JP2004108939A - Remote control system of survey airplane - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To perform more simply remote control of the collimation direction of a survey airplane. <P>SOLUTION: A control sensor unit 40 is mounted on a portable terminal 20. A motion around the horizontal axis and a motion around the vertical axis of the portable terminal 20 are calculated by a gyro sensor 41 and an inclination sensor 42 of the control sensor unit 40. Control signals corresponding to motions around the horizontal axis and the vertical axis of the portable terminal 20 are outputted to the survey airplane 10 through interface circuits 18, 22. A collimation telescope is turned around the horizontal axis and the vertical axis by a collimation telescope driving control part 13 based on the control signals, and interlocked with the motion of the portable terminal 20. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a system for remotely controlling a surveying instrument.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there has been known an apparatus in which a computer is connected to a robotic total station and a collimating direction of the robotic total station is automatically controlled in response to a pen operation or a key operation on the computer.
[0003]
[Problems to be solved by the invention]
SUMMARY OF THE INVENTION An object of the present invention is to provide a remote control system for a surveying instrument capable of easily remotely controlling a collimating direction of the surveying instrument.
[0004]
[Means for Solving the Problems]
The remote control system for a surveying instrument of the present invention is a system for remotely controlling the collimating direction of the surveying instrument, and a remote control unit for remotely controlling the surveying instrument, and a sensor unit for detecting the motion of the remote control unit. And a collimation control means for controlling the collimation direction of the surveying instrument in conjunction with the movement of the remote operation unit detected by the sensor unit.
[0005]
The sensor unit includes at least one of a gyro sensor, a tilt sensor, and a direction sensor. Thus, the rotation of the surveying instrument about the predetermined axis can be linked with the rotation of the remote control section about the predetermined axis.
[0006]
The remote operation system includes, for example, a sensor unit attaching unit for attaching the sensor unit to the operator's head, and the collimation control unit controls the collimation direction in conjunction with the movement of the head. Thereby, the collimation direction of the surveying instrument can be remotely controlled more intuitively. The sensor unit is mounted on, for example, a prism pole, and the collimation control unit controls the collimation direction in conjunction with the movement of the prism pole. Thus, the operator himself holding the prism pole can remotely control the surveying instrument.
[0007]
Still further, the remote control system includes image capturing means for capturing an image of the collimating optical system of the surveying instrument, and collimating image display means for displaying the image when remote-controlling the surveying instrument using the remote control unit. Preferably, it is provided. This allows the operator to confirm the direction in which the collimating telescope is currently collimating from a remote location without returning to the surveying instrument and looking through the eyepiece, thereby greatly improving operability.
[0008]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a schematic diagram illustrating an external configuration of a surveying instrument remote control system according to the first embodiment. FIG. 2 is a block diagram showing an electrical configuration of the surveying instrument remote control system of FIG.
[0009]
A portable terminal 20 such as a PDA (Personal Digital Assistant) is connected to the surveying instrument 10 (for example, a robotic total station) via an interface cable 30 or the like. An operation sensor unit 40 is detachably attached to the portable terminal 20.
[0010]
The surveying instrument 10 includes a collimating telescope unit 10B including a collimating telescope 10A, a surveying instrument body 10C that rotatably holds the collimating telescope unit 10B around a horizontal axis H, and a surveying instrument body 10C around a vertical axis P. And a base portion 10D that is rotatably held at the center. The optical axis L of the collimating telescope 10A passes through the intersection of the horizontal axis H and the vertical axis P, and the vertical axis P is adjusted vertically by a leveling table provided on the base 10D.
[0011]
The collimating telescope unit 10B is provided with, for example, a mechanism (not shown) for lightwave distance measurement. That is, when the collimating telescope 10A is collimated to the target (collimating point), the distance measuring unit 11 measures the distance to the collimating point. Further, angles around the horizontal axis H and the vertical axis P of the collimating telescope 10A are detected by the angle measurement unit 12 as altitude angles and horizontal angles. The surveying information detected by the distance measuring unit 11 and the angle measuring unit 12 is transferred to the system control circuit 15 in the surveying instrument 10 as needed.
[0012]
The surveying instrument 10 rotates the collimating telescope unit 10B about the horizontal axis H with respect to the surveying instrument body 10C, and rotates the surveying instrument body 10C about the vertical axis P with respect to the base unit 10D. A drive control unit 13 is provided. That is, a stepping motor (not shown) is attached to the rotating shaft that rotatably supports the collimating telescope unit 10B around the horizontal axis H and the rotating shaft that rotatably supports the surveying instrument body 10C around the vertical axis P. ) Is provided. Note that the collimating telescope drive control unit 13 is controlled based on a control signal from the system control circuit 15.
