antenna (51) is provided on the horizontal support means, a height measuring device (60) is provided on the horizontal support means, and a survey position (Pn) of the GPS positioning antenna is provided. And a surveying position indicating means (56) is provided on the horizontal supporting means at a predetermined position with respect to the GPS positioning antenna. It

A second aspect of the present invention is the image capturing means (30) according to the first aspect, wherein the image (V) at the position (LO) designated by the surveying position designating means (56).
I) is provided in a form that can be acquired.

Furthermore, a third aspect of the present invention is the first aspect of the invention, wherein the support arm (7) is provided so as to be extendable and retractable in the longitudinal direction of the support arm.

Furthermore, a fourth aspect of the present invention is the first aspect of the invention, wherein the support arm (7) is provided so as to be swingably driven with respect to the traveling main body (2).

The fifth aspect of the present invention is the first,
3rd or 4th invention WHEREIN: The said support arm (7)
In addition, an obstacle detection device (70) is provided in a form capable of detecting the presence or absence of an obstacle in the vicinity of the GPS positioning antenna (51) and outputting a predetermined detection signal, and based on the detection signal. A stop control means (21) capable of stopping the drive of the support arm is provided.

The numbers in parentheses are for convenience of showing the corresponding elements in the drawings, and the present description is not limited to the description in the drawings. The same applies to the column of "action" below.

[0011]

According to the first aspect of the present invention having the above-described structure, the support arm (7) is swingably driven to move the GPS positioning antenna (51) and the height measuring device (60) in the vertical direction. As a result, an arbitrary surveying position (Pn) located vertically with respect to the position designated by the surveying position designating means (56)
The GPS positioning antenna and the height measuring device can be positioned at the surveying position so that
In addition, the horizontal support means (40) allows the support arm (7) to be supported.
Even if the rocking drive is performed, the surveying position indicating means (56),
GPS positioning antenna (51) and height measuring device (6
0) always acts so as to be horizontally supported. Furthermore, by running the running body (2), the positioning antenna for GPS (51) and the height measuring device (60) can be easily moved to a new point to be surveyed. In the second aspect of the present invention, the surveying position instructing means (56) is driven by swinging the support arm (7) while watching the image (VI) acquired by the image acquiring means (30). Functions so that the GPS positioning antenna (51) and the height measuring device (60) can be positioned at the surveying position in such a manner that the indicated position (LO) and the surveying position (Pn) to be surveyed are matched. To do. Furthermore, the third aspect of the present invention is to extend and retract the support arm (7) to provide a GPS positioning antenna (51), a height measuring device (60), a survey position indicating means (56), and the like. It acts so that it can be moved in a direction of projecting and retracting with respect to the traveling main body (2). Furthermore, the fourth aspect of the present invention is characterized in that the support arm (7) is driven to rotate,
GPS positioning antenna (51), height measuring device (60)
Also, the surveying position indicating means (56) and the like act so that they can be moved in the left-right direction with respect to the traveling main body (2). Furthermore, in the fifth aspect of the present invention, when the GPS positioning antenna (51) is moved, even if the GPS positioning antenna approaches an obstacle or the like, the driving of the support arm (7) can be stopped. Acts like.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing an embodiment of a self-propelled GPS surveying device according to the present invention, and FIG. 2 is a self-propelled GPS shown in FIG.
It is a figure which shows one Example of the surveying method by a surveying instrument.

As shown in FIGS. 1 and 2, a self-propelled GPS surveying device 1 to which the self-propelled GPS surveying device according to the present invention is applied includes a traveling vehicle 2 and a surveying position control device 2 which can travel freely.
0, a GPS surveying device 50, a height detecting device 60, an obstacle detecting device 70, and the like. The traveling vehicle 2 is shown in FIG.
As shown in FIG. 3, the vehicle body 3 is provided, and wheels 4 are provided at the four lower corners of the vehicle body 3 so that the vehicle body 3 can travel freely. Further, the traveling control device 5 is provided in the vehicle body 3 in such a manner that the wheels 4 can be driven to travel, that is, the traveling vehicle 2 causes the traveling control device 5 to rotate the wheels 4 in the forward and reverse directions as appropriate. It is driven and steered so that it can move forward and backward and freely in the left and right directions. Further, the traveling control device 5 is provided so as to be controlled by the surveying position control device 20 described later.

