JP2020020716A - Monopole base and surveying system - Google Patents

Abstract

To provide a base enabling installation of a monopole surveying device with stability regardless of nature of the installation surface.SOLUTION: Disclosed is a monopole base 2 which is used for installation of a monopole surveying device and includes: an installation substrate with grounding foot on the undersurface; a conical hole provided in the center of the installation substrate; and an angle detection pattern concentric with the conical hole center. The installation substrate is installed so that the center of the conical hole becomes a reference point, and the lower end of the pole of the surveying device 1 is configured so as to fit into the conical hole.SELECTED DRAWING: Figure 1

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a monopole base, a monopole base, and a surveying system including a monopole type surveying apparatus used when installing a monopole type surveying apparatus.

  Generally, a surveying instrument is installed on a reference point via a tripod, leveled horizontally, measures the distance and angle of the measurement point to be measured, and obtains the coordinates of the measurement point with respect to the reference point.

  In this work, the surveying instrument main body had to be installed vertically above the reference point, and leveling had to be performed. The leveling work from the installation of a tripod was complicated and required time and skill.

  The present applicant has proposed a monopole type surveying device as disclosed in Patent Document 1. In the monopole type surveying device, the lower end of the pole may be installed so as to coincide with the reference point, leveling work can be omitted, and the work is greatly improved.

  On the other hand, since the lower end of the pole is sharp, there is a problem that it is difficult to stably position the monopole type surveying device on a soft ground, a slippery floor, or the like.

JP 2017-90244 A JP-A-2006-151422 JP-A-2006-151423 JP-A-2006-161411

  The present invention provides a monopole base that enables stable installation of a monopole type surveying device regardless of the properties of the installation surface, and a surveying system including the monopole base and the monopole type surveying device.

  The present invention relates to a monopole substrate used for installation of a monopole type surveying device, an installation substrate having a grounding foot on a lower surface, a conical hole provided at the center of the installation substrate, and angle detection concentric with the center of the conical hole. A monopole base having a pattern, wherein the installation board is installed so that the center of the conical hole becomes a reference point, and the lower end of the pole of the surveying instrument is fitted to the conical hole. .

  Further, the present invention relates to a monopole substrate in which a cylindrical member is provided at a central portion of the installation substrate, a centering piece is provided at the center of the cylindrical member, and the conical hole is formed in the centering piece.

  Further, the present invention relates to a monopole substrate provided at a central portion of the inner disk, wherein the cylindrical member is provided with a transparent inner disk.

  Further, the present invention relates to a monopole substrate having an angle detection pattern formed on an upper surface of the installation substrate, the angle detection pattern having angle lines provided at a predetermined angle pitch.

  Further, the present invention relates to a monopole substrate having a light source provided at a predetermined angular pitch, wherein an angle detection pattern is formed by a band of light emitted radially from the light source.

  Further, the present invention relates to a monopole substrate in which the entire peripheral surface of the cylindrical member serves as a distance measuring light reflecting portion.

  Further, the present invention is a surveying system having a monopole type surveying device and any one of the monopole bases, wherein the monopole base is installed at the surveying device installation location, and the surveying device is a surveying device of the surveying device. The present invention relates to a surveying system in which a lower end of a pole is fitted in the conical hole and the surveying device is installed via the monopole base.

  Furthermore, the present invention includes a monopole type surveying device and a plurality of the monopole boards, the monopole board is installed at a plurality of measurement points, and the surveying instrument is provided at each measurement point via the monopole board. A surveying instrument installed and measures the center coordinates of another monopole board by a surveying instrument installed on one monopole board, makes each measurement point a known relationship, and installs it via each monopole board. The present invention relates to a surveying system configured to integrate the measurement data acquired by the above-described method based on the known relationship between the measurement points.

  According to the present invention, a monopole substrate used for installation of a monopole type surveying device, an installation substrate having a grounding foot on a lower surface, a conical hole provided at the center of the installation substrate, and concentric with the center of the conical hole. Having an angle detection pattern, the installation board is installed so that the center of the conical hole becomes a reference point, and the lower end of the pole of the surveying instrument is configured to fit into the conical hole, so that the monopole base It is easy to install at the installation point, and it can be installed regardless of the nature of the installation surface.Since the lower end of the pole is positioned on the monopole base, the surveying equipment can be easily installed and stable Surveying can be performed.

  Furthermore, according to the present invention, a monopole type surveying device and a plurality of the monopole bases are provided, the monopole bases are installed at a plurality of measurement points, and surveying is performed at the respective measurement points via the monopole bases. The device was installed, the center coordinates of the other monopole board were measured by a surveying instrument installed on one monopole board, and each measurement point was set to a known relationship, and installed via each monopole board. Since the measurement data acquired by the surveying device is configured to be integrated based on the known relationship between the measurement points, it is possible to perform surveying over a wide range by the monopole surveying device, and to measure the entire measurement target having a blind spot. Measurement becomes possible, and an excellent effect that data integration becomes easy is exhibited.

FIG. 3 is a schematic view of an embodiment according to the present invention. It is a schematic block diagram which shows a surveying device main body. (A), (B) is an explanatory view of the operation of the optical axis deflecting unit. FIG. 3 is a diagram illustrating an example of a scan pattern. FIG. 3 is a schematic block diagram of an operation panel. It is sectional drawing of the monopole board | substrate which concerns on a present Example. It is a perspective view of the monopole base. FIG. 5 is a diagram illustrating a relationship between images acquired by a measurement direction imaging unit and a lower imaging unit and a scan locus by a surveying device main body.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  First, a monopole surveying device used in an embodiment of the present invention will be described with reference to FIG.

  FIG. 1 is a diagram schematically showing a surveying system according to an embodiment of the present invention. In FIG. 1, reference numeral 1 denotes a surveying device, 2 denotes a monopole board, and 10 denotes a measurement target.

  The monopole substrate 2 is installed on the ground, floor, or the like such that the center thereof matches a reference point R (a point serving as a reference for measurement). The surveying device 1 is installed directly at the reference point R or via the monopole base 2. In the following description, a case where the surveying device 1 is installed via the monopole base 2 will be described. Through the monopole base 2, the surveying device 1 can be stably installed regardless of the properties of the installation surface.

  The surveying device 1 mainly includes a monopod (monopole) 3, a surveying device main body 4 provided at an upper end of the monopod 3, and an appropriate position of the monopod 3, for example, a measurement worker operates in a standing posture. An operation panel 7 is provided at a position where it is easy to perform.

  The operation panel 7 may be fixedly provided on the monopod 3 or may be detachable. The operation panel 7 may be operable while being attached to the monopod 3, and the operation panel 7 may be separated from the monopod 3 so that the operation panel 7 can be operated alone. The operation panel 7 and the surveying apparatus main body 4 can perform data communication via various communication means such as a wired or wireless communication.

  One auxiliary leg 6 is foldably mounted at a position below the operation panel 7 of the monopod 3.

