JP2017003448A - Ground surveying device, ground surveying system, ground surveying program, and ground surveying method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a ground surveying device, a ground surveying system, a ground surveying program and a ground surveying method capable of quickly and automatically measuring an accurate altitude value of the ground only by traveling on the ground with a heavy machine. SOLUTION: The ground surveying device 1 is provided on a heavy machine 10 to measure the ground, and the heavy machine 10 includes a three-dimensional surveying device 11 for measuring three-dimensional coordinates of a reference position in the heavy machine 10 and a heavy machine 10. A tilt sensor 12 that detects tilt data indicating the attitude of the vehicle and a ground distance meter 13 that measures the ground distance to a ground survey point on the ground set behind the heavy machine 10 are provided, and the reference position is 3 It has a ground survey point acquisition unit 54 that acquires three-dimensional coordinates of a ground survey point based on a relative position with respect to a reference position of the ground survey point specified by dimensional coordinates, inclination data, and ground distance. [Selection diagram] Fig. 1

Description

  The present invention relates to a ground surveying technique, and more particularly to a ground surveying apparatus, a ground surveying system, a ground surveying program, and a ground surveying method capable of accurately surveying the ground during leveling work of uneven ground. .

Conventionally, work for leveling a wide range of ground such as farmland development and residential land development has been performed in the following processes.
1. Create a construction plan that includes the target ground elevation (planned height).
2. Manually measure the altitude (current height) of the ground before construction.
3. A stringer indicating the planned height will be installed on site.
4). Using the tension as a mark, cuts (work to flatten the ground by scraping the high ground) and embankments (work to level and smooth the soil on the low ground) are performed.
5. Manually measure the altitude (finished shape) of the ground after construction.
6). Create forms and measurement books to manage the results.

  As described above, when leveling the ground, it is necessary to accurately measure the ground elevation (current height and finished shape) before and after construction. Conventionally, however, the survey of altitude values is manually performed by an operator, so that the surveying work takes much time and cost as the site becomes wider.

  As a technique for solving the above problems, for example, Japanese Patent Application Laid-Open No. 2003-239328 calculates an absolute height of a heavy machine that cancels out the inclination component of the heavy machine based on a signal from a GPS antenna or a roll inclination sensor. A measuring device that automatically calculates the actual leveling height has been proposed (Patent Document 1).

JP 2003-239328 A

  However, as shown in FIG. 17, in places where the ground has subsided due to the weight of heavy equipment or places where the ground has subsided due to its own weight, the ground tends to return to its original height after the heavy equipment has passed. ing. For this reason, when the ground elevation value is calculated at the center point of the heavy machinery (substantially intermediate position in the front-rear and left-right directions) as in the invention described in Patent Document 1, the ground is restored to the original height after calculating the elevation value. It is difficult to survey the accurate altitude value.

  The present invention has been made to solve such problems, and is capable of quickly and automatically surveying an accurate altitude value of the ground simply by traveling on the ground with heavy machinery. An object is to provide a device, a ground surveying system, a ground surveying program, and a ground surveying method.

  A ground surveying device according to the present invention is a ground surveying device that is provided in a heavy machine and surveys the ground, and the heavy machine includes a three-dimensional surveying instrument for surveying a three-dimensional coordinate of a reference position in the heavy machine, An inclination sensor that detects inclination data representing the attitude of the heavy machine, and a ground distance meter that measures a ground distance to a ground survey point on the ground set behind the heavy machine. A ground survey point acquisition unit that acquires a three-dimensional coordinate of the ground survey point based on a relative position based on the reference position of the ground survey point specified by the three-dimensional coordinate, the inclination data, and the ground distance Have

Further, as one aspect of the present invention, the ground distance meter has a base end portion fixed at a predetermined fixing position, and is inclined obliquely downward and rearward at a predetermined mounting angle. When measuring the distance to the ground survey point as the ground distance, the ground survey point acquisition unit specifies the relative position (X ′, Y ′, Z ′) by the following formulas (1) to (3). At the same time, the three-dimensional coordinates (X, Y, Z) of the ground survey point may be acquired by the following formulas (4) to (6).
X '= (L1 * cos (α) -H1 * sin (α)) + ((L * sin (θ)) * cos (α)-(L * cos (θ)) * sin (α)) (1)
Y '= (R * sin (β)) + (S * sin (β)) (2)
Z '= (R * cos (β)) + (S * cos (β)) (3)
X = G (x) + X ′ * cos (γ) −Y ′ * sin (γ) (Formula 4)
Y = G (y) + X ′ * sin (γ) + Y ′ * cos (γ) (5)
Z = G (z) + Z '(6)
However, each said code | symbol represents the following.
G (x): x coordinate of the reference position
G (y): y coordinate of the reference position
G (z): z coordinate of the reference position
R = (L1 * sin (α) + H1 * cos (α))
S = (L * sin (θ)) * sin (α) + (L * cos (θ)) * cos (α)
H1: Vertical length from the reference position to the fixed position
L1: Horizontal length from the reference position to the fixed position
L2: Length from the fixed position to the tip of the ground rangefinder
L3: Ground distance (measured value of the ground distance meter)
L = L2 + L3
θ: Mounting angle of the ground distance meter α: Pitch angle of the heavy machinery β: Roll angle of the heavy machinery γ: Yaw angle of the heavy machinery

  Furthermore, as one aspect of the present invention, when a further subdivided mesh area is set in the mesh that divides the construction site into a plurality of mesh areas, the ground survey point acquisition unit acquires three-dimensional coordinates. The altitude values of all subdivided mesh areas existing between the two points of the ground survey point and the ground survey point for which the three-dimensional coordinates have been acquired immediately before the ground survey point are There may be provided an altitude value updating unit that apportions the difference between the altitude values and updates the values to the allocated values.

  Also, as one aspect of the present invention, a subdivision mesh ID that identifies the subdivision mesh region, an elevation value of the subdivision mesh region corresponding to the subdivision mesh ID, and an update time when the elevation value of the subdivision mesh region is updated And a network communication unit that receives the update data transmitted from another heavy machine to the management server from the management server, and the elevation value update unit includes the update data The altitude value of the subdivided mesh area corresponding to the subdivided mesh ID may be updated based on the altitude value with the latest time.

  Furthermore, as one aspect of the present invention, a travel line estimation unit that estimates a travel line on which the heavy machinery is to travel among lines connecting mesh lattice points that divide a construction site into a plurality of mesh regions, and the travel You may have a screen display control part which displays on a display means the travel direction of the said heavy machine with respect to a line, and the separation distance from the said heavy machine to the said travel line.

  Further, as one aspect of the present invention, when the ground survey point acquired by the ground survey point acquisition unit is within a predetermined distance range from a lattice point of the mesh dividing the construction site into a plurality of mesh regions, A surveyed grid point determination unit that determines a grid point as surveyed and a screen display control unit that changes the display of the grid point determined to be surveyed by the surveyed grid point determination unit may be included. .

