JPH07139942A - Surveying apparatus - Google Patents

Abstract

PURPOSE:To provide a simple, inexpensive surveying apparatus, which can measure the difference elevation and distance of survey stations. CONSTITUTION:This surveying apparatus comprises the combination of a marking tool 1, which is arranged at a survey station P, and a measuring instrument 2 arranged at a reference point. The marking tool 1 has shining actual marks 11, which are aligned in many pieces at known intervals. The measuring instrument 2 has a lens 21, a CCD image sensor 22 and a computer 26. The lens 21 collects the emitted lights from the shining actual marks 11 included in the field of view and forms the convergent light. The CCD image sensor 22 receives the convergent light and forms the luminance image corresponding to the shining actual marks 11. The computer 26 processes the luminance image, extracts the picked-up image marks and computes the surveyed information with regard to the surrey station P based on the relative relationship between the alignment of the actual marks and the alignment of the image marks. In this surveyed information, the differential elevation and the distance are included.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surveying instrument mainly used in civil engineering and construction sites. In particular, the present invention relates to a surveying instrument suitable for multipoint surveying.

[0002]

2. Description of the Related Art As a conventional surveying device, a light-wave rangefinder, a transit, a tracking type total station, etc. are known. An optical rangefinder irradiates modulated light based on a predetermined reference signal to a target consisting of a reflection prism or the like placed at a measurement point, receives and demodulates the reflected light, and obtains the phase difference between the demodulated signal and the reference signal. The distance to the measurement point is detected by finding Also, when performing a specific height measurement at a survey site, use a pole with a height memory set at the measuring point.
Collimate with a Transit telescope that rotates horizontally,
The method of reading the memory is adopted. In addition, a tracking type total station has been developed for the purpose of performing multipoint survey by an independent operator. The total station has a structure in which a light-wave rangefinder is integrated into a transit equipped with a motor drive mechanism that can measure not only the horizontal angle but also the elevation angle. In the tracking type, a target reflection prism arranged at a measuring point is automatically searched by scanning laser light. Based on the search result, the motor drive mechanism is controlled to perform surveying while tracking the target.

[0003]

The optical rangefinder described above includes a laser light source, a modulator / demodulator, a phase comparator, etc., and has a problem that the structure is complicated and expensive. . Therefore, it is a first object of the present invention to provide a simple and inexpensive surveying device capable of measuring distance. The specific height measurement by the transit described above requires an additional operator who sets or moves the pole in addition to the operator on the side of the transit main body, which requires a lot of time and effort for the survey and cannot be automated. Therefore, a second object of the present invention is to provide a surveying device capable of automatically measuring a specific height. The tracking-type total station described in the third is capable of automatic target search and is suitable for multipoint survey. However, since it includes a scanning mechanism using a laser beam and a motor driving mechanism, the structure is extremely complicated and the price is far from the popular level. At present, it is the actual situation that a classical flat plate surveying method is performed by using a flat plate with a telescope rotated by a plurality of workers and a tape measure. In view of this, the present invention thirdly realizes a surveying device capable of automatically performing multipoint surveying at a price level of a popular level.
The purpose of.

[0004]

[Means for Solving the Problems] In order to solve the above-mentioned problems of the prior art and achieve the object of the present invention, the following means were taken. That is, the surveying instrument according to the present invention basically comprises a combination of a marker placed at a measuring point and a measuring instrument placed at a reference point. The marker has bright actual marks arranged in large numbers at known intervals. On the other hand, the measuring device includes a lens unit, an image pickup unit, and a processing calculation unit. The lens means collects the emitted light from the bright real mark included in the field of view to form convergent light. The imaging means receives the convergent light and generates a brightness image corresponding to the bright real mark. The processing calculation means processes the luminance image and extracts the image mark captured. Further, the survey information regarding the measurement points is calculated from the relative relationship between the actual mark array and the image mark array. Specifically, the processing calculation means calculates the specific height survey information from the relative relationship between the real mark array and the image mark array along the vertical direction of the visual field. Furthermore, the relative ratio between the size of the actual mark array and the size of the image mark array is calculated,
Calculate the distance measurement information according to the lens formula.

Preferably, the processing calculation means calculates the surveying information based on three or more image marks so that an error caused by the inclination of the marker can be removed. Further, in the measuring instrument, a pattern plate is interposed between the lens means and the image pickup means, and spatially modulates the convergent light from the lens means to improve the resolution of the luminance image obtained by the image pickup means. . Further, the measuring device is provided with a scanning means, and the visual field direction can be selected. In addition, the image pickup means can be composed of an area image sensor.

On the other hand, preferably, the marking tool has a real mark that can be individually identified. As a result, it becomes possible to calculate the surveying information using the one-to-one correspondence between the real mark and the image mark. In this way, the individually identifiable actual marks can be arranged according to, for example, the M series. As the marker, a static bright actual mark made of a reflector or a constant lighting type light emitter can be used. Alternatively, it is possible to use a dynamic bright real mark made of a luminescent material whose blinking can be controlled.