Further, on the upper part of the vehicle body 3, as shown in FIG. 1, a turning body 6 is provided around the turning axis CT.
It is provided so as to be rotatable in the left-right direction (directions of arrows R and S) with respect to the vehicle body 3 in a horizontal plane orthogonal to the turning body 6, and the turning drive device 10 attaches the turning body 6 to the turning axis C.
It is provided so that it can be driven to rotate around T. The turning drive device 10 is provided so as to be controlled by a surveying position control device 20 described later. Further, a bracket 6a is provided on the revolving main body 6 so as to match the revolving axis CT, and the telescopic arm 7 having a telescopic structure is provided on the bracket 6a.
Is pivotally attached in a vertical direction (arrows C and D directions). Further, a bracket 6b is provided at a predetermined position from the bracket 6a on the revolving main body 6, and a swing drive device 17 which can be driven to project and retract is pivotally mounted on the bracket 6b so as to be vertically rotatable. ing. Swing drive device 17
The tip end of the telescopic arm is rotatably pivotally attached to the telescopic arm 7. That is, the telescopic arm 7 drives the swing drive device 17 to project and retreat, so that the telescopic arm 7 moves in the vertical direction (arrow C, Swinging is performed in the D direction). Further, the swing drive device 17 is provided in a surveying position control device 20 described later in such a manner that the swing drive control can be performed. Further, the telescopic arm 7 is provided so as to be telescopic in the longitudinal direction of the telescopic arm 7 (directions of arrows G and H), and the telescopic drive device 15 composed of a hydraulic cylinder or the like is provided on the telescopic arm 7. It is provided so that it can be driven to expand and contract in the longitudinal direction. The extension / contraction drive device 15 is provided in the surveying position control device 20 described later in such a manner that extension / contraction drive control can be performed. That is, the telescopic arm 7 can be driven to rotate in the horizontal direction (arrows R and S directions) in the horizontal plane with respect to the traveling vehicle 2 and in the vertical direction (arrow C,
It is provided so as to be swingable in the D direction) and extendable and retractable in the longitudinal direction (arrow G and H directions).

Further, at the tip of the telescopic arm 7, a mounting portion 7 is attached.
a is formed, and the mounting device 40 is attached to the attachment portion 7a via a horizontal maintaining portion 49 as shown in FIG. That is, the mounting device 40 has the horizontal maintaining unit 49, and the horizontal maintaining unit 49 is the mounting unit 7 for the telescopic arm 7.
It is provided in a so as to project downward in a direction perpendicular to the longitudinal direction of the telescopic arm 7. Further, a pivot portion 43 is hung on the horizontal maintaining portion 49 in such a manner that the pivot portion 43 is rotatably pivoted in the directions of arrows I and J, and the mounting portion 42 attaches the pivot portion 43 to the pivot portion 43. It is hung from the telescopic arm 7 in such a manner as to be rotatable in all directions. Mounting part 42
Is provided with a mounting arm 45 to which a GPS antenna 51 of a GPS device 50, which will be described later, can be mounted, and the mounting section 42 is provided with a balance adjusting section 46 to which a weight can be detachably attached. The balance adjustment unit 46 includes a main adjustment weight 48.
And an auxiliary adjustment weight 47 are provided, that is, by appropriately adjusting the main adjustment weight 48 and the auxiliary adjustment weight 47 of the balance adjustment unit 46, the GPS antenna 51 and the height detection device 60 described later are always held horizontally. In addition, the laser pointer 56, which will be described later, can be held so that the laser beam 56a can always be emitted vertically downward.