  Moreover, the ground survey system which concerns on this invention has the said three-dimensional survey equipment, the said inclination sensor, the said ground distance meter, and the said ground survey apparatus provided with the said aspect.

  The ground survey program according to the present invention is a ground survey program for surveying the ground provided in a heavy machine, and the heavy machine includes a three-dimensional survey instrument for surveying a three-dimensional coordinate of a reference position in the heavy machine. And an inclination sensor for detecting inclination data representing the attitude of the heavy equipment, and a ground distance meter for measuring a ground distance to a ground survey point on the ground set behind the heavy equipment, A ground survey point that obtains the three-dimensional coordinates of the ground survey point based on the relative position of the ground survey point specified by the three-dimensional coordinates of the position, the tilt data, and the ground distance as a base point Let the computer function as the acquisition unit.

  A ground surveying method according to the present invention is a ground surveying method for surveying the ground using a heavy machine, and the heavy machine includes a three-dimensional surveying instrument for surveying a three-dimensional coordinate of a reference position in the heavy machine. An inclination sensor that detects inclination data representing an attitude of the heavy machine, and a ground distance meter that measures a ground distance to a ground survey point on the ground set behind the heavy machine, and the reference position Geodetic survey point acquisition that acquires the three-dimensional coordinates of the ground survey point based on the relative position of the ground survey point specified by the three-dimensional coordinate, the tilt data, and the ground distance as the base point Having steps.

  According to the present invention, it is possible to quickly and automatically measure an accurate altitude value of the ground simply by traveling on the ground with a heavy machine.

It is a figure which shows one Embodiment of the heavy machinery provided with the ground surveying system which concerns on this invention. In this embodiment, it is a figure which shows the relationship of the relative position of the ground survey point which makes a reference position a base point. It is a block diagram which shows the ground surveying apparatus of this embodiment. In this embodiment, it is a figure which shows an example of common data. In this embodiment, it is an example of the display screen which shows the mesh set to the construction site. In this embodiment, it is a figure which shows an example of a subdivision mesh. In this embodiment, it is a figure which shows an example of subdivision mesh data. In this embodiment, it is a figure which shows the criterion by the surveyed grid point determination part. In this embodiment, it is a figure which shows the subdivision mesh area | region updated by the altitude value update part. In this embodiment, it is a figure which shows an example of the display screen of the state connected with each apparatus. In this embodiment, it is a figure which shows an example of the display screen in surveying mode or ready-made mode. In this embodiment, it is a figure which shows an example of the display screen in construction mode. In this embodiment, it is a figure which shows an example of the subdivision mesh area | region which has a difference value, (b) The color legend according to a difference value, and (c) The color-coded display screen according to a difference value. It is a flowchart which shows the operation | movement of the ground survey apparatus and ground survey program which concern on this invention, and a ground survey method. In this embodiment, it is a flowchart which shows the operation | movement in surveying mode or ready-made mode. In this embodiment, it is a flowchart which shows the operation | movement in construction mode. It is a figure which shows the problem of the survey by a heavy machine in a prior art.

  Hereinafter, an embodiment of a ground surveying device, a ground surveying system, a ground surveying program, and a ground surveying method according to the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the ground surveying apparatus 1 and the ground surveying program 1 a according to the present embodiment are provided in the heavy machine 10 to survey the ground. In the present embodiment, a bulldozer is used as the heavy machine 10, but it is not limited to this configuration. In the present invention, the heavy machine 10 is a concept including all vehicles that can travel on a construction site such as a power shovel, a road roller, a truck, a tractor, and a tiller.

  In addition, the ground survey system 100 of the present embodiment is provided in the heavy machine 10, and as shown in FIG. 1, mainly the three-dimensional surveying instrument 11 capable of surveying the three-dimensional coordinates at a predetermined position and the posture of the heavy machine 10 Is provided with an inclination sensor 12 for detecting inclination data representing the position, a ground distance meter 13 for measuring a ground distance from a predetermined position to a ground survey point, and the ground surveying apparatus 1 of the present embodiment.

  The three-dimensional survey instrument 11 is for surveying the three-dimensional coordinates of the reference position in the heavy machine 10. In the present embodiment, a surveying technique called RTK-GNSS (Real Time Kinematic Method) using a Global Navigation Satellite System (hereinafter referred to as GNSS) represented by GPS (Global Positioning System) or the like is adopted. ing. For this reason, the three-dimensional survey instrument 11 includes a GNSS antenna 11a that receives a GNSS satellite signal and a GNSS correction signal, and a GNSS receiver (not shown) that analyzes three-dimensional coordinates based on the GNSS data. Yes. As shown in FIG. 1, with the installation position of the GNSS antenna 11 a as a reference position, the GNSS receiver measures the three-dimensional coordinates of the reference position and outputs it to the ground surveying apparatus 1.

  In the present embodiment, GNSS is adopted as the three-dimensional survey instrument 11, but the present invention is not limited to this configuration, and a total station (hereinafter referred to as TS) may be used. In this case, a TS prism is installed at the reference position of the heavy machine 10 instead of the GNSS antenna 11a. Then, the three-dimensional coordinates of the reference position measured by the TS are directly transmitted to the ground surveying device 1 mounted on the heavy machine 10.

  The inclination sensor 12 detects inclination data representing the attitude of the heavy machine 10. In this embodiment, a gyro sensor is used as the tilt sensor 12 and is installed on the roof of the heavy machine 10 as shown in FIG. The tilt sensor 12 includes a pitch angle α of the heavy machine 10 (tilt in the front-rear direction with respect to the left-right direction), a roll angle β (tilt in the left-right direction with respect to the front-rear direction), and a yaw angle γ (the vertical direction (Tilt in the front / rear and left / right directions) is output to the ground surveying apparatus 1.

  The ground distance meter 13 measures the ground distance to the ground survey point on the ground. In the present embodiment, a ground survey point is set on the ground behind the heavy machine 10 in order to obtain an accurate elevation value (Z coordinate) after the heavy machine 10 passes through the ground. In the present embodiment, a laser distance meter is used as the ground distance meter 13, and as shown in FIG. 1, the laser irradiation port is fixed on the roof of the heavy machine 10 with the laser irradiation port facing obliquely downward on the rear side. Yes. That is, the ground distance meter 13 has a base end portion fixed at a predetermined fixing position and is inclined obliquely downward rearward at a predetermined mounting angle θ, and the ground portion from the front end portion (laser irradiation port) to the ground. The distance to the survey point is acquired as the ground distance.

  For this reason, in this embodiment, as shown in FIG. 2, the amount of displacement from the reference position to the fixed position, the length from the fixed position to the tip of the ground distance meter 13 (the length of the ground distance meter 13), and Based on the ground distance from the tip of the ground distance meter 13 to the ground survey point (measured value of the ground distance meter 13), the relative position of the ground survey point based on the reference position is specified. .

