JP2004317237A - Surveying apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a surveying apparatus capable of continuously conduct surveying operation of topography and ground structures without using a preset reference point. <P>SOLUTION: The surveying apparatus of this invention is equipped with a surveying apparatus main body 12 having a range finding function to measure distance to a collimation point and an angle measuring function to measure angle from a reference direction for the collimation point, a GPS device 13 for calculating a coordinate position of an installation point A of the surveying apparatus main body 12, a picturing means 28 for picturing a subject to be pictured existing in a direction of a collimation direction including the collimation point a3, and an image processing means 17 for processing image so that a matching mark S is displayed in the case that a collimation point a3 included in an image pictured by the surveying apparatus main body 12 installed at the installation point and a collimation point a3 included in an image pictured by the surveying apparatus main body 12 installed at an other installation point B and are the same. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a surveying device that can continuously perform surveying work on terrain and features without using a preset reference point.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, there has been known a method of performing a surveying operation using a surveying device (referred to as a total station) having an electronic angle measuring function and a light wave distance measuring function.
[0003]
In this apparatus, for example, as shown in FIG. 6, when measuring the topography of a cliff, two known reference points O1 and O2 such as a triangular point set in advance from an installation point A of the surveying device 1 are viewed. Then, the directions with respect to the two reference points O1 and O2 and the distances to the two reference points O1 and O2 with respect to the installation point A are obtained, whereby the coordinate position (X1, Y1) of the installation point A is obtained. An elevation Z1 of the installation point A of the surveying device 1 is obtained from the known level point.
[0004]
Then, a corner cube as a distance measurement / angle measurement object is installed at collimation points (points to be measured) a1 to a3, or a worker stands up a pole, collimates the measurement points a1 to a3, and performs each measurement. The angles of the points a1 to a3 from the reference direction and the distances from the surveying device 1 to the respective measurement points a1 to a3 are measured, and the coordinate positions to the respective collimation points a1 to a3 are obtained.
[0005]
Next, the surveying apparatus 1 is installed at the installation point B, for example, collimating the installation point A, obtaining the angle and the distance to the installation point A, collimating the reference point O1, and setting the angle to the reference point O1. By obtaining the distance, the coordinate position (X2, Y2) of the installation point B is obtained. Further, the elevation Z2 of the installation point B of the surveying apparatus 1 is obtained from the standard point or the known point A.
[0006]
Then, the coordinate positions of the collimation points b1 to b3 are determined by the same operation procedure, and the coordinate positions of the collimation points c1 to c3 are also determined for the installation point C (X3, Y3, Z3) by the same operation procedure. By repeating this, the terrain surveying work is continuously performed.
[0007]
In the case of a surveying operation of a feature such as a building, the surveying operation of the feature is performed by collimating a corner such as an external appearance.
[0008]
Note that a surveying device 1 in which a GPS device is attached to the surveying device main body is also known (for example, see Patent Literature 1 and Patent Literature 2).
[0009]
Also, a so-called non-prism type surveying device capable of performing distance measurement without using a corner cube is being developed.
[0010]
[Patent Document 1]
Japanese Patent Publication No. 03-500334 [Patent Document 2]
JP 2000-97703 A
[Problems to be solved by the invention]
However, in this conventional surveying apparatus, it is necessary to measure the reference points O1 and O2 of the known points to obtain the coordinate positions of the installation points A, B, C,... Of the surveying apparatus. This is relatively easy, but it is not easy to find the reference point because the triangular slabs are buried in the suburbs, etc.If the construction site is in the mountains, it is necessary to find the coordinates of the installation point from the reference point. There is a problem that work takes time.
[0012]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a surveying method that can continuously perform topographical and terrestrial surveying work without using a reference point that is set in advance. It is to provide a device.