Further, as shown in FIG. 1, the GPS surveying device 50 transmits a satellite signal, which is a radio wave including satellite orbit information and the like, emitted by a GPS artificial satellite (not shown), to a predetermined receiving position R.
It has a GPS antenna 51 that can be received at O, and the GPS antenna 51 is attached to the mounting arm 45 of the mounting device 40. A signal analysis calculator 52 is connected to the GPS antenna 51 via a signal cable (not shown), and the signal analysis calculator 52 is installed in the vehicle body 3. In addition, the signal analysis calculator 52
Based on the satellite signal from the artificial satellite received by the GPS antenna 51, the relative position of the GPS antenna 51 with respect to the artificial satellite that issued the satellite signal is calculated, and the ground coordinates (X, X, Y, Z) can be output. Furthermore, the GPS surveying device 50
The laser pointer 56 has a laser pointer 56 that can point a position by emitting a laser beam 56a.
A laser beam 56 is provided just below the receiving position RO of the antenna 51.
It is provided so that a can be ejected vertically downward.
That is, the laser pointer 56 has a predetermined relative position in the horizontal direction between the instructed position LO for instructing the surface of the earth or the like by the laser beam 56a and the receiving position RO of the GPS antenna 51 (in this example, the laser pointer 56 is moved to the GPS position). Antenna 5
1 is provided immediately below the receiving position RO, so that the designated position LO and the horizontal position of the receiving position RO coincide with each other). It is provided. Further, the GPS antenna 51 is mounted on the mounting device 40 such that the horizontal maintaining unit 49 and the pivot unit 4 are provided.
It is provided so that it is always held horizontally via
Therefore, since the laser pointer 56 is also provided on the mounting device 40 via the horizontal maintaining unit 49 and the pivot unit 43, the laser pointer 56 corresponds to the movement of the horizontally held GPS antenna 51 and the laser beam 56a. Can always point downward vertically. That is, the laser pointer 56
Can always indicate the reception position RO of the GPS antenna 51 on a plane such as the ground surface below vertically. Further, the GPS antenna 51 is provided with an image acquisition device 30 composed of a CCD camera or the like, and the image acquisition device 30 shows a state of a designated position LO where the laser pointer 56 instructs the ground surface or the like by the laser beam 56a, that is, The state of the range indicated by the broken line in FIG. 1 is provided so as to be able to be acquired as the designated position image VI. In addition, the image acquisition device 30 includes a survey position control device 2 described later.
The designated position image VI is output at 0.

Further, a non-contact type height detecting device 60 capable of detecting the height of the GPS antenna 51 by the propagation time when ultrasonic waves are reflected is provided in parallel with the laser beam 56a of the laser pointer 56. The height detection device 60 is provided so as to be capable of transmitting a sound wave, and the height detection device 60 is provided with a reception position RO of the GPS antenna 51 and a designated position LO on the ground surface or the like vertically below the reception position RO designated by the laser pointer 56. It is provided so that the antenna height RH, which is the distance between them, can be detected. That is, the height detection device 60 measures the survey point Pn (n = n) of the reception position RO of the GPS antenna 51 to be surveyed.
The antenna height RH with respect to 1, 2, 3 ... Further, the antenna height RH detected by the height detection device 60 is input to the signal analysis calculator 52 of the GPS surveying device 50 via a signal cable (not shown). The signal analysis calculator 52 calculates, from the calculated ground coordinates (X, Y, Z) of the reception position RO of the GPS antenna 51,
Survey point P is calculated by subtracting the input antenna height RH.
n (n = 1, 2, 3 ...) Ground coordinates (Xn, Yn, Z
n) (n = 1, 2, 3 ...) Is calculated. Further, when the analysis at this point is completed and the surveying at the surveying point Pn is completed, the signal analysis calculator 52 stores the ground coordinates (Xn, Yn, Zn) of the calculated surveying point Pn in the surveying position data memory 52a.
Sequentially store in.

Further, as shown in FIG. 1, the mounting arm 45 of the mounting device 40 is provided with an obstacle detecting device 70 capable of detecting the presence or absence of an obstacle.
Has tactile units 71, 71 capable of outputting a predetermined signal when an obstacle contacts. The tactile units 71, 71 are the G
The GPS antenna 51 is provided so as to surround the GPS antenna 51 so that an obstacle in the vicinity of the PS antenna 51 can be detected. The obstacle detection device 70 detects a predetermined obstacle. The signal SSS is provided so as to be output to the surveying position control device 20 described later.