  In this embodiment, a laser distance meter is used as the ground distance meter 13, but the present invention is not limited to this configuration, and an optical laser distance meter may be used. In addition, the installation positions of the three-dimensional survey instrument 11, the inclination sensor 12, and the ground distance meter 13 are not limited to the above configuration, and can be installed anywhere in the heavy machine 10 as long as the functions necessary for the present invention can be achieved. Good.

  The ground surveying apparatus 1 is configured by a computer such as a personal computer or a tablet computer. As shown in FIG. 3, the ground surveying apparatus 1 mainly includes a display unit 2 such as a touch panel, a communication unit 3 that transmits and receives data between the management server and the like, and a ground surveying program 1a according to the present embodiment. And storage means 4 for storing various data and arithmetic processing means 5 for executing various arithmetic processes. Hereinafter, each component will be described in detail.

  The display means 2 is configured by a touch panel or the like having a position input function by a touch pad or the like in addition to a display function by a liquid crystal panel or the like. Specifically, the display unit 2 is configured to input various data and information based on the touch position on the display screen. Note that the touch panel method is not limited, and any method can be used as long as data can be input based on the touch position, such as a capacitance method, a resistive film method, and a surface acoustic wave method. Further, if input means such as a keyboard and a mouse are separately provided, the display means 2 having only a display function may be used.

  The communication means 3 is configured by a wireless communication interface or the like, and is configured to be connectable to the Internet or various networks via a Wi-Fi (Wireless Fidelity) line, a 3G (3rd Generation) line, or the like. In the present embodiment, in a construction mode to be described later, a connection is made with a management server (not shown) for sharing data with the ground surveying device 1 mounted on another heavy machine 10. Note that when communicating with the management server, security may be enhanced by encrypting data or the like.

  The storage unit 4 stores various data and functions as a working area when the arithmetic processing unit 5 performs arithmetic processing. In the present embodiment, the storage means 4 is configured by a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, and the like. As shown in FIG. 3, a program storage unit 41 and a common data storage unit 42, a subdivided mesh data storage unit 43, and a ground survey point coordinate storage unit 44. Hereinafter, each component will be described in more detail.

  The program storage unit 41 is installed with the ground survey program 1a of the present embodiment. And the arithmetic processing means 5 makes the computer as the ground surveying apparatus 1 function as each component mentioned later by executing the ground surveying program 1a. Moreover, in this embodiment, the ground survey program 1a is mainly a survey mode for surveying the elevation value (current height) of the ground before construction, and for surveying the elevation value (current height) while constructing the ground. It has a work mode and a work mode that measures the altitude (work form) of the ground after construction.

  In addition, the utilization form of the ground survey program 1a is not restricted to the said structure. For example, the ground surveying program 1a may be stored in a non-transitory recording medium that can be read by a computer, such as a CD-ROM or a USB memory, and read directly from the recording medium and executed. Moreover, you may utilize by a cloud computing system, an ASP (Application Service Provider) system, etc. from an external server.

  The common data storage unit 42 stores common data held in common with the ground surveying device 1 and the management server mounted on the other heavy equipment 10. This common data is data that is not changed during the construction work. In the present embodiment, as shown in FIG. 4, the common data includes lattice point setting data, lattice point data, and a color table. In the present embodiment, the common data is set in the ground surveying device 1 of each heavy machine 10 via a memory card, a USB memory, or the like. You may make it download from.

  The grid point setting data is data for setting grid points that define a mesh that divides the construction site into a plurality of mesh regions. Specifically, as shown in FIG. 4, the lattice point origin X and Y coordinates (latitude / mild) for positioning the lattice points, the lattice point angle for setting the orientation of the lattice points, and the interval between the lattice points Has a lattice point interval. Based on these grid point setting data, a desired mesh is displayed on the display means 2 as shown in FIG.

  In this embodiment, the lattice point interval (mesh interval) is selected from 5 m, 10 m, and 20 m. However, the present invention is not limited to this configuration, and is set to a desired interval. Also good. Further, a plan view of the construction site may be displayed on the display means 2 as the mesh background image to improve the visibility of the worker.

  The grid point data is data about each grid point corresponding to the intersection of meshes. Specifically, as shown in FIG. 4, a grid point ID for identifying each grid point, a grid point name for specifying a grid point corresponding to the grid point ID by a character string, and a grid corresponding to the grid point ID The planned height, which is the altitude value of the target ground at the point, the current height, which is the altitude value of the ground before construction at the grid point corresponding to the grid point ID, and the post-construction at the grid point corresponding to the grid point ID And a surveyed flag indicating whether or not the grid point corresponding to the grid point ID has been surveyed.

  Note that the planned height is manually input by the administrator of the management office before performing the construction work in the construction mode. On the other hand, as for the current height and the completed shape, the surveyed mode and the numerical value measured by the completed mode are automatically input. In addition, the surveyed flag is set at the grid point from which the current height or the completed shape is acquired in the surveying mode or the completed mode.

  The color table is for displaying the difference value obtained by subtracting the current height from the planned height on the display means 2 in different colors. In the present embodiment, as shown in FIG. 4, the color table has a color ID for identifying various colors and a range of difference values (minimum value or more and less than the maximum value) corresponding to the color ID. For this reason, for example, when the range of the difference value corresponding to the white color ID is set to near 0, an area that does not require cut or fill is displayed in white. Also, if the difference value is negative (when cutting is necessary), set the red gradation to be darker as the value increases, and if the difference value is positive (when filling is required) Is set so that the blue gradation becomes darker as the value increases. As a result, it is possible to intuitively grasp at a glance whether the place should be cut or filled and the degree thereof.

  The subdivided mesh data storage unit 43 stores subdivided mesh data for a subdivided mesh region obtained by further subdividing the mesh region. In the present embodiment, as described above, since the mesh size is set to 5 m, 10 m, or 20 m, the planned height inside each mesh region is unknown. Therefore, in the present embodiment, as shown in FIG. 6, a subdivided mesh region is set inside each mesh region, and the altitude value and the difference value estimated for each subdivided mesh region are finely managed.

  Specifically, as shown in FIG. 7, the subdivided mesh data storage unit 43 includes a subdivided mesh ID that identifies each subdivided mesh region, a lattice point ID that identifies a mesh region including the subdivided mesh region, and the own machine 10. An update flag indicating whether or not the update is performed, a transmission flag for specifying a mesh region to be transmitted to the management server, an update time indicating the time when the altitude value of the subdivided mesh region is updated, and the subdivided mesh ID Has a subdivided mesh height indicating the altitude value of the subdivided mesh area, and a display color specified by the color ID of the color table.

  In the present embodiment, the base point of the mesh area including the subdivided mesh area is set as the upper left grid point, and the grid point ID corresponding to the grid point is registered. Since the subdivided mesh region is created inside the mesh region, if the position of the mesh region can be specified, the subdivided mesh region can be specified only by the array number. Also, an array number is determined based on a relative position (vertical / horizontal with respect to the mesh) from the base point of the mesh area as to which subdivision mesh area the predetermined point corresponds to.

