JP3646270B2 - Traveling surveying instrument - Google Patents

Description

[0001]
[Field of the Invention]
The present invention relates to a traveling surveying device that automatically travels various civil engineering work sites and automatically performs polygonal survey (traverse survey), various topographic surveys, and the like.
[0002]
[Prior art]
General civil engineering surveys are created by (1) calculating coordinate data (installation points) in the workplace, and (2) transporting surveying instruments with tripods and surveying equipment such as prisms and point installation piles to the site. (3) A surveying instrument is installed at the site, and (4) a surveying worker collimates the prism held by the surveying operator while recording with the surveying instrument.
[0003]
[Problems to be solved by the invention]
The above surveying technique has the following problems.
<I> Surveying instruments are precision instruments that dislike vibrations and shocks, so they must rely on human power for transportation and installation. Especially when the site is inclined on rough terrain, it takes a lot of time and labor to transport and install surveying equipment.
Moreover, it is necessary to repeatedly store and install the surveying instrument every time it is replaced, and workers are forced to work hard.
<B> Since a series of operations such as tripod installation, surveying instrument installation, tilt correction, centering work, data reading, cueing, and recording are performed manually, survey errors due to human error are likely to occur.
<C> Surveying requires at least two people, the surveying worker and the hand, and the surveying cost is high.
<D> There is a limit to the number of points that can be surveyed in a day.
[0004]
The present invention has been made to solve the above-mentioned problems, and the object of the present invention is to provide a traveling surveying apparatus that can improve the reliability of surveying accuracy and reduce the labor burden on the operator. There is to do.
[0005]
[Means for Solving the Problems]
The present invention provides a surveying device constructed by mounting the surveying instrument on the moving body, equipped with a leveling table on the moving body, mounting the surveying instrument on the leveling table, the leveling stand is, during movement a buffering function with respect to the surveying instrument, characterized by having both a tilt correction function of the function and the surveying instrument to lock buffering function at the time of the survey, a traveling surveying device. Furthermore, the present invention provides a surveying apparatus configured by mounting a surveying instrument on a moving body, mounting a leveling table on the moving body, mounting a surveying instrument on the leveling table, and the leveling table at the time of movement. A traveling surveying instrument comprising: a vibration isolator for buffering vibrations; and a lock pin that can be raised and lowered to apply tension to the vibration isolator to fix the surveying instrument. Furthermore, the present invention provides a surveying apparatus configured by mounting a surveying instrument on a moving body, mounting a leveling table on the moving body, mounting a surveying instrument on the leveling table, and the leveling table at the time of movement. A vibration isolator that absorbs vibration, a liftable lock pin that applies tension to the vibration isolator to fix the surveying instrument, and a surveying instrument that is mounted on the vibration isolator and is rotatable about two intersecting axes. It is a traveling type surveying instrument characterized by comprising the inclination correction device which supports. Furthermore, the present invention provides a surveying apparatus configured by mounting a surveying instrument on a moving body, mounting a leveling table on the moving body, mounting a surveying instrument on the leveling table, and the leveling table on the moving body. A substrate to be supported, a lock plate supported so as to be movable up and down above the substrate, a lock pin projecting from the upper surface of the lock plate, a gimbal base located above the lock plate, and interposed between the substrate and the gimbal base A vibration isolator that buffers vibration during movement and fixes the gimbal base during surveying, and a tilt correction device that is mounted on the gimbal base and supports the surveying instrument so as to be rotatable about two intersecting axes. A traveling surveying instrument characterized by comprising: Further, according to the present invention, in any one of the surveying devices described above, a rigid rope is spirally inserted between plates opposed to each other by a vibration isolator, and both spring characteristics and damping characteristics due to rope bending are combined. This is a traveling surveying instrument characterized by the above. Furthermore, the present invention is the traveling surveying instrument according to any one of the surveying instruments described above, wherein the moving body is equipped with a plurality of outriggers. Furthermore, the present invention is a traveling surveying apparatus characterized in that any one of the above-described moving bodies is a self-propelled traveling carriage that can be remotely operated.
[0006]
DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1
Embodiments of the present invention will be described below with reference to the drawings.
[0007]
<A> Configuration of surveying instrument as a whole FIG. 2 shows a side view of the traveling surveying instrument, and FIG. 3 shows an exploded view thereof.
