Flight control system for unmanned aerial vehicle and topography measuring system

A topography measuring system comprising:

• an unmanned aerial vehicle, on which a reflector and a shape measuring instrument provided at a position known to said reflector are mounted, and a total station for tracking said reflector and for acquiring measurement data including three-dimensional coordinates of said reflector,
• wherein said total station emits a tracking light along a tracking optical axis, a distance measuring light and a TS-data transmitting light, and wherein the total station irradiates a tracking light along a tracking optical axis toward said reflector, receives a reflected tracking light from said reflector and performs a tracking of said reflector based on a photodetection position of the reflected tracking light on a photodetector,
• the total station having an optical axis parallel or approximately parallel to the tracking optical axis for emitting a TS-data transmitting light, and a TS-arithmetic control module,
• wherein said total station is configured to pulse-emit said tracking light in a predetermined cycle,
• and has a tracking photodetection shutter which restricts or inhibits a photodetection of the reflected tracking light,
• wherein said tracking photodetection shutter permits light to be received for a predetermined time from the emission timing of the tracking light,
• wherein said total station is configured to emit said TS-data transmitting light in a time period from an end of the predetermined time to when a next tracking light is emitted in such a manner that said TS-data transmitting light, said tracking light and said reflected tracking light do not interfere with each other,
• wherein said unmanned aerial vehicle has a photodetector for receiving said TS-data transmitting light and for emitting a photodetecting signal and a UAV-arithmetic control module for controlling a flight of said unmanned aerial vehicle,
• and wherein said TS-arithmetic control module is configured to superimpose said measurement data on said TS-data transmitting light, said UAV-arithmetic control module is configured to acquire topographical shape data by said shape measuring instrument, and said UAV-arithmetic control module is configured to separate said measurement data from said photodetecting signal, to obtain a position of said shape measuring instrument in real time, to associate the position of said shape measuring instrument with said topographical shape data, and to obtain three-dimensional coordinates of said shape measuring instrument at the time of acquiring said topographical shape data.

A topography measuring system comprising:

• an unmanned aerial vehicle, on which a reflector and a shape measuring instrument provided at a position known to said reflector are mounted, and a total station for tracking said reflector and for acquiring measurement data including three-dimensional coordinates of said reflector,
• wherein said total station emits a tracking light along a tracking optical axis, a distance measuring light and a TS-data transmitting light, and wherein the total station irradiates a tracking light toward said reflector,
• receives a reflected tracking light from said reflector and performs a tracking of said reflector based on a photodetection position of the reflected tracking light on a photodetector, and a TS-arithmetic control module,
• wherein said total station is configured to pulse-emit said tracking light in a predetermined cycle,
• and has a tracking photodetection shutter which restricts or inhibits a photodetection of the reflected tracking light,
• wherein said tracking photodetection shutter permits light to be received for a predetermined time from the emission timing of the tracking light,
• wherein said unmanned aerial vehicle has a UAV-data transmission module for emitting a UAV-data transmitting light and a UAV-arithmetic control module for controlling the flight of said unmanned aerial vehicle,
• wherein said UAV-arithmetic control module is configured to acquire shape data by said shape measuring instrument and to superimpose said shape data on said UAV-data transmitting light,
• and said TS-arithmetic control module is configured to acquire said shape data from said UAV-data transmitting light, to associate said shape data with the measurement data, and to acquire three-dimensional coordinates of said shape measuring instrument at the time of acquiring said shape data.