  The transmission flag is set when the altitude value of the subdivided mesh region is changed by the survey of the own heavy machine 10. In the present embodiment, update data for the entire mesh area including the subdivided mesh area for which the transmission flag is set is transmitted to the management server. Here, the update data is a lattice point ID as a header for identifying a mesh area to be transmitted, an update time and a subdivided mesh height for each subdivided mesh area included in the mesh area.

  In addition, when using the time of the computer mounted in the heavy machine 10 as the update time, it is necessary to adjust the time with the computer of the other heavy machine 10. However, in this embodiment, the update time is generated using the GPS time. For this reason, since the update time in each heavy machine 10 is synchronized by the GPS time, the consistency of the update time in each heavy machine 10 is ensured.

  The ground survey point coordinate storage unit 44 stores the coordinate values of the surveyed ground survey points as trajectory data. In the present embodiment, the ground survey point coordinate storage unit 44 stores the local survey points measured in the survey mode as a survey trajectory list. In addition, the local survey points measured in the completed mode are stored as a completed trajectory list. In addition, the coordinate value of each place survey point is memorize | stored as a three-dimensional coordinate of X coordinate, Y coordinate, and Z coordinate.

  Next, the arithmetic processing means 5 controls the display means 2, the communication means 3, and the storage means 4 described above, and executes various arithmetic processes. In the present embodiment, the arithmetic processing means 5 is constituted by a CPU (Central Processing Unit) and the like, and by executing the ground survey program 1a installed in the storage means 4, as shown in FIG. An acquisition unit 51, a three-dimensional coordinate acquisition unit 52, an inclination data acquisition unit 53, a ground distance acquisition unit 54, a ground survey point acquisition unit 55, a self-weight machine recognition unit 56, a travel line estimation unit 57, and a survey It functions as a completed grid point determination unit 58, a network communication unit 59, an altitude value update unit 60, and a screen display control unit 61. Hereinafter, each component will be described in more detail.

  The common data acquisition part 51 acquires common data at the time of starting of the ground survey program 1a. In the present embodiment, the common data acquisition unit 51 reads the common data from the reference location set in advance in the common data storage unit 42 when the ground survey program 1a is activated.

  The 3D coordinate acquisition unit 52 acquires 3D coordinates from the 3D survey instrument 11. In the present embodiment, as described above, the three-dimensional survey instrument 11 includes the GNSS antenna 11a and the GNSS receiver. Therefore, the three-dimensional coordinate acquisition unit 52 acquires the three-dimensional coordinates of the installation position (reference position) of the GNSS antenna 11a output from the GNSS receiver at regular intervals.

  The inclination data acquisition unit 53 acquires inclination data of the heavy machine 10 from the inclination sensor 12. In the present embodiment, the tilt data acquisition unit 53 acquires the pitch angle α, roll angle β, and yaw angle γ of the heavy machine 10 output from the tilt sensor 12 at regular intervals.

  The ground distance acquisition unit 54 acquires the ground distance from the ground distance meter 13 to the ground survey point. In the present embodiment, as described above, the ground distance meter 13 is configured by a laser distance meter. Therefore, the ground distance acquisition part 54 acquires the ground distance from the front-end | tip part of a laser distance meter to a ground surveying point output from a laser distance meter at a fixed interval.

  In the present embodiment, as will be described later, in order to enable real-time display during various operations, the interval for acquiring data from each of the above devices is set at 0.1 second intervals. However, the present embodiment is limited to this configuration. It is not something. That is, you may increase / decrease suitably according to the specification of each apparatus or the ground surveying apparatus 1, or the required display update frequency.

  The ground survey point acquisition unit 55 is based not only on the inclination posture of the heavy machine 10 based on the three-dimensional coordinates of the reference position, the inclination data, and the relative position based on the reference position of the ground survey point specified by the ground distance, The three-dimensional coordinates of the ground survey point taking into account the ground subsidence due to the dead weight of the heavy machine 10 are acquired.

  In this embodiment, a ground survey point is set on the ground behind the heavy machine 10 where the ground subsidence caused by the heavy machine 10 is almost restored, and the ground distance is directly measured. For this reason, by adding the three-dimensional coordinates of the reference position to the relative position of the ground survey point that is specified based on the ground distance and is based on the reference position, the influence of ground subsidence by the heavy machine 10 is reduced as much as possible. The elevation value of the ground survey point is acquired. Further, the three-dimensional coordinates of the ground survey point are corrected with high accuracy by canceling the inclination component of the heavy machine 10 based on the inclination data. This will be specifically described below.

  In the present embodiment, as described above, the base end portion of the ground distance meter 13 is fixed at a predetermined fixing position, and is inclined obliquely downward and rearward at a predetermined attachment angle θ, and the ground from the laser irradiation port. The distance to the survey point is acquired as the ground distance. For this reason, the amount of displacement from the reference position to the fixed position, the length from the fixed position to the tip of the ground distance meter 13 (the length of the ground distance meter 13), and the tip of the ground distance meter 13 to the ground survey point The relative position of the ground survey point with the reference position as the base point is specified based on the ground distance (measured value of the ground distance meter 13).

  Since the ground distance measured by the ground distance meter 13 is variable, as shown in FIG. 2, the displacement amount from the reference position of the heavy machine 10 to the fixed position of the ground distance meter 13 and the displacement from the fixed position to the ground survey point. Think separately in quantity. Let A (x, y, z) be the coordinates of the fixed position with the reference position as the base point, and let B (x, y, z) be the coordinates of the ground survey point with the fixed position as the base point. Then, the relative position of the ground survey point when the reference position is the base point is defined as Ans ′ (x, y, z). The directions of the x axis, the y axis, and the z axis are the traveling direction, the right direction, and the upward direction of the heavy machine 10, respectively.

First, as shown in FIG. 2, the vertical length from the reference position to the fixed position is H1, the horizontal length from the reference position to the fixed position is L1, and the pitch angle and roll angle that are the attitude angles of the heavy machine 10 When the yaw angles are α, β, and γ, respectively, the coordinates A (x, y, z) of the fixed position with the reference position as the base point are expressed by the following equations.
A (x, y, z) = (L1 * cos (α) -H1 * sin (α), R * sin (β), R * cos (β))
However, R = (L1 * sin (α) + H1 * cos (α)).

In addition, as shown in FIG. 2, the length from the fixed position to the tip of the ground distance meter 13 is L2, and the ground distance (measured value of the ground distance meter 13) is L3. If the total of these L2 and L3 is L and the mounting angle of the ground distance meter 13 is θ, the coordinates L (x, y, z) when the fixed position is the base point are expressed by the following formula.
L (x, y, z) = (L * sin (θ), 0, L * cos (θ))
Therefore, considering the attitude of the heavy machine 10, the coordinates B (x, y, z) of the ground survey point with the fixed position as the base point are expressed by the following formula.
B (x, y, z) = ((L * sin (θ)) * cos (α)-(L * cos (θ)) * sin (α), S * sin (β), S * cos (β ))
However, S = (L * sin (θ)) * sin (α) + (L * cos (θ)) * cos (α).