The surveying device is composed of a self-propelled traveling carriage 10 which is a moving body, a leveling base 11 mounted on the traveling carriage 10, and a surveying instrument 12 installed on the leveling base 11.
Each part will be described below.
[0008]
<B> Traveling cart The traveling cart 10 of FIG. 2 includes a plurality of traveling wheels 13 so that it can run on its own.
In addition, the traveling carriage 10 includes a plurality of outriggers 15. When traveling, the cylinder 16 is contracted, and when surveying, the cylinder 16 is extended to land the outrigger 15 to ensure the stability of the traveling carriage 10. ing.
Further, in order to fix the traveling carriage 1 on the ground on rough terrain and cope with the unevenness of the ground, it is desirable that the expansion and contraction of the cylinder 16 of each outrigger 15 can be individually controlled.
The traveling carriage 10 is equipped with a control unit 50. The control unit 50 incorporates a control computer and a wireless device, and the traveling cart 10 can be remotely operated by a controller (not shown) for running, stopping, steering, and extending and retracting the cylinder 16 of the outrigger 15.
[0009]
<C> Leveling table The leveling table 11 is a frame having both a buffer function for absorbing vibrations and shocks during traveling, a locking function of the surveying instrument 12 and a tilt correction function of the surveying instrument 12 during surveying.
If the surveying instrument 12 is simply mounted on the traveling carriage 10, vibrations and impacts during traveling are transmitted to cause a failure of the surveying instrument 12. In addition, if a general spring or rubber cushioning material that absorbs vibration during traveling is used, the surveying instrument 12 can be protected from vibration during traveling, but the elasticity of the cushioning material will shake the surveying instrument 12 during surveying. Causes it to happen.
[0010]
The traveling surveying apparatus according to the present invention can satisfy the above-described vibration absorption during traveling and prevention of shaking during surveying by adopting the leveling table 11 as described below. That is, the leveling table 11 covered with the cover of FIG. 2 will be described with reference to FIG. 1. Three plates of the substrate 18, the lock plate 19, and the gimbal base 20 are arranged horizontally in this order from the bottom. . The lowermost substrate 18 is supported by a plurality of support legs 17 formed on the traveling carriage 10, and a support body 21 projects from the center of the upper surface of the plate body. The lock plate 19 has an opening 22 through which the support 21 can be inserted at the center, a plurality of insertion openings 23 at the peripheral edge, and a plurality of lock pins 25 protruding from the upper surface. Yes. A plurality of elevating cylinders 26 are disposed downward on the upper surface of the lock plate 19, and the lower ends of the elevating cylinders 26 are inserted through the insertion openings 23 and fixed to the substrate 18. The gimbal base 20 is supported by a vibration isolator 27 placed on the support base 21 of the substrate 18. For example, the vibration isolator 27 is formed by inserting a rigid rope 29 such as a wire rope between the plates 28 and 28 facing each other in a spiral shape, and has both spring characteristics and damping characteristics due to the bending of the rope 29. is there. The vibration isolator 27 is not limited to the illustrated one, and may be a combination of a known elastic material and damping material such as a vertically placed coil spring and damper. Further, the number of installations, the installation positions, and the installation directions of the vibration isolator 27 interposed between the support 21 and the gimbal base 20 are design matters that are appropriately selected in consideration of the support weight and the like. A recess 28 that can be fitted to the lock pin 25 is formed at a position corresponding to the lock pin 25 on the lower surface of the gimbal base 20. When the elevating cylinder 26 is extended, the lock pin 25 is raised together with the lock plate 19 and is fitted into the recess 28, whereby the gimbal base 20 is fixed integrally with the substrate 18. Since the extension force of the lifting cylinder 26 acts as a tension on the wire rope 29 of the vibration isolator 27, the vibration isolator 27 is locked and the gimbal base 20 on which the surveying instrument 12 is mounted is fixed without rattling. The As shown in FIG. 4, when the lifting cylinder 26 is contracted, the lock pin 25 is removed from the recess 28, and the isolator 27 is unlocked. Therefore, since the gimbal base 20 is supported only by the vibration isolator 27, it is possible to attenuate vibrations and impacts in all directions, not limited to the horizontal direction and the vertical direction. In order to lock or unlock the vibration isolator 27, the lock plate 19 may be omitted, and the cylinder 26 positioned below the gimbal base 20 may be used as an alternative to the lock pin 25. The point lock pin 25 or its substitute material may be located vertically movably below the gimbal base 20. The lifting / lowering means for the lock pin 25 is not limited to the lifting / lowering cylinder 26, and known lifting / lowering means such as a screw feed mechanism can be applied.