[0013]
[Means for Solving the Problems]
The surveying device according to claim 1, a surveying device main body having a distance measuring function of measuring a distance to a collimation point and an angle measuring function of measuring an angle from a reference direction with respect to the collimation point,
A GPS device for determining a coordinate position of an installation point of the surveying device main body,
Imaging means for imaging an imaging object existing in the collimation direction including the collimation point,
Imaging means for imaging an imaging object existing in the collimation direction including the collimation point,
The collimation point to be measured and included in an image captured by mounting the surveying device main body at one installation point and the image included in the image captured by mounting the surveying device main body to another mounting point and the measurement are performed. Image processing means for performing image processing so as to display a matching mark on the same target collimation point;
It is characterized by having.
[0014]
According to a second aspect of the present invention, there is provided a surveying apparatus including a storage unit for storing a coordinate position of an installation point of the surveying apparatus main body measured by the GPS apparatus.
[0015]
The surveying device according to claim 3 is characterized in that the imaging means has a zoom function.
[0016]
The surveying apparatus according to claim 4, wherein the surveying apparatus main body considers a common collimation point as a surveying point, and performs surveying based on a distance and an angle at the surveying point and a coordinate position of an installation point obtained by GPS. It is characterized by having arithmetic means for calculating the coordinate position of a point.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
In FIG. 1, reference numeral 10 denotes a surveying device. The surveying device 10 includes a tripod 11 and a surveying device main body 12. Although the GPS device 13 is provided integrally with the surveying device main body 12 here, the GPS device 13 may be separate from the surveying device main body 12.
[0018]
The surveying device main body 12 has a base portion 14 and a support portion 15. The support portion 15 is rotatable in the horizontal direction with respect to the base portion 14. A telescope unit 16 is provided on the support unit 15 so as to be rotatable in the vertical direction.
[0019]
As shown in FIG. 2, the surveying device main body 12 includes a control calculation unit 17, a distance measurement unit 18, a horizontal drive unit 19, a height drive unit 20, a horizontal angle measurement unit 21, and a vertical angle measurement unit (vertical angle measurement unit). Corner 22), a storage unit 23, an operation / input unit 24, and a display unit 25. The distance measuring unit 18 drives the light emitting unit 26 based on a control command from the control calculation unit 17, receives the distance measuring light reflected from the distance measuring target (here, the collimation point) by the light receiving unit 27, and The distance from 10 to the object to be measured is obtained. Here, a laser-type light-wave distance meter is used for the distance measuring unit 18, and a so-called non-prism type that can perform distance measurement without requiring installation of a corner cube or the like at the position to be measured is used. Can be
[0020]
That is, the distance measurement light is pulse-emitted from the light-emitting unit 26, and the distance is obtained from the time difference until the pulse emission is received by the light-receiving unit 27. The calculation of this distance is performed by the control calculation unit 17.
[0021]
The horizontal drive unit 19 drives the support unit 15 to rotate in the horizontal direction based on a control command from the arithmetic control unit 17. The height drive unit 20 drives the telescope unit 16 to rotate in the vertical direction. Since the driving mechanism is publicly known, the description is omitted. Note that the horizontal drive unit 19 and the height drive unit 20 are effective when performing surveying automatically, and are mechanisms that are not necessary when performing manual surveying.
[0022]
The horizontal angle measuring unit 21 and the vertical angle measuring unit 22 are configured by known encoders including a rotor and a stator. The horizontal angle measuring unit 21 measures the angle in the horizontal direction, and the vertical angle measuring unit 22 determines the angle in the vertical direction.
[0023]
The control calculation unit 17 includes a CPU and performs various controls based on a control command of the operation input unit 24 and the like, and also performs various calculations in addition to the above-described calculations. Is displayed.
[0024]
The storage unit 23 stores data, an analysis program described later, and various other programs.
[0025]
The GPS device 13 is connected to the control operation unit 17, and the control operation unit 17 analyzes the coordinate position of the installation point by an analysis program based on a signal from an artificial satellite. Here, for example, a device that performs RTK positioning is used as the GPS device 13, and the arithmetic control unit 17 uses the analysis program to execute the coordinate position A (X1, Y1) of the installation point A based on the data obtained by the GPS device 13. , Z1). The coordinate position A (X1, Y1, Z1) is stored in the storage unit 23 as data. When the surveying apparatus 10 is moved to the installation point B and installed, the coordinate position B (X2, Y2, Z2) of the installation point B is similarly obtained.