[0013]
The collimating telescope (collimating optical system) 10A of the surveying instrument 10 includes an imaging unit 14 for capturing an image of the collimating telescope 10A. That is, in the collimating telescope 10A, the optical axis of the collimating optical system is bisected, one is guided to the eyepiece, and the other is guided to an image pickup device (not shown) such as a CCD provided in the image pickup unit 14 ( Note that an independent imaging optical system (for example, a wide-angle optical system) may be provided separately from the collimating optical system). The image captured by the imaging unit 14 can be output to the system control circuit 15 at any time, for example, and can be output to an external device connected to the interface circuit 18, for example. In the surveying instrument remote control system of the present embodiment, since the mobile terminal 20 is connected to the interface circuit 18 via the interface cable 30, the image captured by the imaging unit 14 is output to the mobile terminal 20 as needed. . Also, the survey information output to the system control circuit 15 can be transferred to the portable terminal 20 via the interface circuit 18. The surveying instrument 10 further includes a switch group 16 (for example, disposed on the front panel 16A) and a display 17 such as an LCD, and these instruments are connected to the system control circuit 15.
[0014]
The entire portable terminal 20 is controlled by the system control circuit 23. The mobile terminal 20 includes an interface circuit 22, and the interface circuit 22 is connected to the surveying instrument 10 via an interface cable 30. Thus, a signal output from the interface circuit 18 of the surveying instrument 10 can be transferred to the system control circuit 23 via the interface circuit 22. Conversely, a signal from the system control circuit 23 can be transferred to the system control circuit 15 of the surveying instrument 10 via the interface circuits 22 and 18.
[0015]
For example, an image captured by the imaging unit 14 of the surveying instrument 10 can be displayed as a see-through image on an image display device 21 such as an LCD provided in the mobile terminal 20. Further, the surveying information detected by the distance measuring unit 11 and the angle measuring unit 12 can be stored in a recording medium (for example, an IC card or the like) 26 provided in the portable terminal 20 via the system control circuit 23. It is. On the other hand, control signals, data, and the like can be transferred from the portable terminal 20 to the system control circuit 15 of the surveying instrument 10, whereby the surveying instrument 10 can be remotely operated from the portable terminal 20.
[0016]
The system control circuit 23 includes a ROM 24 in which a system program and the like are recorded, a switch group 25 for key operation and power-on, a pointing device 27 for specifying a position on the screen by pen operation, and the like. It is connected.
[0017]
As shown in FIG. 1, for example, an operation sensor unit 40 is detachably connected to the mobile terminal 20. The control sensor unit 40 includes, for example, a gyro sensor 41 and an inclination sensor 42. The signals detected by the gyro sensor 41 and the tilt sensor 42 are output to the system control circuit 23 of the mobile terminal 20 as needed.
[0018]
For example, when the key for initial setting in the switch group 16 of the portable terminal 20 is operated in a state where the surveying instrument 10 is set in the remote operation mode, the altitude angle and the horizontal angle which are the current collimating directions of the collimating telescope 10A are obtained. The corner is set as an initial value. Thereafter, when the mobile terminal 20 is tilted or rotated, the displacement amount (rotation angle) is detected by the gyro sensor 41 and the tilt sensor 42 and output to the system control circuit 23. The system control circuit 23 calculates a rotation angle of the surveying instrument 10 about the horizontal axis H and the vertical axis P in accordance with the detected rotation angle of the mobile terminal 20, and outputs the rotation angle to the surveying instrument 10 as a control signal. The collimating telescope drive control unit 13 of the surveying instrument 10 is driven based on this control signal, and the collimating telescope 10A is rotated around the horizontal axis H and the vertical axis P according to the rotation angle of the portable terminal 20. You.
[0019]
For example, the rotation angle of the collimating telescope 10A (the collimating telescope unit 10B) around the horizontal axis H depends on the change (rotation angle) of the inclination (for example, the inclination with respect to the horizontal axis h) of the portable terminal 20 detected by the inclination sensor 42. Correspondence (coincidence), the rotation of the collimating telescope 10A (the surveying instrument body 10C) around the vertical axis P corresponds (coincides) with the rotation angle of the portable terminal 20 around the vertical axis detected by the gyro sensor 41. The rotation angle around the vertical axis is calculated, for example, from the value of the tilt sensor 42 in the initial setting and the integrated value of the minute rotation angle detected by the gyro sensor 41.