Here, since the relative position Ans '(x, y, z) of the ground survey point when the reference position is the base point is the coordinate obtained by adding coordinates A and B, Ans' (x, y, z ) = (X ′, Y ′, Z ′), it is expressed by the following formulas (1) to (3).
X '= (L1 * cos (α) -H1 * sin (α)) + ((L * sin (θ)) * cos (α)-(L * cos (θ)) * sin (α)) (1)
Y '= (R * sin (β)) + (S * sin (β)) (2)
Z '= (R * cos (β)) + (S * cos (β)) (3)

Therefore, the three-dimensional coordinates Ans (x, y, z) of the ground survey point is the relative position Ans' (x, y, z) of the ground survey point when the reference position is the base point. Since it is a coordinate obtained by adding G (x, y, z), when Ans (x, y, z) = (X, Y, Z), it is expressed by the following equations (4) to (6).
X = G (x) + X ′ * cos (γ) −Y ′ * sin (γ) (Formula 4)
Y = G (y) + X ′ * sin (γ) + Y ′ * cos (γ) (5)
Z = G (z) + Z '(6)

As described above, the ground survey point acquisition unit 55 specifies the relative position (X ′, Y ′, Z ′) by the following formulas (1) to (3), and by the following formulas (4) to (6). Get the three-dimensional coordinates (X, Y, Z) of the ground survey point.
X '= (L1 * cos (α) -H1 * sin (α)) + ((L * sin (θ)) * cos (α)-(L * cos (θ)) * sin (α)) (1)
Y '= (R * sin (β)) + (S * sin (β)) (2)
Z '= (R * cos (β)) + (S * cos (β)) (3)
X = G (x) + X ′ * cos (γ) −Y ′ * sin (γ) (Formula 4)
Y = G (y) + X ′ * sin (γ) + Y ′ * cos (γ) (5)
Z = G (z) + Z '(6)
However, each said code | symbol represents the following.
G (x): x coordinate of the reference position
G (y): y coordinate of the reference position
G (z): z coordinate of the reference position
R = (L1 * sin (α) + H1 * cos (α))
S = (L * sin (θ)) * sin (α) + (L * cos (θ)) * cos (α))
H1: Vertical length from the reference position to the fixed position
L1: Horizontal length from the reference position to the fixed position
L2: Length from the fixed position to the tip of the ground distance meter 13
L3: Ground distance (measured value of the ground distance meter 13)
L = L2 + L3
θ: mounting angle of the ground distance meter 13 α: pitch angle of the heavy machine 10 β: roll angle of the heavy machine 10 γ: yaw angle of the heavy machine 10

  In addition, in this embodiment mentioned above, although the ground distance meter 13 is attached in the state inclined in the back diagonally downward, it is not limited to this structure. For example, the horizontal arm may be extended from the rear end portion of the heavy machine 10 to the vicinity of the position immediately above the ground survey point, and attached to the front end of the horizontal arm with the front end portion of the ground distance meter 13 facing directly below. In other words, any configuration that can calculate the relative position of the ground survey point based on the reference position based on the ground distance acquired by the ground distance meter 13 may be used.

  In the present embodiment, in the surveying mode and the ready-made mode, the ground survey point acquiring unit 55 stores the acquired local survey points as the surveying trajectory list and the ready-made trajectory list in the ground surveying point coordinate storage unit 44, respectively. It is to be saved as a separate file. On the other hand, in the construction mode, the ground survey point acquisition unit 55 provides the acquired local survey point to the elevation value update unit 60 to update each subdivided mesh region.

  The own weight machine recognition unit 56 recognizes the current location and direction (the direction of the machine body) of the own weight machine 10 on which the ground surveying device 1 is mounted. In this embodiment, the own weight machine recognition unit 56 recognizes the current location (latitude / longitude) of the own weight machine 10 based on the three-dimensional coordinates acquired by the three-dimensional coordinate acquisition unit 52. Further, the self-weight machine recognition unit 56 recognizes the direction of the self-weight machine 10 based on the yaw angle acquired by the inclination data acquisition unit 53.

  The travel line estimation unit 57 estimates a travel line on which the heavy equipment 10 is to travel on the construction site during execution of the surveying mode or the ready-made mode. In the present embodiment, the traveling line estimation unit 57 is the most in the traveling direction of the heavy machine 10 among the lines connecting the lattice points based on the current location and direction of the heavy machine 10 recognized by the own machine recognition unit 56. A near mesh line is estimated as a running line.

  The surveyed grid point determination unit 58 determines whether or not each grid point in the mesh has been surveyed. In the present embodiment, the surveyed grid point determination unit 58 compares the latitude / longitude of the ground survey point acquired by the ground survey point acquisition unit 55 with the position coordinates of each grid point. Then, as shown in FIG. 8, when the ground survey point is within a predetermined distance range (eg, within a radius of 25 cm) from a predetermined grid point, the grid point is determined as being surveyed, and the survey in the grid point data is performed. A flag is set up.

  The network communication unit 59 transmits and receives various data to and from the management server in the construction mode. In this embodiment, when starting the construction mode, the network communication unit 59 acquires all the subdivided mesh data stored in the management server, and transmits all the subdivided mesh data to the management server. .

  In addition, the network communication unit 59 transmits update data to the management server at a predetermined transmission interval (for example, an interval of 1 second) while executing the construction mode, and at a predetermined request interval (for example, an interval of 10 seconds). It requests the update data from the management server. In the present embodiment, the update data includes a subdivision mesh ID for identifying a subdivision mesh region, an elevation value of the subdivision mesh region corresponding to the subdivision mesh ID, and an update in which the elevation value of the subdivision mesh region is updated. Data consisting of time.

  The altitude value update unit 60 updates the altitude value of each subdivided mesh area with the latest altitude value. In the present embodiment, the altitude value updating unit 60 sequentially updates the current altitude, which is the altitude value after construction, measured by the self-weight machine 10 while executing the construction mode. Specifically, as shown in FIG. 9, the elevation value update unit 60 has a ground survey point from which the three-dimensional coordinates have been acquired by the ground survey point acquisition unit 55, and a three-dimensional one before the ground survey point. The altitude values of all the subdivided mesh areas existing between the two points with the ground survey point from which the coordinates were acquired are updated to values distributed by dividing the difference in altitude values between the two points. .

  In the present embodiment, since the bulldozer is used as the heavy machine 10, the altitude value updating unit 60 uses all the width data of the earth removal board as shown in FIG. The altitude value of the subdivision mesh area is updated. However, when the heavy machine 10 is inclined, since the altitude values are different between the both ends of the earth removal board and the ground survey point, the heights of the both ends are calculated using the roll angle β of the inclination sensor 12.

  In the present embodiment, the altitude value update unit 60 constantly monitors update data from other heavy equipment 10 received by the network communication unit 59. Then, the update time of the subdivided mesh data in the subdivided mesh data storage unit 43 is compared with the update time of the update data, and the altitude value of each subdivided mesh area is updated based on the latest altitude value. Yes. That is, when the altitude value measured by another heavy machine 10 is newer than the altitude value of the own heavy machine 10, the altitude value is adopted and the subdivided mesh data in the subdivided mesh data storage unit 43 is updated.