Further, as shown in FIG. 1, the surveying position control device 20 has a control section 21, and the control section 21 has:
An operation unit 25 that can be remotely operated is provided so that signals such as an operation command can be wirelessly input to the control unit 21. That is, the traveling control device 5 is connected to the control unit 21 in such a manner that the traveling vehicle 2 can be driven to move forward or backward and to be driven in the left-right direction. . Further, the swing drive device 10 is connected to the control unit 21 in such a manner that the telescopic arm 7 can be rotationally driven and controlled, and the telescopic arm 7 can be rotationally driven by the operation unit 25. Further, the control unit 21 includes the extension / contraction drive device 1
5 is connected to the telescopic arm 7 so that the telescopic arm 7 can be telescopically driven, and the telescopic arm 7 can be telescopically driven by the operation unit 25. A swing drive unit 17 is connected to the control unit 21 in a form capable of swing drive control of the telescopic arm 7.
The telescopic arm 7 can be rockably driven by the operation unit 25. Further, the control device 20 has an operation unit 25 that can input a wireless signal from the control unit 21. That is, the operation unit 25 is provided with the monitor 26, and the control unit 21
The image acquisition device 30 is connected to the input device 30 in the form of inputting the pointed position image VI. The control unit 21 outputs the input pointing position image VI to the operation unit 25, and the operation unit 2
5, the designated position image VI is displayed on the monitor 26. Further, the control unit 21 includes a traveling control device 5, a turning drive device 10, a telescopic drive device 15, and a swing drive device 17.
However, based on the obstacle detection signal SSS from the obstacle detection device 70, the traveling drive by the traveling control device 5, the swivel drive by the swivel drive device 10, the telescopic drive by the telescopic drive device 15, and the swing drive by the swing drive device 17. It is connected so that the dynamic drive can be immediately stopped and controlled.

Since the self-propelled GPS surveying instrument 1 has the above-mentioned configuration, the surveying point SV having a difference in height such as a steep slope
When surveying AR, the self-propelled GPS surveying device 1 is transported to the surveying place SVAR to be surveyed, and the self-propelled GPS surveying device 1 is placed on the surveying place SVAR. Then, the control unit 21 is remotely operated from the operation unit 25 of the surveying position control device 20.
Drive control of the traveling control device 5 is performed to drive the traveling vehicle 2 to travel, and the self-propelled GPS surveying device 1 is operated at the survey location SVAR.
Move to the desired position inside. Next, the traveling vehicle 2 is driven to drive the self-propelled GPS surveying device 1 as shown in FIG.
When the vehicle has been positioned to the desired position, the image acquisition device 30, the laser pointer 56, and the obstacle detection device 70 are operated to cause the monitor 26 of the operation unit 25 to operate the image acquisition device 30 via the control unit 21. A designated position image VI, which is a state of the designated position LO clearly indicated by the obtained laser light 56a of the laser pointer 56, is projected. Next, the operation unit 2
The pointing position LO pointed by the laser pointer 56 while watching the pointing position image VI projected on the monitor 26 of No. 5,
Of the survey points Pn to be surveyed, for example, the turning drive device 10, the telescopic drive device 15 and the swing drive device 15 are oscillated via the control unit 21 by remote control from the operation unit 25 so as to coincide with the survey point P1 shown in FIG. G that is provided on the mounting portion 7a of the telescopic arm 7 via the mounting device 40 by appropriately rotating, telescopically, and swingably driving the telescopic arm 7 while drivingly controlling the dynamic drive device 17.
The GPS antenna 51 and the height detection device 60 are measured by moving the PS antenna 51, the height detection device 60, and the laser pointer 56 in the up-down direction (arrows C and D directions) and the left-right direction (arrows R and S directions). Position directly above point P1.