  The lower end of the monopod 3 is a conical point, and the surveying device 1 is installed so that the lower end of the monopod 3 indicates the reference point R via the monopole base 2. The distance from the lower end of the monopod 3 to the mechanical center of the surveying device main body 4 (the reference point for measurement) is known.

  The optical system of the surveying apparatus main body 4 has a reference optical axis O extending in the horizontal direction, and the reference optical axis O is inclined downward by a predetermined angle with respect to a line orthogonal to the axis of the monopod 3. It is set as follows. Accordingly, when the monopod 3 is set vertically, the reference optical axis O is inclined downward by the predetermined angle with respect to the horizontal.

  The auxiliary leg 6 is foldably connected to the monopod 3 at the upper end, and a lock mechanism is provided so that the auxiliary leg 6 is in close contact with the monopod 3 in the folded state and maintains the close contact. Alternatively, a band (not shown) for simply bundling the monopod 3 and the auxiliary leg 6 may be provided.

  The auxiliary leg 6 is rotatable at a predetermined angle around the upper end, and can be fixed at a rotated position (ie, a position separated from the monopod 3 by a predetermined angle). Although the case of one auxiliary leg 6 has been described, two auxiliary legs 6 may be used. In this case, the monopod 3 can become independent.

  The surveying device main body 4 includes a distance measuring unit 24 (described later) and a measurement direction imaging unit 21 (described later), and the surveying device main body 4 is provided with a lower imaging unit 5. The reference optical axis of the optical system of the distance measuring unit 24 is the reference optical axis O. The optical axis of the measurement direction imaging unit 21 (hereinafter, the first imaging optical axis 61) is inclined upward by a predetermined angle (for example, 6 °) with respect to the reference optical axis O. The distance and the positional relationship with the distance measuring unit 24 are known. The distance measurement unit 24 and the measurement direction imaging unit 21 are housed inside the housing of the surveying device main body 4.

  The lower imaging unit 5 has an imaging device such as a CCD or a CMOS, and uses an imaging device capable of acquiring a digital image. Further, the positions of the pixels in the image sensor can be detected with reference to the optical axis of the lower image capturing unit 5 (hereinafter, the second image capturing optical axis 8). As the lower imaging unit 5, for example, a commercially available digital camera may be used.

  The lower imaging unit 5 is fixed to a housing of the surveying device main body 4, and the lower imaging unit 5 (that is, an image forming position of the lower imaging unit 5) has a known position with respect to the mechanical center of the surveying device main body 4. Position. The second imaging optical axis 8 is directed downward and is set at a predetermined known angle with respect to the reference optical axis O, and the second imaging optical axis 8 and the reference optical axis O have a known relationship. Has become. Note that the lower imaging unit 5 may be housed in the housing and integrated with the surveying device main body 4.

  The angle of view of the measurement direction imaging unit 21 is θ1, and the angle of view of the lower imaging unit 5 is θ2, and θ1 and θ2 may be equal or different. The angle of view of the measurement direction imaging unit 21 and the angle of view of the lower imaging unit 5 do not have to overlap, but preferably overlap by a predetermined amount. The angle of view of the lower imaging unit 5 and the direction of the second imaging optical axis 8 are set so that the lower end of the monopod 3 is included in the image.

  The configuration of the surveying device main body 4 will be described with reference to FIG.

  The surveying device main body 4 includes a ranging light emitting unit 11, a light receiving unit 12, a ranging calculation unit 13, a calculation control unit 14, a first storage unit 15, an imaging control unit 16, an image processing unit 17, and a first communication unit 18. , An optical axis deflection unit 19, an attitude detection unit 20, the measurement direction imaging unit 21, an emission direction detection unit 22, and a motor driver 23, which are housed in a housing 25 and integrated. The distance measuring light emitting unit 11, the light receiving unit 12, the distance calculating unit 13, the optical axis deflecting unit 19, and the like constitute a distance measuring unit 24 functioning as an optical distance meter.

  The ranging light emitting section 11 has an emission optical axis 26, and a light emitting element 27, for example, a laser diode (LD) is provided on the emission optical axis 26. A light projecting lens 28 is provided on the emission optical axis 26. Further, a first reflecting mirror 29 as a deflecting optical member provided on the emission optical axis 26 and a second reflecting mirror 32 as a deflecting optical member provided on a light receiving optical axis 31 (described later) are used. The exit optical axis 26 is deflected so as to coincide with the light receiving optical axis 31. The first reflection mirror 29 and the second reflection mirror 32 constitute an emission optical axis deflecting unit.

  The distance calculation unit 13 causes the light emitting element 27 to emit light, and the light emitting element 27 emits a laser beam. The distance measuring light emitting section 11 emits a laser beam emitted from the light emitting element 27 as distance measuring light 33. As the laser beam, any of continuous light or pulsed light, or intermittently modulated light (that is, burst light) disclosed in Patent Document 4 may be used.

  The light receiving section 12 will be described. The reflected distance measuring light 34 from the measuring object 10 enters the light receiving unit 12. The light receiving section 12 has the light receiving optical axis 31, and the light emitting optical axis 26 deflected by the first reflecting mirror 29 and the second reflecting mirror 32 coincides with the light receiving optical axis 31. A state in which the emission optical axis 26 and the light receiving optical axis 31 coincide with each other is referred to as a ranging optical axis 35.

  The optical axis deflecting unit 19 is provided on the reference optical axis O. The straight optical axis passing through the center of the optical axis deflecting section 19 is the reference optical axis O. The reference optical axis O coincides with the emission optical axis 26, the light receiving optical axis 31, or the distance measuring optical axis 35 when not deflected by the optical axis deflector 19.

  An imaging lens 38 is disposed on the light receiving optical axis 31 on which the reflected distance measuring light 34 passes through the optical axis deflecting unit 19 and enters. A light receiving element 39, for example, a photodiode (PD) or an avalanche photodiode (APD) is provided on the light receiving optical axis 31.

  The imaging lens 38 forms an image of the reflected distance measuring light 34 on the light receiving element 39. The light receiving element 39 receives the reflected distance measuring light 34 and generates a light receiving signal. The light receiving signal is input to the distance measuring operation unit 13, which calculates the round trip time of the distance measuring light based on the light receiving signal, and measures the distance to the measuring object 10 based on the round trip time and the light speed. .

  The first communication unit 18 transmits the image data acquired by the measurement direction imaging unit 21 and the distance measurement data acquired by the distance measurement unit 24 to the operation panel 7 and receives an operation command from the operation panel 7 I do.

  As the first storage unit 15, a storage medium such as an HDD, a semiconductor memory, and a memory card is used. The first storage unit 15 stores an imaging control program, an image processing program, a distance measurement program, a display program, a communication program, an operation command creation program, and the surveying device main body 4 based on a posture detection result from the posture detection unit 20. Angle calculation program for calculating the tilt angle and tilt direction of the optical axis, a measurement program for performing distance measurement, a deflection control program for controlling the deflection operation of the optical axis deflecting unit 19, a calculation program for performing various calculations, etc. Are stored.