  The screen display control part 61 displays a display screen on the display means 2, and updates the display content sequentially. In the present embodiment, when the ground survey program 1a is activated and the connection with each device is completed, the screen display control unit 61, as shown in FIG. 10, is based on the common data and the position / direction data of the own heavy machine 10. The own machine 10 is displayed as an icon at a corresponding position on the mesh. In addition, the screen display control unit 61 expresses the direction of the self-weight machine 10 by fixing the direction of the self-weight machine 10 and relatively rotating the entire mesh. Furthermore, in this embodiment, the elevation value of the ground survey point is displayed in real time.

  Further, during the execution of the surveying mode or the ready-made mode, the screen display control unit 61 performs the traveling direction of the heavy machine 10 relative to the traveling line estimated by the traveling line estimation unit 57 and the heavy machine 10 from the heavy machine 10 as shown in FIG. A travel guide consisting of a separation distance to the travel line is displayed on the display means 2 in real time. Further, the screen display control unit 61 changes the display of grid points determined to have been surveyed by the surveyed grid point determination unit 58. In this embodiment, as shown in FIG. 11, red circles are displayed at the surveyed grid points, but the present invention is not limited to this configuration, and the display can be distinguished from the unmeasured grid points. If it is.

  Further, during the execution of the surveying mode or the ready-made mode, the screen display control unit 61 displays the altitude value of the cutting edge (lower end) of the earth discharging board with a guide scale as shown in FIG. . On the other hand, during execution of the construction mode, as shown in FIG. 12, the screen display control unit 61 gradations each subdivided mesh area according to the difference value obtained by subtracting the current height (elevation value after construction) from the planned height. Colors are displayed in real time and displayed in real time.

  For example, for a subdivided mesh region having a difference value as shown in FIG. 13 (a), as shown in FIG. 13 (c) based on the color legend as shown in FIG. 13 (b) set by the color table. In addition, color-coded display according to the difference value is performed.

  Below, the effect | action by the ground survey apparatus 1, the ground survey system 100, the ground survey program 1a, and the ground survey method of this embodiment is demonstrated.

  First, when surveying the ground using the ground surveying apparatus 1, the ground surveying system 100, the ground surveying program 1a, and the ground surveying method of the present embodiment, the ground surveying program 1a mounted on the heavy machine 10 is activated. Thereby, as shown in FIG. 14, the common data acquisition part 51 acquires common data from the common data storage part 42 (step S1). The three-dimensional coordinate acquisition unit 52 acquires three-dimensional coordinates from the three-dimensional surveying instrument 11 (step S2), the inclination data acquisition unit 53 acquires inclination data from the inclination sensor 12 (step S3), and the ground distance acquisition unit. 54 acquires the ground distance from the ground distance meter 13 (step S4). Thereby, the connection state with each apparatus and sensor is confirmed.

  Next, based on the data acquired in steps S1 to S4, the ground survey point acquisition unit 55 acquires the three-dimensional coordinates of the ground survey points by the above formulas (4) to (6) (step S5). At this time, in the present embodiment, the ground distance meter 13 sets a ground survey point behind the heavy machine 10. For this reason, the ground distance of the ground survey point is measured at the timing after the heavy machine 10 passes. Therefore, even if the ground sinks due to its own weight, the altitude value is measured with the subsidence almost restored, so the three-dimensional coordinates of the ground survey point are accurately measured. Moreover, in this embodiment, since the ground survey point acquisition part 55 cancels | increases the inclination component of the heavy machine 10 based on inclination data, the accuracy of the three-dimensional coordinate of a ground survey point improves. For this reason, the accurate altitude value of the ground is quickly and automatically measured only by traveling on the ground with the heavy equipment 10.

  Subsequently, when the own machine recognizer 56 recognizes the current location and direction of the own machine 10 (Step S6), the screen display controller 61, as shown in FIG. The current location / direction and the elevation value of the ground survey point are displayed together with the guide scale (step S7), and the survey mode, construction mode or ready-made mode can be selected.

  When the surveying mode is selected (step S8: YES), the surveying mode is executed. When the construction mode is selected (step S9: YES), the construction mode is executed and the ready-made mode is selected. (Step S10: YES), the ready-made mode is executed. On the other hand, if any mode is not selected (steps S8 to S10: all NO), or if any mode is ended, the ground survey program 1a is not ended (step S11: NO), from step S8. Repeat the process.

  Next, the processing when the surveying mode or the ready-made mode is selected will be described with reference to FIG. In the present embodiment, the difference between the surveying mode and the ready-made mode is only the difference in whether the ground elevation value is measured before construction or after construction, and the processing contents of both are the same.

  When the surveying mode or the ready-made mode is selected, as shown in FIG. 15, first, the own heavy machine recognition unit 56 recognizes the current location and direction of the own heavy machine 10 (step S21), and the traveling line estimation unit 57 executes the construction. A travel line on which the heavy machine 10 is to travel on the site is estimated (step S22). Next, the three-dimensional coordinate acquisition unit 52 acquires three-dimensional coordinates from the three-dimensional surveying instrument 11 (step S23), the inclination data acquisition unit 53 acquires inclination data from the inclination sensor 12 (step S24), and acquires the ground distance. The unit 54 acquires the ground distance from the ground distance meter 13 (step S25).

  And based on these data, the ground survey point acquisition part 55 acquires the three-dimensional coordinate of a ground survey point by said Formula (4)-(6), and records it on the ground survey point coordinate memory | storage part 44 (step S26). . At this time, in the present embodiment, as described above, the ground distance of the ground survey point is measured in a state where the subsidence due to its own weight is almost restored after the heavy machine 10 passes, so the elevation value of the ground survey point (current height)・ Finished shape) is accurately measured. Moreover, in this embodiment, since the ground survey point acquisition part 55 cancels the inclination component of the heavy machinery 10 based on inclination data, the three-dimensional coordinate of a ground survey point is correct | amended correctly. That is, just by traveling on the ground with the heavy equipment 10, the accurate altitude value of the ground is quickly and automatically measured.

  Next, the surveyed grid point determination unit 58 determines whether or not the ground survey point acquired in step S26 is within a predetermined distance range from the predetermined grid point (step S27). Then, only when the distance is within the distance range (step S27: YES), the surveyed grid point determination unit 58 determines that the grid point has been surveyed and sets the surveyed flag in the grid point data (step S28). . Thereby, when the heavy machine 10 acquires the elevation value at the lattice point, it is not necessary to travel directly above the lattice point, and it is only necessary to travel near to some extent.

  In addition, when a plurality of elevation values are acquired within a predetermined distance range, an average value thereof or a weighted average value corresponding to the distance from the grid point is acquired as the elevation value of the grid point. May be.