[0011]
An inclination correction device for adjusting the attitude of the surveying instrument is placed on the gimbal base 20.
As shown in the plan view of FIG. 5, the tilt correction device has a pair of brackets 30 and 30 erected on the upper surface of the gimbal base 20, and a support shaft (X axis) 31 is interposed between the brackets 30 and 30. A rectangular frame 32 is rotatably supported, and a mounting base 34 is rotatably supported on the inner side of the frame 32 via a support shaft (Y-axis) 33 directed in a direction orthogonal to the support shaft 31. Yes.
Reducers 35 and 36, motors 37 and 38 such as stepping motors, angle detection encoders 39 and 40, and electromagnetic brakes 41 and 42 are attached to the respective support shafts 31 and 33, respectively. By individually controlling the rotation direction and the rotation amount of the two support shafts 31 and 33, it is possible to adjust the horizontality (verticality of the surveying instrument) of the mounting base 34. This inclination correction device can be operated by an operation panel 14 provided in the traveling carriage 10 shown in FIG. 2 or a remote operation controller (not shown).
[0012]
In some cases, the tilt correction device is omitted, and the surveying instrument 12 is directly mounted on the gimbal base 20.
[0013]
<D> Surveying Instrument As shown in FIG. 1, the surveying instrument 12 is installed in advance on a mounting base 34 constituting an inclination correction device. In the drawing, a case where an automatic tracking type total station is used as the surveying instrument 12 will be described. However, the surveying instrument 12 can be used by appropriately changing depending on the surveying purpose.
The surveying instrument 12 includes a CCD camera 43 so that the direction of the surveying point can be easily collimated, and the surveying data is transmitted to the data display device 45 through the wireless device 44 provided on the surveying instrument 12 side. It can be transferred.
Remote operation in the collimation direction of the surveying instrument 12 can be performed from one or both of the data display device 45 and the operation panel 14 of FIG.
Further, the surveying instrument 12 and the data display device 45 have built-in memory means. For example, coordinate values such as a reference point (traversal point) manufactured by CAD and a reference point for constructing a structure are input via the wireless device 44. It can be done.
[0014]
[Action]
Next, a method for using the traveling surveying instrument will be described.
<A> Movement As shown in FIG. 2, the traveling cart 10 equipped with the surveying instrument 12 is moved to the surveying site by itself. The traveling cart 10 travels by remote control.
While the traveling carriage 10 is traveling, the outrigger 15 is retracted.
Further, as shown in FIG. 1, during traveling, the lifting cylinder 26 of the tilt correction device is contracted to separate the lock pin 25 from the gimbal base 20 and the weight of the surveying instrument 12 and the like mounted on the gimbal base 20 is isolated. It is made to support with the container 27. The vibration isolator 27 can avoid attenuating vibrations and shocks generated during traveling and transmitting them to the surveying instrument 12.
[0015]
<B> The traveling carriage 10 is self-propelled to a point where the surveying preparation reference point (traversal point) can be seen and stopped. An operator moves the traveling carriage 10 to a position where the reference point can be collimated. Next, as shown by the one-dot chain line in FIG. 2, the outrigger 15 is extended to stabilize the traveling carriage 10.
Subsequently, as shown in FIG. 4, the elevating cylinder 26 is extended to lock the vibration isolator 27 and firmly hold the surveying instrument 12.
Further, as shown in FIG. 5, the motors 37 and 38 are driven to correct the inclination of the surveying instrument. The above-described fixing operation by the outrigger 15, the locking operation of the vibration isolator 27, and the inclination correction of the surveying instrument are all automatically performed.
Next, the surveying instrument automatically collimates the reflecting mirror installed at the reference point to calculate the self-position of the surveying instrument.
[0016]
<C> Surveying work In the case of the present invention, a surveyor who collimates the surveying instrument 12 in the surveying work is unnecessary. That is, when the surveyor 12 which is an automatic tracking type total station is used for the volume management survey or the soil management survey, the surveyor only has the reflection mirror and the surveying instrument 12 tracks and the coordinate value is automatically set. Recorded.