  The first storage unit 15 stores various data such as distance measurement data, angle measurement data, and image data.

  The optical axis deflecting unit 19 will be described with reference to FIG. Incidentally, as the optical axis deflecting section 19, the optical axis deflecting sections disclosed in Patent Documents 1 and 2 can be used.

  The optical axis deflecting unit 19 includes a pair of optical prisms 41 and 42. Each of the optical prisms 41 and 42 has a disk shape having the same diameter, and is disposed on the distance measuring optical axis 35 (that is, the reference optical axis O) deflected by the second reflecting mirror 32. They are arranged concentrically at right angles and in parallel at predetermined intervals.

  Each of the optical prisms 41 and 42 includes three triangular prisms arranged in parallel. Each of the triangular prisms is formed of optical glass, and all have the same optical characteristics of the same declination.

  The widths and shapes of the triangular prisms may be all the same or may be different. The width of the triangular prism located at the center is larger than the beam diameter of the distance measuring light 33, and the distance measuring light 33 is transmitted only through the central triangular prism. The peripheral triangular prism may be constituted by a large number of small triangular prisms.

  Further, the central triangular prism may be made of optical glass, and the peripheral triangular prism may be made of optical plastic. This is because the distance from the optical axis deflecting unit 19 to the measuring object 10 is large, the accuracy is required for the optical characteristics of the central triangular prism, while the distance from the peripheral triangular prism to the light receiving element 39 is small, This is because high-precision optical characteristics are not required.

  The central part of the optical axis deflecting part 19 is a distance measuring light deflecting part which is a first optical axis deflecting part through which the distance measuring light 33 is transmitted and emitted. The portion of the optical axis deflecting unit 19 except for the central portion (the peripheral triangular prism) is a reflection distance measuring light deflecting unit that is a second optical axis deflecting unit through which the reflected distance measuring light 34 passes and enters. I have.

  The optical prisms 41 and 42 are individually and individually rotatable about the reference optical axis O. The optical prisms 41 and 42 deflect the emitted optical axis 26 of the emitted distance measuring light 33 in an arbitrary direction by independently controlling the rotation direction, the rotation amount, and the rotation speed, The light receiving optical axis 31 of the received reflected distance measuring light 34 is deflected in parallel with the emission optical axis 26.

  In addition, while continuously irradiating the distance measuring light 33, the rotation of the optical prisms 41 and 42 is continuously controlled, and the transmitted distance measuring light 33 is continuously deflected, thereby obtaining the distance measuring light 33. 33 can be scanned in a predetermined pattern. Further, distance measurement data (point cloud data) is acquired along a scan path (scan locus).

  The outer shape of each of the optical prisms 41 and 42 is a circle centered on the distance measuring optical axis 35 (reference optical axis O), and a sufficient amount of light can be obtained in consideration of the spread of the reflected distance measuring light 34. Thus, the diameters of the optical prisms 41 and 42 are set.

  A ring gear 43 is fitted around the optical prism 41, and a ring gear 44 is fitted around the optical prism 42.

  A drive gear 45 meshes with the ring gear 43, and the optical prism 41 is rotated by the motor 46 via the drive gear 45 and the ring gear 43. Similarly, a drive gear 47 meshes with the ring gear 44, and the optical prism 42 is rotated by the motor 48 via the drive gear 47 and the ring gear 44. The motors 46 and 48 are electrically connected to the motor driver 23.

  As the motors 46 and 48, a motor having a function of a rotation angle detector capable of detecting a rotation angle, or a motor that rotates according to a drive input value, for example, a pulse motor is used. Alternatively, the rotation amounts of the motors 46 and 48 may be detected using a rotation angle detector that detects the rotation amount (rotation angle) of the motor, for example, an encoder. The rotation amounts of the motors 46 and 48 are respectively detected, and the motors 46 and 48 are individually controlled by the motor driver 23.

  The rotation angles of the optical prisms 41 and 42 are detected based on the rotation amounts of the motors 46 and 48, that is, the rotation amounts of the drive gears 45 and 47. The encoders may be directly attached to the ring gears 43 and 44, respectively, and the rotation angles of the ring gears 43 and 44 may be directly detected by the encoder.

  The drive gears 45 and 47 and the motors 46 and 48 are provided at positions that do not interfere with the distance measuring light emitting unit 11, for example, below the ring gears 43 and 44.

  The light projecting lens 28, the first reflecting mirror 29, the second reflecting mirror 32, the distance measuring light deflecting unit, and the like constitute a light projecting optical system. Further, the reflection distance measuring light deflecting unit, the imaging lens 38, and the like constitute a light receiving optical system.

  The distance calculation unit 13 controls the light emitting element 27 to cause the laser beam as the distance measurement light 33 to emit pulse light or burst light (intermittent light emission). The exit optical axis 26 (that is, the distance measuring optical axis 35) is deflected so that the distance measuring light 33 is directed toward the measuring object 10 by the central triangular prism (distance measuring light deflecting unit). Distance measurement is performed with the distance measurement optical axis 35 collimating the measurement target 10.

  The reflected distance measuring light 34 reflected from the measurement target 10 is incident on the light receiving unit 12 through the surrounding triangular prism (that is, the reflected distance measuring light deflecting unit). An image is formed on the light receiving element 39 by the imaging lens 38.

  The light receiving element 39 sends out a light receiving signal to the distance calculating section 13, and the distance calculating section 13 uses a light receiving signal from the light receiving element 39 for each pulse light at a measuring point (a distance measuring light is irradiated). Is measured, and the distance measurement data is stored in the first storage unit 15.

  The injection direction detector 22 detects the rotation angles of the motors 46 and 48 by counting the drive pulses input to the motors 46 and 48. Alternatively, the rotation angles of the motors 46 and 48 are detected based on a signal from an encoder. Further, the emission direction detection unit 22 calculates the rotation position of the optical prisms 41 and 42 based on the rotation angles of the motors 46 and 48.

  Further, the emission direction detecting unit 22 is based on the refractive index of the optical prisms 41 and 42, the rotation position when the optical prisms 41 and 42 are integrated, and the relative rotation angle between the optical prisms 41 and 42. The deviation angle and the emission direction of the distance measuring light 33 with respect to the reference optical axis O for each pulse light are calculated in real time. The calculation result (angle measurement result) is input to the calculation control unit 14 in association with the distance measurement result. When the distance measuring light 33 is burst-emitted, the distance is measured for each intermittent distance measuring light.