  Thereafter, the screen display control unit 61 updates the display screen based on the data and results obtained in the above steps (step S29). Specifically, the screen display control unit 61 displays the current location and direction of the heavy machine 10, and displays the travel direction of the heavy machine 10 relative to the travel line and the separation distance from the heavy machine 10 to the travel line as a travel guide. Thereby, the operator of the heavy machine 10 can grasp at a glance the direction to the travel line and the distance to the travel line, and the surveying operation is completed only by traveling along the travel line.

  Moreover, in this embodiment, the screen display control part 61 changes the display mode on a display screen about the lattice point judged to be surveyed. As a result, the operator of the heavy machine 10 can grasp the unmeasured grid points and the surveyed survey points at a glance, and can survey the grid points efficiently and without omission.

  Thereafter, the process from step S21 is repeated unless the end of surveying mode or ready-made mode is instructed (step S30: NO). On the other hand, when the end of the surveying mode or the ready-made mode is instructed (step S30: YES), the process returns to step S11 in FIG.

  On the other hand, when executing construction mode, this embodiment demonstrates the case where it constructs, sharing an altitude value with the multiple heavy machine 10. As shown in FIG. 16, first, the network communication unit 59 acquires all the subdivided mesh data stored in the management server and transmits all the subdivided mesh data to the management server (step S31). As a result, the latest current status managed on the management server side is registered in the subdivided mesh data storage unit 43 of the ground surveying apparatus 1. On the other hand, the management server adopts an altitude value that is newer than the altitude value stored in the management server among the current levels measured by the heavy machine 10.

  Subsequently, as in the other modes, the own machine recognition unit 56 recognizes the current location and direction of the own machine 10 (step S32), and the three-dimensional coordinate acquisition unit 52 acquires the three-dimensional coordinates from the three-dimensional surveying instrument 11. (Step S33), the inclination data acquisition unit 53 acquires the inclination data from the inclination sensor 12 (Step S34), and the ground distance acquisition unit 54 acquires the ground distance from the ground distance meter 13 (Step S35).

  And based on these data, the ground survey point acquisition part 55 acquires the three-dimensional coordinate of a ground survey point by said Formula (4)-(6), and records it on the ground survey point coordinate memory | storage part 44 (step S36). . At this time, in the present embodiment, since the ground distance of the ground survey point is measured in a state where the subsidence due to its own weight is almost restored after the heavy machine 10 passes, the altitude value after being constructed by the heavy machine 10 is accurate. Is measured. In addition, since the ground survey point acquisition unit 55 cancels the tilt component of the heavy machine 10 based on the tilt data, the three-dimensional coordinates of the ground survey point are accurately corrected. For this reason, the accurate altitude value of the ground is quickly and automatically measured only by traveling on the ground with the heavy equipment 10.

  Next, the altitude value updating unit 60 returns to step S32 only when the ground survey point acquired in step S36 is the first ground survey point (step S37: YES). On the other hand, if the ground survey point acquired in step S36 is not the first ground survey point (step S37: NO), the altitude value updating unit 60 is immediately before the ground survey point and the ground survey point. The altitude values of all subdivided mesh regions existing between the two points with the ground survey point from which the three-dimensional coordinates have been acquired are updated to values distributed by apportioning the difference in altitude values between the two points (step S38). ). Thereby, since the altitude value of each subdivided mesh area is estimated with sufficient accuracy for construction, the altitude value can be managed finely.

  Subsequently, the network communication unit 59 determines whether or not a predetermined transmission interval has elapsed (step S39), and when it has elapsed (step S39: YES), transmits update data to the management server (step S40). As a result, the latest elevation values measured by each heavy machine 10 are sequentially collected in the management server.

  Further, the network communication unit 59 determines whether or not a predetermined request interval has elapsed (step S41), and when it has elapsed (step S41: YES), requests update data from the management server (step S42). Then, when the network communication unit 59 has successfully received the update data (step S43: YES), the altitude value update unit 60 updates the current altitude with the altitude value with the new update time (step S45). Thereby, the latest altitude value measured by another heavy machine 10 is reflected in the subdivided mesh data storage unit 43 of the own heavy machine 10.

  In addition, since the update data includes the update time as well as the current status, erroneous measurement due to a time lag due to a communication network failure or the like is prevented. For example, when construction is performed while two heavy machines 10 are traveling in parallel, the rear heavy machine 10 receives the altitude value of the ground survey point constructed by the front heavy machine 10 by the rear heavy machine 10. After construction of the survey point. However, since the rear heavy machine 10 has a newer altitude value update time, it is not updated by the front altitude value received after construction.

  When the network communication unit 59 fails to receive the update data (step S43: NO), the update data is lost (step S44). As a result, once the connection with the network is disconnected and the connection with the network is made again, the update data stored in the management server is received in a batch.

  Thereafter, the screen display control unit 61 updates the display screen based on the data and results obtained in the above steps (step S46). Specifically, the screen display control unit 61 displays the current location and direction of the heavy machinery 10 and gradations each subdivided mesh area according to the difference value obtained by subtracting the current height (elevation value after construction) from the planned height. Colors and displays in real time. As a result, the operator of the heavy machine 10 can intuitively grasp how much the place should be cut or how much the place should be filled.

  Thereafter, unless the end of the construction mode is instructed (step S47: NO), the processing from step S32 is repeated. On the other hand, when the end of the construction mode is instructed (step S47: YES), the process returns to step S11 in FIG.

  In addition, step S5, step S26, and step S36 mentioned above correspond to the ground survey point acquisition step which concerns on this invention. In addition, the processing order in steps S2 to S5, steps S23 to S26, and steps S33 to S36 described above is not limited to the order described above, and may be executed concurrently by a multitask method.

According to the present embodiment as described above, the following effects can be obtained.
1. By simply traveling on the ground with the heavy equipment 10, it is possible to quickly and automatically survey the accurate altitude value of the ground in which the measurement error due to the weight of the heavy equipment 10 is reduced.
2. Labor and time for surveying work can be reduced, and efficiency and labor saving can be achieved.
3. During construction, the elevation value of each subdivided mesh area can be displayed in real time.
4). By including the update time in the update data, an accurate altitude value can be shared with other heavy equipment 10 even if the communication network is delayed or disconnected.
5. A travel guide is provided to the driver of the heavy machine 10, and the current height and the completed shape can be surveyed easily and quickly.
6). For surveyed grid points, the display mode can be changed to prevent duplicate surveys.
7). It is possible to make the operator under construction intuitively grasp at a glance how much the earth should be cut or how much the earth should be filled, so that the construction quality can be made uniform.
8). With excellent operability and an easy-to-understand user interface, the time required for work training can be reduced.
9. It is possible to automatically output a form in which the planned height, current status, completed form, difference value (planned height-current status), etc. are summarized, thereby reducing office work.
10. By networking, operators can confirm and share each other's construction status at the construction site, and the management office can easily grasp the progress of construction.

  In addition, the ground surveying apparatus 1, the ground surveying system 100, the ground surveying program 1a, and the ground surveying method according to the present invention are not limited to the above-described embodiments, and can be appropriately changed.