[0020]
The operator changes the attitude of the mobile terminal 20 while checking the image of the collimating telescope 10A displayed on the image display device 21, and collimates with the target. When the collimation operation is completed, the remote operation processing is ended by operating a predetermined key in the switch group 25, for example. In the case of a surveying instrument having an automatic collimation function, after the mobile terminal 20 roughly controls the collimation direction, the final collimation may be performed using the automatic collimation function.
[0021]
In the present embodiment, the operation sensor unit 40 is configured by the gyro sensor 41 and the tilt sensor 42. However, for example, an azimuth sensor (for example, an electronic compass) may be used instead of the gyro sensor 41. Similarly, the operation sensor unit 40 is constituted only by a gyro sensor (three-axis gyro sensor), and the mobile terminal 20 is maintained in a predetermined posture (for example, substantially horizontal), and the initial setting described above is performed. , The rotation angle about the vertical axis P can be obtained.
[0022]
As described above, according to the first embodiment, the collimating direction of the surveying instrument can be remotely controlled in accordance with the change in the posture of the mobile terminal, and the operator can perform key operation or pen operation as in the related art. The collimating direction of the surveying instrument can be remotely controlled more intuitively and easily without repeatedly inputting. In particular, the rotation of the collimating telescope about the horizontal axis and the vertical axis corresponds to the rotation of the mobile terminal about the horizontal axis and the vertical axis, so the operator needs to rotate the collimating telescope corresponding to the operation of the mobile terminal. It can be easily grasped spatially. Further, in the present embodiment, since an image photographed through the collimating telescope is displayed on the screen of the mobile terminal at any time, the user looks into the eyepiece of the surveying instrument to determine whether the collimating direction is oriented in the target direction. The user can make detailed surveys with reference to the screen of the mobile terminal.
[0023]
Next, a surveying instrument remote control system according to a second embodiment of the present invention will be described with reference to FIGS. The basic configuration of the second embodiment is substantially the same as that of the first embodiment, and only the configuration different from the first embodiment will be described.
[0024]
FIG. 3 is a schematic diagram showing an external configuration and a usage method of a remote control device used in the surveying instrument remote control system of the second embodiment.
[0025]
The remote control device 50 includes an operation sensor unit 40, a portable remote control device main body 51, and an HMD (Head Mount Display) 52 for image display. The operation sensor unit 40 is attached to a predetermined position (for example, a front portion) of the helmet 60 worn by the worker, and the HMD 52 is arranged in front of one of the eyes of the worker. The remote control device main body 51 is attached to, for example, a waist of an operator by a belt or the like, for example. Although not shown, the operation sensor unit 40 and the HMD 52 are connected to the remote operation device main body 51 by, for example, a signal cable.
[0026]
FIG. 4 is a block diagram illustrating an electrical configuration of the surveying instrument remote control system according to the second embodiment.
[0027]
In the surveying instrument remote control system of the second embodiment, wireless communication is used instead of the interface cable 30. Therefore, the surveying instrument 10 'and the remote control device main body 51 are provided with wireless communication circuits 18' and 22 'instead of the interface circuits 18 and 22 of the first embodiment. The HMD 52 and the operation sensor unit 40 are connected to the system control circuit 23 of the remote control device main body 51.
[0028]
The operation sensor unit 40 is the same as that in the first embodiment, and in the surveying instrument remote operation system according to the second embodiment, the collimating direction of the collimating telescope 10A of the surveying instrument 10 ′ is the same as the operation sensor. Drive control is performed based on the rotation angle detected by the gyro sensor 41 and the inclination sensor 42 provided in the unit 40. That is, the collimating telescope 10A is rotated around the horizontal axis H and the vertical axis P, respectively, in response to the movement of raising and lowering the head of the operator and the movement of turning the operator left and right. An image captured by the collimating telescope 10A is displayed on the HMD 52 disposed in front of the operator, and the operator refers to this image and rotates his head up, down, left, and right.
[0029]
As described above, the same effects as those of the first embodiment can be obtained in the second embodiment. Further, in the second embodiment, there is no need to hold a device for remote control in a hand, so that the functionality is high. Furthermore, since the head turning movement is linked with the movement of the surveying instrument, and the image at that time can be observed on the HMD, the collimating direction of the surveying instrument can be adjusted more intuitively.