When performing the reference point survey, the surveyor carries the reflection mirror and the data display device 45, and looks at the data display device 45 in which the coordinate value of the reflection mirror and the coordinate value of the reference point input in advance are displayed in comparison. Find a survey point.
[0017]
Second Embodiment of the Invention
The moving body on which the leveling platform 11 and the surveying instrument 12 are mounted is not limited to the tire type, but may be an endless belt type, or it may be mounted on an orbital carriage that is self-propelled on a rail or other moving body. It is also possible to carry out surveying.
Further, the surveying instrument 12 is an element that is selectively used according to the surveying purpose, and is not limited to the above-described automatic tracking total station, and various known surveying instruments can be mounted.
[0018]
【The invention's effect】
Since the present invention is as described above, the following effects can be obtained.
<I> Civil engineering works sites often have rough terrain with irregularities and slopes.
Even in such a field, not only can the surveyor be mounted on the traveling carriage for transportation, but also the survey preparation work (stabilization of the carriage, inclination correction of the surveyor, calculation of the position of the surveyor) is performed manually by the surveyor. You can do without relying on.
As a result, the time and labor required to transport and install the surveying instrument can be greatly reduced.
<B> Since the surveying preparation work can be performed automatically, the occurrence of human error is avoided and the reliability of the data is increased.
In addition, since the computer performs data processing such as recording and calculation of survey data, human error in recording and calculation can be eliminated.
<C> A surveyor can perform all surveying work such as reference point installation work, soil volume management, and work type management for construction of civil engineering structures.
<D> By changing the leveling table and surveying instrument to another moving body, it can be applied to surveying in various civil engineering works and is versatile.
E Surveying is possible in a stable state.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram of a traveling surveying instrument according to the present invention, and is a longitudinal sectional view of a leveling table on which a surveying instrument is installed. FIG. 2 is a side view of the traveling surveying instrument. FIG. 3 is an exploded view of the traveling surveying instrument. FIG. 4 is a longitudinal sectional view of a leveling table in a state where the vibration isolator is locked and the surveying instrument is fixed. FIG. 5 is a view taken along the line VV in FIG.

Claims (7)

In a surveying device configured with a surveying instrument mounted on a moving object,
A leveling table is mounted on the moving body,
Install a surveying instrument on the leveling table,
The leveling stand is characterized by having both a buffering function with respect to the movement when the surveying instrument, the tilt correction function of the function and the surveying instrument to lock buffering function at the time of the survey,
Traveling surveying device. In a surveying device configured with a surveying instrument mounted on a moving object,
A leveling table is mounted on the moving body,
Equipped with a surveying instrument on the leveling table,
The leveling table is a vibration isolator that cushions vibration during movement,
It comprises a lock pin that can be raised and lowered to give tension to the vibration isolator and fix the surveying instrument,
Traveling surveying device. In a surveying device configured with a surveying instrument mounted on a moving object,
A leveling table is mounted on the moving body,
Equipped with a surveying instrument on the leveling table,
The leveling table is a vibration isolator that cushions vibration during movement,
An up and down lock pin for fixing the surveying instrument by applying tension to the vibration isolator,
A tilt correction device mounted on the vibration isolator and supporting the surveying instrument so as to be rotatable around two intersecting axes;
Traveling surveying device. In a surveying device configured with a surveying instrument mounted on a moving object,
A leveling table is mounted on the moving body,
Equipped with a surveying instrument on the leveling table,
The leveling table includes a substrate supported by a moving body,
A lock plate supported so as to be movable up and down above the substrate;
A lock pin protruding from the upper surface of the lock plate;
A gimbal base located above the lock plate;
A vibration isolator that is interposed between the substrate and the gimbal base, cushions vibration during movement, and fixes the gimbal base during surveying;
An inclination correction device mounted on the gimbal base and supporting the surveying instrument so as to be rotatable around two intersecting axes,
Traveling surveying device. 3. A structure according to claim 3 or claim 4, wherein a rigid rope is helically inserted between plates opposed to each other, and has both spring characteristics and damping characteristics due to the bending of the rope. To
Traveling surveying device. In any one of Claims 1-5, a moving body equips with several outriggers,
Traveling surveying device. In any one of Claims 1-6, a mobile body is a self-propelled traveling cart which can be operated remotely,
Traveling surveying device.

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