  The arithmetic control unit 14 controls the relative rotation and the overall rotation of the optical prisms 41 and 42 by controlling the rotation direction and rotation speed of the motors 46 and 48 and the rotation ratio between the motors 46 and 48, The deflecting action of the optical axis deflecting unit 19 is controlled. Further, the arithmetic control unit 14 calculates the horizontal angle and the vertical angle of the measurement point with respect to the reference optical axis O from the deflection angle and the emission direction of the distance measuring light 33. Further, the arithmetic control unit 14 can obtain three-dimensional data of the measurement target 10 by associating the horizontal angle and the vertical angle of the measurement point with the distance measurement data. Thus, the surveying device 1 functions as a total station.

  Next, the posture detection unit 20 will be described. The attitude detection unit 20 detects the inclination angle of the surveying device main body 4 with respect to the horizontal or vertical, and the detection result is input to the arithmetic and control unit 14. Note that, as the posture detecting unit 20, a posture detecting device disclosed in Patent Document 3 can be used.

  The posture detection unit 20 will be briefly described. The posture detecting section 20 has a frame 54. The frame 54 is fixed to the housing 25 or a structural member, and is integrated with the surveying device main body 4.

  A sensor block 55 is attached to the frame 54 via a gimbal. The sensor block 55 is rotatable 360 degrees or 360 degrees or more in two directions about two orthogonal axes.

  A first inclination sensor 56 and a second inclination sensor 57 are attached to the sensor block 55. The first tilt sensor 56 detects the horizontal level with high precision. For example, the first tilt sensor 56 allows the detection light to enter the horizontal liquid surface and detects the horizontal level by changing the reflection angle of the reflected light. This is a bubble tube that detects inclination by position change. The second inclination sensor 57 detects inclination change with high responsiveness, and is, for example, an acceleration sensor.

  Each relative rotation angle of the sensor block 55 with respect to two axes with respect to the frame 54 is detected by encoders 58 and 59, respectively.

  Further, motors (not shown) for rotating the sensor block 55 and keeping it horizontal are provided for each of the two axes. The motor is controlled by the arithmetic and control unit 14 based on the detection results from the first tilt sensor 56 and the second tilt sensor 57 so as to maintain the sensor block 55 horizontal.

  When the sensor block 55 is inclined (when the surveying device main body 4 is inclined), the relative rotation angles of the frame 54 with respect to the sensor block 55 (horizontal) in the respective axial directions are determined by the encoders 58 and 59. Each is detected. Based on the detection results of the encoders 58 and 59, the inclination direction is detected by combining the inclination angles of the two axes of the surveying device main body 4 and the inclinations of the two axes.

  Since the sensor block 55 is rotatable 360 ° or 360 ° or more about two axes, no matter what posture the posture detecting unit 20 is in, for example, when the posture detecting unit 20 is upside down However, posture detection (inclination angle with respect to horizontal, inclination direction) in all directions is possible.

  When a high response is required in the posture detection, the posture detection and the posture control are performed based on the detection result of the second inclination sensor 57. The second inclination sensor 57 is connected to the first inclination sensor 56. Generally, the detection accuracy is poor.

  The attitude detector 20 includes the first tilt sensor 56 with high accuracy and the second tilt sensor 57 with high response, and performs attitude control based on the detection result of the second tilt sensor 57. The first inclination sensor 56 enables highly accurate posture detection.

  The detection result of the second inclination sensor 57 can be calibrated with the detection result of the first inclination sensor 56. That is, if there is a deviation between the values of the encoders 58 and 59 when the first tilt sensor 56 detects horizontal, that is, the actual tilt angle and the tilt angle detected by the second tilt sensor 57, The inclination angle of the second inclination sensor 57 can be calibrated based on the deviation.

  Accordingly, if the relationship between the detected inclination angle of the second inclination sensor 57 and the inclination angle obtained based on the horizontal detection by the first inclination sensor 56 and the detection results of the encoders 58 and 59 is acquired in advance, Calibration of the tilt angle detected by the second tilt sensor 57 can be performed, and the accuracy of attitude detection with high responsiveness by the second tilt sensor 57 can be improved. In a state where the environmental change (temperature, etc.) is small, the inclination detection may be obtained from the detection result of the second inclination sensor 57 and a correction value.

  The arithmetic control unit 14 controls the motor based on a signal from the second tilt sensor 57 when the change in tilt is large or when the change in tilt is fast. When the change in the inclination is small, when the change in the inclination is gradual, that is, when the first inclination sensor 56 can follow, the arithmetic control unit 14 Controlling the motor; It should be noted that the posture detection may be performed by the posture detection unit 20 based on the detection result from the second inclination sensor 57 by always calibrating the inclination angle detected by the second inclination sensor 57.

  Note that the first storage unit 15 stores comparison data indicating a comparison result between the detection result of the first inclination sensor 56 and the detection result of the second inclination sensor 57. Based on the signal from the first tilt sensor 56, the detection result of the second tilt sensor 57 is calibrated. By this calibration, the detection result of the second tilt sensor 57 can be increased to the detection accuracy of the first tilt sensor 56. Therefore, high responsiveness can be realized while maintaining high accuracy in the posture detection by the posture detection unit 20.

  The measurement direction imaging unit 21 includes the first imaging optical axis 61 parallel to the reference optical axis O of the surveying device main body 4, and an imaging lens 62 disposed on the first imaging optical axis 61. I have. The measurement direction imaging unit 21 is a camera having a field angle of, for example, 50 ° to 60 °, which is substantially equal to the maximum deflection angle θ / 2 (for example, ± 30 °) by the optical prisms 41 and 42. The relationship between the first imaging optical axis 61, the emission optical axis 26, and the reference optical axis O is known, and the first imaging optical axis 61 is parallel to the emission optical axis 26 and the reference optical axis O. And the distance between the optical axes is a known value.

  The measurement direction imaging unit 21 can acquire a still image, a continuous image, or a moving image. The image acquired by the measurement direction imaging unit 21 is transmitted to the operation panel 7 and displayed on a display unit 68 (described later) of the operation panel 7, and the operator observes the image displayed on the display unit 68. To perform the measurement task.

  The imaging control unit 16 controls imaging of the measurement direction imaging unit 21. When the measurement direction imaging unit 21 captures the moving image or the continuous image, the imaging control unit 16 determines the timing at which the moving image or the frame image forming the continuous image is acquired and the measurement device main body 4. Synchronized with the scan timing. Further, the timing is synchronized with the timing of acquiring a frame image for each pulse light or each burst light.

  The arithmetic control unit 14 also associates an image with measurement data (distance measurement data, angle measurement data). Further, the imaging control unit 16 controls the synchronization of the imaging timing of the measurement direction imaging unit 21 and the lower imaging unit 5 via the first communication unit 18 and the second communication unit 67 (described later). .

  The imaging device 63 of the measurement direction imaging unit 21 is a CCD or a CMOS sensor, which is an aggregate of pixels, and each pixel can specify a position on the image device. For example, each pixel has pixel coordinates in a coordinate system with the first imaging optical axis 61 as the origin, and a position on the image element is specified by the pixel coordinates. Further, since the relationship between the first imaging optical axis 61 and the reference optical axis O is known, it is possible to correlate the position measured by the distance measuring unit 24 with the position on the image sensor 63. The image signal output from the image sensor 63 is input to the image processor 17 via the image controller 16.