Pointed position L pointed by laser pointer 56
GPS antenna 51 with O and surveying point P1 matched
When the height detection device 60 is moved and positioned directly above the surveying point P1, the control unit 21 is remotely operated from the operation unit 25.
The driving of the turning drive device 10, the telescopic drive device 15, and the swing drive device 17 is stopped via the GPS surveying device 50.
Then, the height detection device 60 is operated to start the measurement of the survey point P1. That is, the GPS surveying device 50 uses the surveying point P1.
At the same time, the satellite signal emitted from each artificial satellite on the GPS orbit (not shown) is received via the GPS antenna 51, and the antenna height RH is detected by the height detection device 60, and the received satellite signal and antenna height are detected. GP on the surveying point P1 by the signal analysis calculator 52 based on RH
Ground coordinates of the reception position RO of the S antenna 51 (X, Y,
Z), and the antenna height RH is subtracted from the calculated ground coordinates (X, Y, Z) to calculate the ground coordinates (X1, Y1, Z1) of the survey point P1 to be surveyed. Further, the signal analysis calculator 52 stores the calculation result in the survey position data memory 52a.

When the ground coordinates of the surveying point P1 are acquired in this way, the designated position LO designated by the laser pointer 56 is, for example, again while watching the designated position image VI projected on the monitor 26 of the operation unit 25. Survey point P shown in FIG.
The rotation drive device 10, the extension drive device 15, and the rocking drive device are controlled via the control unit 21 by remote control from the operation unit 25 so as to coincide with the surveying point P2 located above 1 (in the direction of arrow C). Telescopic arm 7 in the form of drivingly controlling 17
The GPS antenna 5 is driven by appropriately turning, expanding and contracting, and swinging.
1, the height detection device 60 and the laser pointer 56 in the vertical direction (arrows C and D directions) and the horizontal direction (arrows R and S directions)
By moving to, the GPS antenna 51 and the height detection device 60 are moved and positioned immediately above the surveying point P2. When the GPS antenna 51 and the height detection device 60 are moved and positioned directly above the surveying point P2 in such a manner that the designated position LO designated by the laser pointer 56 and the surveying point P2 are matched, the operation unit 2
By remote control from 5, the driving of the turning drive device 10, the telescopic drive device 15, and the swing drive device 17 is stopped via the control unit 21, and the GPS survey device 50 and the height detection device 60 are used to survey the survey points. Measure P2. That is, the GPS surveying device 50 similarly performs the GP measurement at the surveying point P2.
The satellite signal is received by the S antenna 51, the antenna height RH is detected by the height detector 60, and the signal analysis calculator 52 is used to detect the antenna height RH on the ground of the survey point P2 based on the received satellite signal and antenna height RH. Coordinates (X2,
Y2, Z2) are calculated and stored in the survey position data memory 52a.

As described above, while the pointing position image VI displayed on the monitor 26 of the operation unit 25 of the surveying position control device 20 is being watched, the telescopic arm 7 is swung, telescopically and rockingly driven by the remote operation of the operation unit 25. , The GPS antenna 51 and the height detection device 60 are moved and positioned directly above the surveying point Pn so that the pointing position LO designated by the laser pointer 56 and the surveying point Pn to be surveyed match. By the detection device 60, the ground coordinates (X
(n, Yn, Zn) is repeatedly calculated to store surveying points Pn in a manner that the surveying points Pn are distributed in the vertical and horizontal directions of the surveying point SVAR. Complete.

During surveying by the self-propelled GPS surveying device 1, the traveling vehicle 2 is driven to drive, the swinging main body 6 is driven to swing, and the telescopic arm 7 is telescopically and oscillated to drive the GPS.
When the GPS antenna 51 approaches an obstacle or the like and the obstacle touches the tactile sensor 71 of the obstacle detection device 70 when the antenna 51 is moved to a desired survey point or the like, the obstacle detection device 70 causes the obstacle. It detects that an object approaches the GPS antenna 51 and outputs an obstacle detection signal SSS to the surveying position control device 20. Then, the surveying position control device 20
The control unit 21 receives the obstacle detection signal SSS, and immediately, the traveling control device 5, the turning drive device 10, and the telescopic drive device 1 are received.
The driving of the traveling vehicle 2, the turning body 6 and the telescopic arm 7 is stopped by stopping the driving of the vehicle 5 and the swing drive device 17. As a result, the GPS antenna 51 and the like can be prevented from coming into contact with an obstacle in the vicinity and being damaged.
In addition, even when a surveyor or the like approaches, the GPS
It is possible to prevent the antenna 51, the telescopic arm 7 and the like from injuring a surveying worker who is in close proximity to ensure safety.