[0026]
The surveying device main body 12 is provided with an imaging unit 28. The optical system of the imaging means 28 is integrated into the telescope unit 16. It is desirable that the optical system of the imaging means 28 has a zoom function. That is, when the installation points of the surveying device 10 are sequentially moved, the size of the landscape image displayed on the screen of the display unit 25 differs due to the difference in the distance from the installation point to the collimation point. Must be corrected.
[0027]
The image data is stored in the storage unit 23 together with the survey data (distance from the installation point A to the collimation point, angle of the collimation point with respect to the reference direction) in the storage unit 23 by the control calculation unit 17 which also functions as an image processing unit.
[0028]
Next, a surveying method using the surveying device according to the embodiment of the present invention will be described with reference to FIG.
[0029]
First, the surveying apparatus 10 is installed at the installation point A, and based on the information obtained by the GPS apparatus 13, the coordinate position (X1, Y1, Z1) of the installation point A is obtained and stored in the storage unit 23.
[0030]
Next, the telescope unit 16 is set, for example, as a direction D1 based on the magnetic north direction. Next, an arbitrary or surveying point a1 to be measured is collimated, and a horizontal angle, an altitude angle, and a distance from the reference direction D1 are measured. Similarly, measurement is performed from the measurement point a1 to the measurement point a3. At this time, an image in the collimating direction is acquired by the image sensor 28. The magnification of the telescope unit 16 of the surveying device 10 is about 30 times, and only a narrow range can be seen. To image a wide range, a zoom mechanism or another wide-angle imaging device is required.
[0031]
Next, the surveying device 1 is moved from the installation point A to the installation point B, and the surveying operation is performed in the same manner. The GPS device 13 calculates a coordinate position B (X2, Y2, Z2) of the installation point B. The telescope unit 16 is measured from the measurement point b1 to the measurement point b3 as the direction D1 with respect to the magnetic north direction in the same manner as the installation point A. Since the magnetic north direction is used as a reference, the reference direction D1 at the installation point A does not always coincide with the reference direction D1 at the installation point B.
[0032]
At this time, as shown in FIG. 4, the collimation point b1 is set so that the measurement point a3 exists in the video in the collimation point b1 direction. In the image of the collimation point b1, matching with the image data of the measurement point a3 stored in the storage unit 23 is performed. When the magnification and the brightness are adjusted and the matching is completed, the position of the collimation point a3 in the image of the collimation point b1 is indicated by a cross mark or a point S.
[0033]
Usually, the collimation point b1 exists at the center of the screen, which is the center of the optical axis. Since an image corresponding to the angle of view of the telescope unit 16 is received by the imaging unit (for example, CCD) 28, the horizontal angle and the altitude angle can be calculated based on the coordinates on the screen. Incidentally, the coordinates of the measurement point b1 are (0, 0).
[0034]
As shown in FIG. 1, by measuring the angle and the distance while collimating the position substantially coincident with the measurement point a3 and the measurement point b1, the coordinates (Xa, Ya) of the measurement point a3 on the screen of the measurement point b1 are measured. ) And the focal length, a horizontal angle αa3 and an altitude angle βa3 from the optical axis center of the telescope unit 16 are obtained.
[0035]
That is, Xa corresponds to the altitude angle βa3, and Ya corresponds to the horizontal angle αa3.
[0036]
Assuming that the horizontal angle and the altitude angle of the measurement point b1 viewed from the installation point B are α and β, the horizontal angle and the altitude angle of the measurement point (sighting point) a3 viewed from the installation point B are α + αa3, β + βa3. Become. The distance from the installation point B to the measurement point a1 can be calculated based on the distance from the installation point B to the measurement point b1.