  The deflecting action and the scanning action of the optical axis deflecting section 19 will be described with reference to FIGS. 2, 3A and 3B.

  In the state of the optical prisms 41 and 42 shown in FIG. 2 (when the directions of the optical prisms 41 and 42 are different by 180 ° (when the relative rotation angle is 180 °)), the mutual optics of the optical prisms 41 and 42 are different. The effects are canceled, and the declination becomes 0 °. Therefore, the optical axis (the ranging optical axis 35) of the laser beam emitted and received through the optical prisms 41 and 42 matches the reference optical axis O.

  In the state where one of the optical prisms 41 and 42 is rotated by 180 ° with respect to the other from the state of FIG. 2 (the direction of the prism is the same direction), the maximum deflection angle (for example, 30 °) is obtained. .

  Therefore, due to the relative rotation between the optical prisms 41 and 42, the distance measuring optical axis 35 is deflected between 0 ° and 30 ° with respect to the reference optical axis O, and the optical prisms 41 and 42 rotate integrally. Then, the deflection direction is changed.

  Therefore, by controlling the relative rotation angle between the optical prisms 41 and 42 and the integral rotation angle of the optical prisms 41 and 42, the distance measuring optical axis 35 can be deflected in an arbitrary direction. That is, the distance measuring optical axis 35 can be collimated to the measuring object 10 in an arbitrary direction.

  Further, by performing relative rotation and integral rotation of the optical prisms 41 and 42 while irradiating the distance measuring light 33, the distance measuring light 33 can be scanned in an arbitrary direction and pattern.

  For example, as shown in FIG. 3A, the relative rotation angle between the optical prisms 41 and 42 is θ, and the distance measuring optical axis 35 is defined by the deflection A and the deflection B by the individual optical prisms 41 and 42. Then, the actual trajectory 64 becomes the combined deflection C, and the magnitude of the deflection angle is determined by the relative rotation angle θ. Accordingly, when the optical prisms 41 and 42 are rotated forward and backward at a constant speed, the distance measuring optical axis 35 (the distance measuring light 33) is linearly reciprocally scanned in the direction of the combined deflection C.

  In a state where the positional relationship between the optical prism 41 and the optical prism 42 is fixed (in a state where the declination obtained by the optical prism 41 and the optical prism 42 is fixed), the motors 46 and 48 When the optical prism 41 and the optical prism 42 rotate integrally, the distance measuring optical axis 35 (the distance measuring light 33) is scanned by a circle centered on the reference optical axis O (see FIG. 1).

  Further, as shown in FIG. 3B, if the optical prism 42 is rotated at a rotation speed lower than the rotation speed of the optical prism 41, the angle difference θ gradually increases while the distance measuring light 33 is increased. Is rotated. Accordingly, the scanning trajectory of the distance measuring light 33 is spiral.

  Further, by individually controlling the rotation direction, the rotation speed, and the rotation speed ratio of the optical prism 41 and the optical prism 42, the scanning trajectory of the distance measuring light 33 can be variously adjusted around the reference optical axis O. A dimensional scan pattern is obtained.

  Further, by rotating one optical prism 41 of the optical prism 41 and the optical prism 42 25 times and rotating the other optical prism 42 5 times in the opposite direction, a petal shape as shown in FIG. A two-dimensional closed-loop scan pattern 52 (petal pattern 52 (inner trochoid curve)) is obtained. The petal pattern 52 also has an intersection 53 at the center.

  Furthermore, the maximum range in which the two-dimensional scan is possible in a state where the surveying device main body 4 is fixed is the maximum deflection angle range of the optical axis deflecting unit 19.

  The lower imaging section 5 will be described.

  The lower imaging section 5 is electrically connected to the surveying apparatus main body 4, and image data acquired by the lower imaging section 5 is input to the surveying apparatus main body 4.

  The imaging of the lower imaging unit 5 is synchronously controlled by the imaging control unit 16 with the imaging of the measurement direction imaging unit 21 and the distance measurement of the distance measurement unit 24. The lower imaging unit 5 is provided at a known position with respect to the mechanical center of the surveying apparatus main body 4, and the distance between the lower imaging unit 5 and the lower end of the monopod 3 is also known.

  Further, the second imaging optical axis 8 of the lower imaging unit 5 has a known relationship with the reference optical axis O, and the image data acquired by the lower imaging unit 5 is captured by the arithmetic control unit 14 in the measurement direction imaging direction. The image acquired by the section 21 and the distance measurement data measured by the distance measurement section 24 are stored in the first storage section 15 in association with each other.

  The operation panel 7 will be briefly described with reference to FIG.

  The operation panel 7 may be fixedly provided to the monopod 3 as described above, or may be detachable. In the case where the operation panel 7 is detachable, the operation panel 7 may be detached from the monopod 3 so that the operator can hold and operate the operation panel 7 alone.

  The operation panel 7 mainly includes a calculation unit 65, a second storage unit 66, the second communication unit 67, the display unit 68, and an operation unit 69. The display section 68 may be a touch panel, and the display section 68 may also serve as the operation section 69. When the display unit 68 is a touch panel, the operation unit 69 may be omitted. As the second storage unit 66, a storage device such as a semiconductor memory, a memory card, and an HDD is used.

  The second storage unit 66 includes a communication program for performing communication with the surveying device main body 4, an image acquired by the lower imaging unit 5, a synthesis of an image acquired by the measurement direction imaging unit 21, and the like. An image processing program for performing processing, an image acquired by the lower imaging unit 5, an image acquired by the measurement direction imaging unit 21, and a display program for displaying measurement information measured by the distance measurement unit 24 on the display unit 68. Various programs such as a command creation program for creating a command for the surveying instrument main body 4 from information operated by the operation unit 69 are stored.

  The second communication unit 67 communicates data such as measurement data, image data, and commands with the image processing unit 17 via the arithmetic control unit 14 and the first communication unit 18.

  The display unit 68 displays a measurement state of the surveying device main body 4, a measurement result, and the like, and displays images acquired by the lower imaging unit 5 and the measurement direction imaging unit 21. Various commands such as commands related to a measurement operation can be input from the operation unit 69 to the surveying device main body 4.

  As the operation panel 7, for example, a smartphone or a tablet may be used. Further, the operation panel 7 may be used as a data collector.

  The monopole substrate 2 will be described with reference to FIGS. FIG. 6 is a sectional view of the monopole substrate 2, and FIG. 7 is a perspective view.

  A cylindrical member 82 having a known outer diameter is provided at the center of the installation substrate 81. The shape of the installation substrate 81 may be rectangular as shown, or may be circular. The cylindrical member 82 and the installation substrate 81 are concentric, and the cylindrical member 82 is provided on the installation substrate 81 by a fitting method.