As described above, the survey area SVA with height difference
In R, the surveying position control device 20 drives and controls the swivel drive device 10, the telescopic drive device 15, and the swing drive device 17 to swivel, telescopically, and swing drive the telescopic arm 7 to mount the telescopic arm 7. By moving the GPS antenna 51, the height detection device 60, and the laser pointer 56 provided on the part 7a via the mounting device 40 in the up-down direction (arrow C, D direction) and the left-right direction (arrow R, S direction). The GPS antenna 51 and the height detection device 60 can be positioned directly above the surveying point Pn in a form in which the designated position LO designated by the laser pointer 56 and the surveying point Pn to be surveyed are matched, and the GPS antenna 51 is The ground coordinates (X, Y, Z) of the reception position RO that has received the satellite signal are corrected using the antenna height RH measured by the height detection device 60, and the ground of the survey point Pn is corrected. Mark (Xn, Yn, Zn) it is possible to determine the, it is possible to survey any of the surveying point Pn positioned in the vertical and horizontal directions. In addition, the GPS antenna 51
Is mounted on the mounting device 40 via the horizontal maintaining unit 49 and the pivot unit 43, the GPS antenna 51 is always maintained in a horizontal state regardless of the movements of the traveling vehicle 2, the turning body 6, and the telescopic arm 7. It becomes possible to always receive satellite signals emitted by GPS satellites in good condition, and it is possible to perform accurate survey. Further, the laser pointer 56 is mounted on the mounting device 4 via the horizontal maintaining unit 49 and the pivot unit 43.
Since it is mounted on No. 0, the relative position between the pointing position LO indicated by the laser pointer 56 on the surveying location SVAR and the receiving position RO of the GPS antenna 51 regardless of the movements of the traveling vehicle 2, the turning body 6 and the telescopic arm 7. Is constant, it is easy to correct the relative position between the designated position LO and the reception position RO, and the surveying can be carried out easily. Furthermore, since the height detection device 60 is mounted on the mounting device 40 via the horizontal maintaining part 49 and the pivot part 43, the traveling vehicle 2 and the turning body 6 are mounted.
And the height detection device 60 regardless of the movement of the telescopic arm 7.
Detects the linear distance between the designated position LO designated by the laser pointer 56 on the survey location SVAR and the receiving position RO of the GPS antenna 51, and therefore the antenna height RH can be accurately detected. Further, while viewing the designated position image VI acquired by the image acquisition device 30 on the monitor 26 of the operation unit 25 of the surveying position control device 20, the telescopic arm 7 is swung, telescopically, and rockingly driven by the remote operation of the operation unit 25. As a result, the GPS antenna 51 and the height detection device 60 can be moved and positioned directly above the surveying point Pn in a form in which the designated position LO designated by the laser pointer 56 and the surveying point Pn to be surveyed match. Even if the surveying point Pn to be measured cannot be visually confirmed by the surveying operator, the surveying point Pn
It is not necessary for the surveying operator to go to n to position the GPS antenna 51 and the height detecting device 60, and the surveying of the surveying point Pn can be facilitated. Further, by moving the traveling vehicle 2, the GPS antenna 51, the height detection device 60, and the laser pointer 56 can be easily moved to a new point to be surveyed. Therefore, a surveying operator who surveys an arbitrary surveying point Pn located in the vertical and horizontal directions in a surveying site SVAR having a height difference such as a steep slope,
A surveying site S having a height difference with the GPS antenna 51, etc.
Climbing up and down the VAR, the survey point Pn of the survey location SVAR
Move to each position on the
Since it is not necessary to install the antennas 51 one by one,
The surveying work becomes easy and the safety of the surveying work can be secured. Therefore, using the GPS, the surveying site S with height difference
VAR can be measured easily and safely.