[0007]

According to the present invention, a marker having bright actual marks allocated according to a known distance dimension is imaged by a measuring instrument arranged at a reference point separated from a measuring point. Distance measurement is performed by utilizing the principle that the distance between imaged image marks changes with distance. That is, two or more real marks on the marker are imaged by the measuring device arranged at the reference point. The distance dimension between the two corresponding image marks is obtained by image processing and calculation, and the distance is calculated from the reduction ratio with respect to the actual dimension distance. The distance measurement information can be obtained very easily without employing a complicated method such as a light wave distance measuring device that measures the delay time of the modulated laser beam. In addition, a large number of individually identifiable real marks are arranged along the surface of the marker at known intervals, and the image marks taken by the measuring instrument are identified, and the ratio at the measurement point is determined from the one-to-one correspondence with the actual marks. The high can be read immediately. The surveying device according to the present invention can simultaneously and automatically measure the distance and the specific height. In addition, by capturing multipoint images of the actual marks included in the field of view, multipoint image marks can be obtained correspondingly on the measuring instrument side, and statistical processing such as the least squares method can be applied to improve surveying accuracy. You can In this case, by obtaining at least three or more image marks, it is possible to eliminate the error caused by the inclination of the marker, and it is possible to obtain a correct survey result. In addition, the position of the spot on the lens image plane can be magnified and projected on the rear surface of the image pickup surface by interposing the pattern means for spatially modulating the convergent light passing through the lens means on the measuring device side. , The detection accuracy is significantly improved. In particular, this means that when an area sensor such as a CCD image sensor in which the number of pixels is limited in manufacturing is used as the image pickup means, sufficiently practical distance measurement accuracy can be secured. If the area image sensor is used, it is possible to correct the inclination of the marker in the left-right direction. Furthermore, by combining with the scanning means incorporated in the measuring instrument side, automatic tracking in the horizontal direction becomes possible. Further, by incorporating the scanning means, the direction of the visual field can be selected, and an independent operator can easily perform multipoint survey.
Compared to the conventional tracking type total station, it has a very simple structure. On the other hand, the marking tool side is provided with real marks that can be individually identified, and it is possible to calculate surveying information using a one-to-one correspondence between real marks and image marks. For example, by using a real mark encoded by the M series, a static reflector or the like can be used as the bright mark. Therefore, in the present invention, the luminous mark can use either a light emitter or a reflector. In particular, by forming the bright mark by a light-emitting body capable of blinking control, even one image mark can be distinguished from other marks by detecting the blinking state. Therefore, even when the marker and the measuring instrument are close to each other and only one actual mark is included in the visual field, this can be identified and the survey information can be obtained from the one-to-one correspondence. Therefore, the shortest distance measurement limit can be reduced. Alternatively, it becomes possible to use a telephoto lens having a large focal length on the measuring instrument side, and the distance resolution can be improved.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described in detail below with reference to the drawings. FIG. 1 shows a first surveying instrument according to the present invention.
It is a block diagram which shows an Example. This surveying instrument comprises a combination of a marker 1 arranged at a measuring point P and a measuring instrument 2 arranged at a reference point. The marker 1 has a large number of bright real marks 11 arranged at known intervals D. In this example, the actual mark 11 is composed of a constant lighting type light emitting diode. The circumference of the actual mark 11 is surrounded by the non-reflective material 12. The actual marks 11 are arranged along the vertical direction of the marker 1 having a pole shape, and are graduated to indicate the specific height H. In this example, the real marks 11 are arranged in 14 steps, and can be individually identified. That is, the real mark 11
Are arranged according to the M series. In this example, the auxiliary mark 13 is used for encoding by the M series. Bit 1 is shown when the auxiliary mark 13 is interposed between the adjacent real marks 11, and bit 0 is shown when the auxiliary mark 13 is not interposed. These bits are arranged according to the M series, and when at least four bit strings are read, the arrangement order of each real mark 11 can be known and can be individually identified. The auxiliary mark 13 is also made of a light emitting diode.

On the other hand, the measuring device 2 is provided with a lens means 21 and collects the emitted light from the bright real mark 11 and the auxiliary mark 13 included in the visual field to form a convergent light. Further, it is provided with a CCD image sensor 22 which constitutes an image pickup means,
The converged light is received to generate a brightness image corresponding to the bright real mark 11 and the auxiliary mark 13. The lens means 21
A filter 23 is incorporated on the front side of the. A focus adjusting stepping motor 24 is connected to the lens means 21 via a moving stage 28 to perform automatic focus adjustment. The lens unit 21, the CCD image sensor 22, the filter 23, the focus adjusting stepping motor 24, and the moving stage 28 are housed inside a lens barrel 25.

The measuring instrument 2 further comprises a computer 26 which constitutes a processing / calculating means, and is connected to the CCD image sensor 22 via a CCD interface 27. The computer 26 processes the above-described luminance image to C
The image mark imaged by the CD image sensor 22 is extracted. Further, the survey information regarding the measurement point P is extracted from the relative relationship between the known array of the actual marks 11 and the array of the extracted image marks. In addition to the above basic processing, the computer 26 can build a surveying system by performing various kinds of additional programs to perform advanced information processing by the built-in length.