  An outer flange 83 is provided on the cylindrical member 82, and the outer flange 83 performs positioning in the axial direction (the vertical direction in FIG. 6) with respect to the installation board 81. Further, the cylindrical member 82 may be detachable from the installation substrate 81, or may be fixed.

  At the lower end of the cylindrical member 82, an inner flange 84 protruding toward the center is provided. A transparent inner disk 85 is concentrically fitted into the cylindrical member 82, and the inner disk 85 is supported by the inner flange 84. As will be described later, the height of the cylindrical member 82 is a height that does not obstruct the field of view when the lower imaging unit 5 photographs the lower end of the monopod 3.

  The inner disk 85 may be detachable from the cylindrical member 82, or may be fixed. Further, an index line (not shown) indicating the center position of the inner disk 85 may be stamped on the surface of the inner disk 85.

  A retroreflective member 86 is provided on the outer peripheral surface of the cylindrical member 82, and the entire circumference of the cylindrical member 82 is a distance measuring light reflecting portion. The retroreflective material 86 has a layer containing a fine retroreflector on its surface, and retroreflects incident light from all directions. Note that a white paint having high reflectance may be applied to the entire circumference of the cylindrical member 82.

  A circular centering piece 87 is provided at the center of the inner disk 85 by a fitting method. The centering piece 87 has a flange 87a at the outer edge of the upper end, and the centering piece 87 is fitted into the inner disk 85 so that positioning in the radial and axial directions can be performed. The centering piece 87 may be detachable from the inner disk 85 or may be fixedly provided.

  A conical hole 88 having a conical shape is formed in the centering piece 87 from the upper surface side. The apex angle of the conical hole 88 is larger than the apex angle of the lower end point of the monopod 3, and when the monopod 3 is inclined by a predetermined angle, the angle between the monopod 3 and the conical hole 88 does not interfere. I do. The vertex angle of the conical hole 88 is an angle at which the periphery of the conical hole 88 does not block the field of view of the lower imaging unit 5 when the lower imaging unit 5 images the lower end of the monopod 3. . The center of the conical hole 88 matches the center of the centering piece 87. That is, they coincide with the centers of the inner disk 85, the cylindrical member 82, and the installation substrate 81.

  The centering piece 87 is made of a material having a higher hardness than the material of the tip of the monopod 3, for example, if the material of the tip of the monopod 3 is aluminum, the centering piece 87 is made of steel or stainless steel. I do. The inner surface of the conical hole 88 is preferably a smooth surface. Thus, when the lower end of the monopod 3 is inserted into the conical hole 88, the lower end of the monopod 3 is guided by the conical surface of the conical hole 88 and coincides with the center of the conical hole 88.

  On the lower surface of the installation board 81, grounding feet 89 are provided at three places on the same circumference. The contact foot 89 has an inverted conical shape with the lower end at the top. The vertical distance between the lower end of the grounding foot 89 and the vertex of the conical hole 88 and the vertical distance between the vertex of the conical hole 88 and the lower surface and the upper surface of the installation board 81 are known.

  Further, the grounding foot 89 may be exchangeable with respect to the installation board 81, and the material of the grounding foot 89 may be changed according to the property of the ground or floor on which the monopole base 2 is installed. .

  For example, if the installation surface is non-slippery such as concrete or earth, the material of the grounding foot 89 is steel, and if it is slippery such as tile or glass, the material of the grounding foot 89 is hard rubber or the like. Alternatively, a plurality of installation boards 81 to which different grounding feet 89 are attached may be prepared, and the installation boards 81 may be replaced according to the situation of the installation surface.

  An angle detection pattern 91 for detecting a direction is formed on the surface of the installation board 81.

  The angle detection pattern 91 includes an angle line 92 extending radially from the center of the installation board 81 and a circle 93 centered on the center of the installation board 81. Further, the angle lines 92 are formed at a predetermined angle pitch, for example, at a 45 ° pitch, and one of the angle lines 92 is thicker than the other angle lines 92 as a reference line 92a.

  Further, the angle detection pattern 91 may be formed by light rays emitted radially.

  For example, a light source, for example, a light emitting diode 94 is provided on the outer peripheral surface of the cylindrical member 82 at a predetermined angular pitch, and a light beam 95 is emitted radially from the light emitting diode 94. Here, the angle between the optical axes of the light emitting diodes 94 is a predetermined angle. The light emitting diode 94 may be provided on the installation board 81.

  The light beam 95 emitted from the light emitting diode 94 forms a light band corresponding to the angle line 92 on the upper surface of the installation substrate 81, and the light band forms a light angle detection pattern (not shown). You. If the brightness of one of the light beam bands is made brighter than that of the other light beam band, the bright light beam band can be used as the reference line. When a reference line is set, the corresponding light emitting diode 94 may blink. Further, the direction may be recognized by changing the light emitting pattern in each light emitting diode.

  The monopole substrate 2 may include one of the angle detection pattern 91 and the light angle detection pattern, or may include both. When both angle detection patterns are provided, the angle detection pattern 91 can be used for measurement in a bright place, and the light angle detection pattern can be used in a dark place.

  The measurement operation of the surveying device 1 will be described with reference to FIGS. The following measurement operation is performed by the arithmetic and control unit 14 executing a program stored in the first storage unit 15.

  The angle detection pattern 91 shown in FIG. 8 shows an example in which the angle lines 92 are formed at a pitch of 22.5 °. Further, the reference line 92a may be used when setting the direction of the monopole board 2 at the time of installation, or may be used simply as a reference position when detecting a rotation angle.

  As preparation for starting the measurement, the monopole board 2 is installed at a position where the surveying device 1 is to be installed, and the center of the monopole board 2 is positioned at a reference point R. At this time, when a reference direction (hereinafter, reference direction) is set, the reference line 92a is adjusted to the reference direction.

  The lower end of the monopod 3 is dropped into the conical hole 88, and the monopod 3 is held substantially vertically by an operator. Note that the operation panel 7 is attached to the monopod 3. The surveying device 1 is installed while the lower imaging unit 5 and the measurement direction imaging unit 21 are operating.

  The monopod 3 is rotated around the lower end of the monopod 3, or the monopod 3 is tilted back and forth, left and right, or squirts and rotated, and furthermore, the optical axis deflecting unit of the surveying device main body 4 The distance measuring light 33 is directed to the measuring object 10 by using the light source 19. The distance measuring light 33 is directed to the measurement target 10, and the direction of the distance measuring light 33 is displayed on the captured image of the measurement direction imaging unit 21 displayed on the display unit 68.

  Even if the monopod 3 is tilted back and forth, left and right, or slid, the lower end of the monopod 3 is fitted in the conical hole 88, so the position of the lower end does not change, Stable measurement can be performed.

  The measurement worker may hold the monopod 3 with the distance measuring light 33 adjusted to the object 10 to be measured, or pull out the auxiliary leg 6 and move the monopod 3 to the auxiliary leg 6. May be supported.