In the above embodiment, the telescopic arm 7 provided with the GPS antenna 51 is made extendable and rotatable, but it is sufficient if the GPS antenna 51 can be supported so as to be movable in the vertical direction. It goes without saying that the arm provided with the GPS antenna 51 may be pivotally attached to the traveling vehicle 2 with a fixed length. Further, in the above-described embodiment, the obstacle detection device 70 has the GPS antenna 51.
Although the tactile part 71 is provided so as to detect an obstacle in the vicinity of the telescopic arm 7, the tactile part 71 is provided over the entire length of the telescopic arm 7 so that the tactile part 71 is located close to the telescopic arm 7 in order to ensure safety. It goes without saying that an obstacle may be detected.

[0027]

As described above, the first aspect of the present invention
Of the present invention has a traveling body such as a traveling vehicle 2 that can travel freely,
A support arm such as a telescopic arm 7 is provided on the traveling main body so as to be swingable in the vertical direction, and a mounting portion 7a for the support arm is provided.
Provide horizontal support means such as the mounting device 40 at the tip of
The horizontal support means is provided with a GPS positioning antenna such as a GPS antenna 51, and the horizontal support means is provided with a height measuring device such as a height detection device 60, and the GPS positioning antenna is surveyed at surveying points Pn and the like. Antenna height RH with respect to position
Are provided in such a manner that the height of the antenna can be measured, and surveying position indicating means such as a laser pointer 56 is provided on the horizontal supporting means.
Since the GPS positioning antenna is provided and arranged at a predetermined position,

By oscillating the support arm and moving the GPS positioning antenna and the height measuring device in the vertical direction, the position indicated by the survey position indicating means coincides with the arbitrary survey position in the vertical direction. As described above, the GPS positioning antenna and the height measuring device can be positioned at the surveying position, and the position where the GPS positioning antenna receives the satellite signal is determined by using the antenna height measured by the height measuring device. Since the ground coordinates of the surveying position can be obtained in a corrected form, it is possible to survey the arbitrary surveying position vertically located. Further, since the surveying position indicating means, the GPS positioning antenna and the height measuring device are provided on the support arm via the horizontal support means, even if the support arm is driven to swing,
Since the surveying position indicating means, the GPS positioning antenna, and the height measuring device are always supported horizontally, the surveying position indicating means can always accurately indicate a predetermined relative position with respect to the GPS positioning antenna. The antenna is always horizontal and can receive satellite signals from the artificial satellite in good condition, and the height measuring device can always accurately measure the antenna height. Further, by moving the traveling main body, the GPS positioning antenna and the height measuring device can be easily moved to a new point to be surveyed. Therefore, a surveyor who surveys arbitrary surveying positions located in the vertical and horizontal directions on a surveying site with a height difference, such as a steep slope,
With a GPS positioning antenna, etc., climb up and down the surveyed area with the difference in elevation, move to each position of the surveyed position of the surveyed area, and install the GPS positioning antennas one by one in positions where the scaffolding is bad. Since there is no need to do so, the surveying work becomes easy and the safety of the surveying work can be secured. Therefore, it is possible to easily and safely measure a surveying place having a difference in height using GPS.

A second aspect of the present invention is the same as the first aspect, except that the image acquisition means such as the image acquisition device 30 is
In addition to the effect of the first aspect of the present invention, the image acquisition unit acquires the image such as the indicated position image VI and the like at the position such as the indicated position LO indicated by the surveyed position indicating unit. While observing the image, by appropriately swinging the supporting arm, the GPS positioning antenna and the height measuring device are mounted on the surveying position so that the position designated by the surveying position designating means and the surveying position to be surveyed coincide with each other. Therefore, even when the surveying position to be surveyed cannot be visually confirmed by the surveying operator, the surveying operator visits the surveying position to position the GPS positioning antenna and the height measuring device. There is no need, and the surveying of the surveying position can be facilitated.