  For example, in the present embodiment described above, a case where construction is performed while sharing an altitude value with a plurality of heavy machines 10 in the construction mode is not limited to this configuration, and the construction mode is performed with one heavy machine 10. You may construct using.

  In the present embodiment described above, the altitude value is shared with the other heavy equipment 10 by connecting to the network only in the construction mode, but is not limited to this configuration. For example, when surveying the current height before construction and the finished shape after construction with multiple heavy machines 10, connect to the network during execution of survey mode or finished mode and share surveyed flags with other heavy machines 10 You may make it do. Thereby, it is prevented that the grid points measured by the other heavy equipment 10 are measured again.

DESCRIPTION OF SYMBOLS 1 Ground survey apparatus 1a Ground survey program 2 Display means 3 Communication means 4 Storage means 5 Arithmetic processing means 10 Heavy machine 11 Three-dimensional survey equipment 11a GNSS antenna 12 Inclination sensor 13 Ground distance meter 41 Program storage part 42 Common data storage part 43 Subdivision mesh Data storage unit 44 Ground survey point coordinate storage unit 51 Common data acquisition unit 52 Three-dimensional coordinate acquisition unit 53 Inclination data acquisition unit 54 Ground distance acquisition unit 55 Ground survey point acquisition unit 56 Self-machine weight recognition unit 57 Traveling line estimation unit 58 Surveyed Grid point determination unit 59 Network communication unit 60 Elevation value update unit 61 Screen display control unit 100 Ground surveying system

Claims (9)

A ground surveying device that is installed in a heavy machine and surveys the ground,
The heavy machinery includes
A three-dimensional surveying instrument for surveying three-dimensional coordinates of a reference position in the heavy machinery;
An inclination sensor for detecting inclination data representing the attitude of the heavy machine;
A ground distance meter that measures the ground distance to the ground survey point on the ground set behind the heavy machinery,
The ground for acquiring the three-dimensional coordinates of the ground survey point based on the relative position of the ground survey point specified by the three-dimensional coordinates of the reference position, the inclination data, and the ground distance, with the reference position as a base point A ground surveying device having a survey point acquisition unit. The ground distance meter has a base end portion fixed at a predetermined fixing position and is inclined obliquely downward and rearward at a predetermined attachment angle, and the distance from the distal end portion to the ground survey point is calculated as described above. When measuring the ground distance, the ground survey point acquisition unit specifies the relative position (X ′, Y ′, Z ′) by the following formulas (1) to (3), and the following formulas (4) to ( The ground surveying device according to claim 1, wherein the three-dimensional coordinates (X, Y, Z) of the ground surveying point are acquired by 6);
X '= (L1 * cos (α) -H1 * sin (α)) + ((L * sin (θ)) * cos (α)-(L * cos (θ)) * sin (α)) (1)
Y '= (R * sin (β)) + (S * sin (β)) (2)
Z '= (R * cos (β)) + (S * cos (β)) (3)
X = G (x) + X ′ * cos (γ) −Y ′ * sin (γ) (Formula 4)
Y = G (y) + X ′ * sin (γ) + Y ′ * cos (γ) (5)
Z = G (z) + Z '(6)
However, each said code | symbol represents the following.
G (x): x coordinate of the reference position
G (y): y coordinate of the reference position
G (z): z coordinate of the reference position
R = (L1 * sin (α) + H1 * cos (α))
S = (L * sin (θ)) * sin (α) + (L * cos (θ)) * cos (α)
H1: Vertical length from the reference position to the fixed position
L1: Horizontal length from the reference position to the fixed position
L2: Length from the fixed position to the tip of the ground rangefinder
L3: Ground distance (measured value of the ground distance meter)
L = L2 + L3
θ: Mounting angle of the ground distance meter α: Pitch angle of the heavy machinery β: Roll angle of the heavy machinery γ: Yaw angle of the heavy machinery   When a subdivided subdivided mesh region is set in a mesh that divides the construction site into a plurality of mesh regions, the ground survey point from which the three-dimensional coordinates are acquired by the ground survey point acquisition unit, and Altitude values of all subdivided mesh areas existing between two points with the ground survey point where the three-dimensional coordinates were acquired immediately before the ground survey point are divided by the difference in elevation values between the two points. The ground surveying apparatus according to claim 1, further comprising an altitude value updating unit that updates the allocated value. Update data consisting of a subdivided mesh ID for identifying the subdivided mesh region, an elevation value of the subdivided mesh region corresponding to the subdivided mesh ID, and an update time at which the elevation value of the subdivided mesh region is updated is sent to the management server. A network communication unit for transmitting and receiving the update data transmitted from another heavy machine to the management server from the management server;
The ground survey device according to claim 3, wherein the elevation value updating unit updates the elevation value of the subdivided mesh area corresponding to the subdivided mesh ID based on the altitude value with the latest update time. Of the lines connecting the lattice points of the mesh that divides the construction site into a plurality of mesh regions, the traveling line estimation unit that estimates the traveling line that the heavy machinery is to travel,
The ground surveying according to any one of claims 1 to 4, further comprising: a screen display control unit configured to display a traveling direction of the heavy machinery with respect to the traveling line and a separation distance from the heavy machinery to the traveling line on a display unit. apparatus. Surveying to determine that the grid point has been surveyed when the ground survey point acquired by the ground survey point acquisition unit is within a predetermined distance range from a grid point of the mesh dividing the construction site into a plurality of mesh regions A grid point determination unit;
The ground surveying apparatus according to any one of claims 1 to 5, further comprising a screen display control unit that changes a display of the grid points determined to be surveyed by the surveyed grid point determination unit.   A ground surveying system comprising the three-dimensional surveying instrument, the tilt sensor, the ground distance meter, and the ground surveying device according to any one of claims 1 to 6. A ground surveying program for surveying the ground installed in heavy machinery,
The heavy machinery includes
A three-dimensional surveying instrument for surveying three-dimensional coordinates of a reference position in the heavy machinery;
An inclination sensor for detecting inclination data representing the attitude of the heavy machine;
A ground distance meter that measures the ground distance to the ground survey point on the ground set behind the heavy machinery,
The ground for acquiring the three-dimensional coordinates of the ground survey point based on the relative position of the ground survey point specified by the three-dimensional coordinates of the reference position, the inclination data, and the ground distance, with the reference position as a base point A geodetic survey program that allows a computer to function as a survey point acquisition unit. A ground surveying method for surveying the ground using heavy machinery,
The heavy machinery includes
A three-dimensional surveying instrument for surveying three-dimensional coordinates of a reference position in the heavy machinery;
An inclination sensor for detecting inclination data representing the attitude of the heavy machine;
A ground distance meter that measures the ground distance to the ground survey point on the ground set behind the heavy machinery,
The ground for acquiring the three-dimensional coordinates of the ground survey point based on the relative position of the ground survey point specified by the three-dimensional coordinates of the reference position, the inclination data, and the ground distance, with the reference position as a base point A ground surveying method comprising a survey point acquisition step.