  By supporting the monopod 3 with the auxiliary leg 6, the tilting of the monopod 3 in the front-rear direction and rotation about the lower end of the monopod 3 are regulated, and the support state of the surveying device 1 is stabilized. .

  Since the inclination of the surveying device 1 with respect to the horizontal is detected in real time by the attitude detection unit 20, the inclination angle and the inclination direction of the surveying device 1 with respect to the horizontal are detected in real time, and the measurement result is determined based on the detection result. It can be corrected in real time. Therefore, there is no need for leveling work for adjusting the surveying device 1 horizontally, and a change in the inclination angle due to a slight shaking caused by the operator holding the monopod 3 is also corrected in real time. be able to.

  Next, the detection of the rotation angle about the lower end of the monopod 3 will be described with reference to FIG.

  8, reference numeral 71 denotes a first image acquisition range of the measurement direction imaging unit 21, reference numeral 72 denotes a second image acquisition range of the lower imaging unit 5, and reference numeral 73 denotes deflection of the distance measurement optical axis 35 by the optical axis deflection unit 19. A range 74 indicates a trajectory when scanning with a petal pattern by the optical axis deflecting unit 19 while irradiating distance measurement light a plurality of times. The dots shown in the petal pattern 74 indicate irradiation points of the distance measurement light a plurality of times. Further, 75 is the image center of the first image acquisition range 71 (the image center 75 coincides with the first imaging optical axis 61), and 76 is the image center of the second image acquisition range 72 (the image center 76 is , And the second imaging optical axis 8).

  In FIG. 1, θ1 indicates the angle of view of the measurement direction imaging unit 21, θ2 indicates the angle of view of the lower imaging unit 5, and θ3 indicates the scan range of the surveying apparatus main body 4.

  Further, FIG. 8 shows that the angle between the first imaging optical axis 61 and the second imaging optical axis 8 is set to, for example, 58 °, and the reference optical axis O is, for example, 6 ° with respect to the first imaging optical axis 61. ° inclined downward, that is, θ4 is 52 °. In addition, a state is shown in which the monopod 3 is held rearward (in a direction away from the measurement object 10) at an angle of 5 °.

  The second imaging optical axis 8 is directed downward and includes at least a lower end of the monopod 3 or includes a lower end of the monopod 3 and excludes a part of a lower portion of the angle detection pattern 91. The second image acquisition range 72 is set so as to include the majority. Therefore, the image acquired by the lower imaging unit 5 includes the reference point R, and further includes an image in a predetermined range (a range of approximately 80 ° in the figure) on the measurer side from the reference point R.

  A range of a predetermined radius around the reference point R and including the angle detection pattern 91 is set as the rotation detection image 77, and the rotation detection image 77 is acquired in real time. The setting range of the rotation detection image 77 may be rectangular.

  The rotation detection image 77 at the start of the measurement is acquired, and the rotation detection image 77 is set as a rotation reference image 77a (not shown). Further, the angle detection pattern 91 included in the rotation reference image 77a is set as a reference pattern 91a (not shown).

  When detecting the rotation angle after the start of measurement, the reference pattern 91a in the rotation reference image 77a at the start of measurement is compared with the angle detection pattern 91 in the rotation detection image 77 after lapse of time, and the reference point A rotation change between the reference pattern 91a and the angle detection pattern 91 around R is detected, and the rotation angle is calculated based on the rotation change.

  Here, when the monopod 3 is rotated, the inclination angle of the monopod 3 may also change, but the displacement between the center of the reference pattern 91 a and the center of the angle detection pattern 91 in the image. And the center of the reference pattern 91a and the center of the angle detection pattern 91 are matched with each other, and the rotational displacement of the reference pattern 91a and the angle detection pattern 91 in a state where both centers match with each other is determined, thereby achieving accurate rotation. Corners can be detected.

  When the rotation angle exceeds one pitch of the angle line 92, it can be easily detected by obtaining the rotational displacement of the reference line 92a between both patterns.

  Further, the tilt angle of the monopod 3 is detected in real time by the posture detection unit 20, and the rotation angle is converted into a horizontal angle based on the detection result of the posture detection unit 20.

  Note that the horizontal angle may be detected by projecting the rotation detection image 77 based on the detection result of the attitude detection unit 20, converting the rotation detection image 77 into a horizontal image, and detecting a horizontal rotation change to obtain the horizontal angle. Good.

  Next, as shown in FIG. 1, when the measurement object 10 is measured by the surveying device main body 4, an oblique distance to the measurement object 10 is measured, and further, the reference optical axis with respect to the first imaging optical axis 61. The deflection angle of O (6 ° in FIG. 8) and the deflection angle of the distance measuring optical axis 35 with respect to the reference optical axis O are detected by the emission direction detecting unit 22, and the inclination angle of the surveying device main body 4 with respect to the horizontal is The posture detecting unit 20 detects the inclination angle of the distance measuring optical axis 35 with respect to the horizontal, and a change in the horizontal rotation of the monopod 3 is detected from the rotation detection image 77.

  The oblique distance is corrected to a horizontal angle based on the inclination angle of the distance measuring optical axis 35 with respect to the horizontal, and a direction angle is calculated based on the inclination angle of the distance measuring optical axis 35 with respect to the horizontal and the detected horizontal angle. . Further, since the length of the monopod 3 and the inclination of the monopod 3 with respect to the first imaging optical axis 61 are known, the measurement is performed with reference to the lower end of the monopod 3 (that is, the reference point R). The three-dimensional coordinates of the object 10 are determined.

  The calculation of the horizontal angle, the calculation of the inclination angle of the distance measuring optical axis 35, the calculation of the horizontal distance, and the like may be performed by the calculation control unit 14 or may be performed by the calculation unit 65. May be.

  The case where the rotation angle is detected using the light angle detection pattern is performed in the same manner as the case where the angle detection pattern 91 is used. The center line of each light band may be obtained by image processing, and the center line may be used as the angle line 92. Alternatively, in the rotation detection image 77, a change in light brightness on a circumference centered on the center of the rotation detection image 77 is detected, and a brightness change curve is calculated based on the brightness change. The rotation angle may be calculated based on the rotational displacement (or phase change) before and after the rotation.

  In the above description, the measurement is performed by the same operation as the total station with the distance measuring optical axis 35 fixed, but the measurement can also be performed by a laser scanner.

  As shown in FIG. 8, the optical axis deflecting unit 19 can deflect the distance measuring optical axis 35 freely within the deflection range 73. By controlling the rotation of the optical prism 41 and the optical prism 42, it is possible to scan the trajectory of the petal pattern 74. By irradiating pulse ranging light in the scanning process, it is possible to acquire ranging data (point cloud data) along the trajectory of the petal pattern 74. To increase the distance measurement data density, the petal pattern 74 may be rotated by a predetermined angle in the circumferential direction every time the petal pattern 74 is scanned by one pattern.