Furthermore, a third aspect of the present invention is the first aspect of the present invention, wherein the support arm is provided so as to be extendable and retractable in the longitudinal direction of the support arm.
In addition to the effect of the invention described above, by extending and retracting the support arm, the GPS positioning antenna, the height measuring device, the surveying position indicating means, and the like can be moved in the direction of projecting and retracting with respect to the traveling body. With the traveling body stopped, it is possible to acquire the ground coordinates of the surveying position over a wider range.

Further, a fourth aspect of the present invention is the same as the first aspect, in which the support arm is provided so as to be pivotally driven with respect to the traveling main body. In addition to this, by pivotally driving the support arm, the GPS positioning antenna, height measuring device, surveying position indicating means, etc. can be moved in the left-right direction with respect to the traveling body, and the traveling body is stopped. In this state, the ground coordinates of the survey position can be acquired over a wider range.

The fifth aspect of the present invention is the first,
In the third or fourth invention, an obstacle detection device such as an obstacle detection device 70 is attached to the support arm to detect the presence or absence of an obstacle in the vicinity of the GPS positioning antenna to detect a predetermined obstacle. The stop control means such as the control unit 21 that can stop the driving of the support arm based on the detection signal is provided so as to output the detection signal such as the signal SSS. In addition to the effect of the fourth aspect of the invention, when the GPS positioning antenna is moved, even if the GPS positioning antenna approaches an obstacle or the like, by stopping the driving of the support arm, the GP due to the adjacent obstacle can be used.
It is possible to prevent the positioning antenna for S and the like from being damaged. Further, even when a surveying worker or the like approaches, it is possible to prevent the GPS positioning antenna, the support arm, and the like from damaging the surveying worker who is in the proximity, and to ensure safety.

[Brief description of drawings]

FIG. 1 is a side view showing an embodiment of a self-propelled GPS surveying device according to the present invention.

FIG. 2 is a diagram showing an example of a surveying method by the self-propelled GPS surveying device shown in FIG. 1.

[Explanation of symbols]

 2 ... Traveling main body (traveling vehicle) 7 ... Support arm (extendable arm) 7a ... Tip part (mounting part) 21 ... Stop control means (control part) 30 ... Image acquisition means (image acquisition device) 40 ... ... Horizontal support means (installed device) 51 ... GPS positioning antenna (GPS antenna) 56 ... Surveying position indicating means (laser pointer) 60 ... Height measuring device (height detection device) 70 ... Obstacle detection device (Obstacle detection device) LO: Position (pointed position) RH: Antenna height (antenna height) Pn: Survey position (survey point) VI: Image (pointed position image)

Claims (5)

[Claims] 1. A traveling main body which is capable of traveling, wherein a supporting arm is swingably driven in a vertical direction on the traveling main body, and a horizontal supporting means is provided at a tip end portion of the supporting arm, the horizontal supporting means. A GPS positioning antenna is provided on the horizontal support means, and a height measuring device is provided on the horizontal support means in a form capable of measuring the antenna height of the GPS positioning antenna with respect to the survey position. The pointing means is the GPS
Self-propelled GPS surveying device configured to be provided at a predetermined position with respect to a positioning antenna for use. 2. The self-propelled GPS surveying apparatus according to claim 1, wherein the image acquisition means is provided in a form capable of acquiring an image of a position indicated by the surveyed position indicating means. 3. The self-propelled GPS surveying device according to claim 1, wherein the support arm is provided so as to be extendable and retractable in the longitudinal direction of the support arm. 4. The self-propelled GPS surveying device according to claim 1, wherein the support arm is provided so as to be pivotally driven with respect to the traveling main body. 5. An obstacle detection device is provided on the support arm.
A stop control unit that is provided in a form that can detect the presence or absence of an obstacle near the GPS positioning antenna and output a predetermined detection signal, and that stops the drive of the support arm based on the detection signal. The self-propelled GPS survey apparatus according to claim 1, claim 3, or claim 4, which is provided and configured.