[0037]
From the determination of the coordinates of the installation point A, the installation point B, and the measurement point a3, the reference direction of the coordinate system (Japanese plane orthogonal coordinate system) is calculated backward, and the reference direction of the coordinate system is determined. Similarly, by performing the surveying operation sequentially with the installation points C and D, the coordinates with the image of the surveying point are determined.
[0038]
That is, the position A (X1, Y1, Z1) of the installation point A and the position B (X2, Y2, Z2) of the installation point B are obtained by the GPS device 13, which are obtained by using the conventional reference points O1, O2 and the like. It is equivalent to the coordinate position of the set installation point, the distance K3 from the installation point A to the installation point B, the distance K1 from the installation point A to the collimation point a3, and the distance from the installation point B to the collimation point a3. Since K2 has been determined, the coordinate position (X, Y) of the collimation point a3 is determined by the following formula. Note that the expression in the height direction is complicated, and the description is omitted.
[0039]
For example, if the distances K, K1, and K2 represent horizontal distances, as shown in FIG.
^{(K1) 2 = (X1-} X) 2 + (Y-Y1) 2
^{(K2) 2 = (X2-} X) 2 + (Y-Y2) 2
Here, the distances K1 and K2 are known by distance measurement, and the coordinate positions (X1, Y1) and (X2, Y2) are also obtained and known by the GPS device 13, so that the two simultaneous equations are used. The unknown coordinate position (X, Y) of the collimation point a3 can be obtained.
[0040]
Regarding the coordinate position of the collimation point b3, the surveying device 10 is installed at the installation point C, and the coordinate position C (X3, Y3, Z3) is obtained by the GPS device 13, and thereafter, this surveying work is repeated to obtain the topographical survey. , Feature surveying can be performed.
[0041]
Note that even if the positions of the collimation points a3, b3, ... are shifted with respect to the optical axis O1, the positions of the collimation points a3, b3, ... with respect to the optical axis O1 can be specified on the screen of the display unit 25. , The positions of the collimation points a3, b3, ... need not necessarily be on the optical axis O1.
[0042]
【The invention's effect】
Since the surveying device and the surveying method according to the present invention are configured as described above, it is possible to continuously perform the surveying work on the terrain and the feature without using the reference points that are set in advance.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram showing an example of a surveying device according to the present invention.
FIG. 2 is a block diagram showing an outline of the surveying device main body shown in FIG.
FIG. 3 is a diagram showing an example of a surveying procedure by the surveying device according to the present invention.
FIG. 4 is an explanatory diagram showing an example of a measurement point a3 included in an image of a measurement point b1.
FIG. 5 is a diagram for explaining an example of a calculation for obtaining a coordinate position of a collimation point shown in FIG. 3;
FIG. 6 is a diagram showing an example of a surveying procedure by a conventional surveying device.
[Explanation of symbols]
12 Surveying device body 13 GPS device 17 Control calculation unit (image processing means)
A, B: installation point a3: collimation point

Claims (4)

A surveying instrument main body having a distance measuring function for measuring the distance to the collimation point and an angle measuring function for measuring an angle from a reference direction with respect to the collimation point,
A GPS device for determining the coordinate position of the installation point of the surveying device main body,
Imaging means for imaging an imaging object existing in the collimation direction including the collimation point,
The collimation point to be measured and included in the image captured by mounting the surveying apparatus main body at one installation point and the image included in the image captured by mounting the surveying apparatus main body to another mounting point and the measurement are performed. Image processing means for performing image processing so as to display a match mark on the same target collimation point;
A surveying device comprising: The surveying device according to claim 1, further comprising a storage unit that stores a coordinate position of an installation point of the surveying device main body measured by the GPS device. The surveying device according to claim 1, wherein the imaging unit has a zoom function. The surveying apparatus main body includes a calculating unit that regards a common collimation point as a surveying point, and calculates a coordinate position of the surveying point based on a distance and an angle at the surveying point and a coordinate position of an installation point obtained by GPS. The surveying device according to claim 1, wherein:

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