  Further, the first image and the second image are acquired in synchronization with the scan. Further, the first image and the second image are acquired in synchronization with each pulse ranging light or with a predetermined number of pulse ranging lights.

  When the scan center is changed (when the scan range is changed), the monopod 3 is rotated around the axis, or the lower end is pivoted around, or the monopod 3 is rotated. To change the fall angle. Thus, distance measurement data in a desired direction in a desired range can be easily obtained.

  In addition, when the first image acquired by the measurement direction imaging unit 21 and the second image acquired by the lower imaging unit 5 are combined, it is possible to use the overlapping portion of both images. Alternatively, as shown in FIG. 8, a scan is performed so that a part of the petal pattern 74 is included in the second image acquisition range 72, and distance measurement data along a locus in the first image is obtained. The first image and the second image can be immediately synthesized using the distance measurement data along the trajectory in the second image.

  Note that the data along the trajectory used for the synthesis may be data along the trajectory commonly included in the first image and the second image, or the data of the first image and the second image may be used. The first image and the second image may be synthesized using coordinate values of data along individually included trajectories.

  By synthesizing the first image and the second image, an observation image of a wide range including the reference point R to the measurement object 10 can be obtained, and a measurement range and a measurement position can be easily confirmed, thereby improving workability. I do. Also, an image with three-dimensional data can be obtained by associating the first image or the combined image with data along the trajectory obtained by the two-dimensional scan.

  Next, a case where the installation position of the surveying device 1 is changed and the measurement is continued will be described.

  A plurality of the monopole substrates 2 are prepared, and when the measurement at the first point is completed, the monopole substrate 2 installed at the point is left as it is, another monopole substrate 2 is installed at the second point, and The surveying device 1 is installed at the second point via the monopole base 2.

  After installing the surveying device 1 at the second point, before or after measuring another measurement target, the monopole substrate 2 from the second point to the first point is measured.

  Scanning is performed at a plurality of points so as to cross the retroreflective material 86 of the monopole substrate 2. By measuring the distance and the angle of the retroreflective member 86 at a plurality of points, it is possible to measure the center coordinates of the monopole substrate 2 with respect to the second point, that is, the coordinates of the first point. By measuring the coordinates of the first point from the second point, the coordinates of the second point based on the first point are also known.

  When measurement is performed on another measurement target at the second point and required measurement data is acquired, the data acquired at the first point and the measurement acquired at the second point are obtained from the known relationship between the first point and the second point. The data can be integrated with the measurement data based on the first point or the measurement data based on the second point. The same applies to the case where the measurement is performed at the third point and the fourth point. The integration of the measurement data may be performed by the arithmetic control unit 14 or may be performed by the arithmetic unit 65 after the data is collected by the operation panel 7.

  Thus, the measurement points can be sequentially changed in the same manner, and the measurement data acquired at each point can be integrated in the same manner to perform a wide range of measurement. Further, even if the measurement target is a building or the like and a blind spot is formed, measurement data of the entire measurement target can be obtained.

  The monopole substrate 2 may be set in advance at a first point, a second point, and so on.

  In the above embodiment, the surveying apparatus main body 4 having the optical axis deflecting section 19 as the surveying apparatus main body and capable of two-dimensional scanning is used. A surveying device for measuring a single optical axis direction having no 19 may be provided. In this case, scan data cannot be acquired, but the surveying device 1 can be easily installed without installation work such as leveling work, and three-dimensional coordinates of a desired measurement point can be measured.

  Further, in this case, a commercially available laser distance meter can be used as the surveying device main body 4, and the surveying device 1 can be configured at low cost.

  As a modified example of the monopole substrate 2, the installation substrate 81 may be made of a transparent material, the cylindrical member 82 may be omitted, and the installation substrate 81 may be directly provided with the centering piece 87. Alternatively, the cylindrical member 82 may be a bottomed cylindrical body, a centering piece 87 may be provided on the bottom surface, and the inner disk 85 may be omitted. Alternatively, the installation board 81 may be a thick plate material, and the installation board 81 may be provided with the conical hole 88 directly.

  Alternatively, the installation board 81 may be omitted, and a grounding foot 89 may be provided on the lower surface of the inner flange 84 of the cylindrical member 82. In this case, the inner flange 84 has a function as an installation board, and a light angle detection pattern is used as the angle detection pattern.

DESCRIPTION OF SYMBOLS 1 Surveying apparatus 2 Monopole base 3 Monopod 4 Surveying apparatus main body 5 Lower imaging section 8 Second imaging optical axis 11 Distance measuring light emitting section 13 Distance measuring operation section 14 Operation control section 18 First communication section 19 Optical axis deflection section 20 Attitude detection unit 21 Measurement direction imaging unit 22 Emission direction detection unit 24 Distance measurement unit 35 Distance measurement optical axis 41, 42 Optical prism 65 Operation unit 67 Second communication unit 71 First image acquisition range 72 Second image acquisition range 73 Deflection range 81 Installation Board 82 Cylindrical Member 88 Conical Hole 91 Angle Detection Pattern 92 Angle Line 94 Light Emitting Diode

Claims (8)

  A monopole board used for installation of a monopole type surveying instrument, comprising a mounting board having a grounding foot on a lower surface, a conical hole provided at the center of the mounting board, and an angle detection pattern concentric with the center of the conical hole. A monopole substrate, wherein the installation substrate is installed so that the center of the conical hole is a reference point, and the lower end of the pole of the surveying instrument is fitted in the conical hole.   The monopole substrate according to claim 1, wherein a cylindrical member is provided at a center of the installation substrate, a centering piece is provided at the center of the cylindrical member, and the conical hole is formed in the centering piece.   The monopole substrate according to claim 2, wherein a transparent inner disk is provided on the cylindrical member, and the centering piece is provided at a center of the inner disk.   The monopole substrate according to claim 1, wherein an angle detection pattern is formed on an upper surface of the installation substrate, and the angle detection pattern has angle lines provided at a predetermined angle pitch.   The monopole substrate according to claim 1, further comprising a light source provided at a predetermined angular pitch, wherein an angle detection pattern is formed by a band of light emitted radially from the light source.   The monopole substrate according to claim 2, wherein the entire peripheral surface of the cylindrical member is a distance measuring light reflecting portion.   A surveying system having a monopole type surveying device and the monopole base according to any one of claims 1 to 6, wherein the monopole base is installed at a location where the surveying device is installed, and the surveying device includes the surveying device. A surveying system in which a lower end of a pole of a device is fitted in the conical hole and the surveying device is installed via the monopole base.   It comprises a monopole surveying device and a plurality of monopole substrates according to claim 6, wherein the monopole substrate is installed at a plurality of measurement points, and a surveying device is installed via the monopole substrate at each measurement point, Using a surveying instrument installed on one monopole board, the center coordinates of another monopole board were measured, and each measurement point was set to a known relationship, and acquired by a surveying instrument installed via each monopole board. A surveying system configured to integrate measurement data based on known relationships between the measurement points.