[0030]
Next, a surveying instrument remote control system according to a third embodiment of the present invention will be described with reference to FIG. The surveying instrument remote control system according to the third embodiment replaces the interface circuits 18 and 22 in the surveying instrument 10 and the portable terminal 20 of the first embodiment with a wireless communication circuit, and attaches the portable terminal 20 to the prism pole 70. It is a thing. The mobile terminal 20 is rotated / elevated in response to the rotation and elevation movement of the prism pole 70, and the collimating telescope 10A of the surveying instrument 10 is also rotated / elevated in response to this.
[0031]
The remote operation is performed with the mobile terminal 20 set to the remote operation mode, and the remote operation mode is released after the remote operation is completed. That is, after the remote control mode is set, the prism pole 70 is operated to roughly aim the collimation of the surveying instrument 10 toward the prism pole 70. This is performed using the automatic collimation function.
[0032]
Further, the mobile terminal 20 may have a function of removing noise such as shaking generated when the prism pole 70 moves or the like from a signal detected by each sensor in response to the operation of the prism pole 70. Such a function is realized by, for example, a bandpass filter.
[0033]
As described above, also in the third embodiment, substantially the same effects as in the first and second embodiments can be obtained. In the third embodiment, since a portable terminal for remote control is attached to the prism pole 70, in surveying using the prism pole, an operator holding the prism pole can easily operate the surveying instrument by himself / herself. Collimation can be remotely controlled.
[0034]
In the third embodiment, since the operator and the surveying instrument face each other, the relationship between the rotation of the prism pole around the vertical axis and the rotation of the surveying instrument around the vertical axis is set oppositely. May be. Further, an acceleration sensor may be further provided in the operation sensor unit, and the collimation of the surveying instrument may be linked to the movement of the remote control device (portable terminal) by using a signal from the acceleration sensor. For example, the surveying instrument may be lowered in conjunction with the vertical movement of the prism pole by detecting the vertical acceleration in the third embodiment. At this time, the portable terminal 20 may be slidably attached to the prism pole 70, and the portable terminal 20 may be moved up and down relatively to the prism pole 70.
[0035]
【The invention's effect】
As described above, according to the present invention, the collimating direction of the surveying instrument can be remotely controlled more easily.
[Brief description of the drawings]
FIG. 1 is a schematic diagram illustrating an external configuration of a surveying instrument remote control system according to a first embodiment.
FIG. 2 is a block diagram showing an electrical configuration of the surveying instrument remote control system of FIG. 1;
FIG. 3 is a schematic diagram showing an external configuration and a usage method of a remote control device used in the surveying instrument remote control system of the second embodiment.
FIG. 4 is a block diagram illustrating an electrical configuration of a surveying instrument remote control system according to a second embodiment.
FIG. 5 is a schematic diagram illustrating an external configuration of a prism pole used in the surveying instrument remote control system according to the third embodiment.
[Explanation of symbols]
10, 10 'surveying instrument 13 collimating telescope drive control unit 14 imaging unit 15, 23 system control circuit 18, 22 interface circuit 18', 22 'wireless communication circuit 20 mobile terminal 21, 52 image display device 40 operation sensor unit 41 Gyro sensor 42 Tilt sensor 50 Remote control device 70 Prism pole

Claims (5)

A system for remotely controlling a collimating direction of a surveying instrument,
A remote control unit for remotely controlling the surveying instrument;
A sensor unit for detecting the movement of the remote operation unit,
A collimation control means for controlling a collimation direction of the surveying instrument in conjunction with a movement of the remote control unit detected by the sensor unit. The remote control system according to claim 1, wherein the sensor unit includes at least one of a gyro sensor, a tilt sensor, and a direction sensor. A sensor unit attaching means for attaching the sensor unit to an operator's head, wherein the collimating control means controls the collimating direction in conjunction with the movement of the head. 2. The remote control system according to 1. The remote control system according to claim 1, wherein the sensor unit is mounted on a prism pole, and the collimation control means controls the collimation direction in conjunction with the movement of the prism pole. Image capturing means for capturing an image of the collimating optical system of the surveying instrument, and collimating image display means for displaying the image at the time of remote control of the surveying instrument using the remote control unit, The remote control system according to claim 1, wherein:

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