The lens barrel 25 is mounted on a rotary stage 29. The rotary stage 29 is supported by a tripod 30. A rotary drive stepping motor 31 is connected to the rotary stage 29. The rotary drive stepping motor 31 constitutes a scanning means and makes it possible to select the visual field direction. For this reason, the rotary drive stepping motor 31 is controlled by the computer 26 via the motor interface 32 to enable automatic tracking and multipoint survey. The focus adjustment stepping motor 24 is also controlled by the computer 26.

Next, the operation of the surveying device shown in FIG. 1 will be described with reference to FIG. FIG. 2 shows a CCD image sensor 22.
The image pickup surface of is schematically shown. A brightness image of the marker is shown in a relatively short distance area. In the case of a short-distance area, the marker is partially imaged, for example, 5 in this example.
The individual image marks 33 are included in the luminance image. Further, an image mark 34 corresponding to three auxiliary marks is included. The arrangement relationship of these image marks 33 and 34 is detected by image processing, and four bit strings 1, 0, 0, 1 are read. As a result, the captured image mark 33 can be individually identified in correspondence with the actual mark. For example, the image mark 33 immediately below the x-axis representing the horizontal line of sight corresponds to the sixth real mark from the bottom, and the real mark 33 immediately above the x-axis becomes the seventh real mark from the bottom. Correspondence can be read by decoding the M series. From this, it can be read that the specific height from the measurement point P is located between 6 times (6D) and 7 times (7D) of the known actual size interval D. Therefore, the specific height H takes a numerical value between 6D and 7D. The difference ΔH between the x-axis and level 6D can be calculated by interpolation. In this way, the surveying instrument calculates surveying information regarding the specific height H from the relative relationship between the actual mark array and the image mark array along the vertical direction of the visual field.

As described above, the image marks 33 for four intervals are projected on the image pickup surface of the CCD image sensor 22. By the image processing, the array dimension 4d of four image marks can be detected. The distance to the measurement point P can be calculated by taking the ratio of this and the known 4-spacing dimension 4D. That is, the relative ratio between the size of the actual mark array and the size of the image mark array is calculated, and the distance measurement information is obtained according to the lens formula.

In this example, the CCD image sensor 22 is used as the image pickup means, but another area image sensor may be adopted. When the area image sensor is used, the deviation amount s from the y-axis representing the vertical line of sight can also be detected. As a result, in addition to the specific height and the distance, surveying information on the bearing can be obtained. The tracking operation becomes possible based on this azimuth survey information. In addition, if the area image sensor is used, not only one marker but also many markers can be imaged simultaneously. Further, if the area image sensor is used, the survey information can be calculated based on at least three image marks, and the error caused by the inclination of the marker with respect to the vertical collimation line can be removed.

As long as the measurement of the specific height and the distance is limited, a linear image sensor arranged along the y-axis can be used instead of the area image sensor. In general, a linear image sensor has a larger number of pixels than an area image sensor, so that the resolution is high and the survey accuracy can be improved.

FIG. 3 shows a luminance image on the CCD image sensor 22 when the marker is located at a relatively long distance. As shown in the figure, in the long-distance area, the entire marking tool fits in the field of view, and all 14 levels of image marks 33 can be recognized. As described above, the individual image marks 33 encoded by the M series can be identified, and the image mark located immediately below the x axis can be specified. Also, the difference from the x-axis can be calculated by complementation. From the above, the specific height H + ΔH is obtained. or,
The size 14d of the image mark array for 14 levels is read on the brightness image, and this and the known actual size 14D for 14 levels are read.
The distance is obtained by taking the ratio with. Further, the azimuth is obtained by reading the deviation amount s from the y-axis on the image.

Next, the processing operation of the computer 26 will be described in detail with reference to the flow charts of FIGS. First, when the measuring instrument is activated and the surveying is started, step S2 is executed through step S1. This step S
In 2, the rotary stage is rotated to search for the marker and collimate it. At this time, the rotation angle θ0 is stored. Next, in step S3, all y-coordinates of the image mark appearing on the CCD image sensor are obtained. At this time, the deviation amount s with respect to the y coordinate is also obtained at the same time. In the next step S4, the image mark appearing just below the x-axis of the luminance image is identified, and the height H on the marker is obtained. Subsequently, in step S5, all the Y coordinates of the other actual marks are obtained from the height H and the known actual size interval D. Next, in step S6, linear regression is performed using yi and Yi to obtain ΔH and the array pitch d on the image. By applying a statistical method such as the least squares method to a plurality of marks reflected in the visual field in this way, it is possible to interpolate ΔH with higher accuracy.

Next, in step S7 of FIG. 5, the imaging formula (1 / F) + (1 / f) = 1 / f0 and the magnification ratio formula f / F.
= D / D, the distance F from the lens to the measuring point P is obtained. In the above formula, f represents the distance from the lens to the CCD image sensor, and f0 represents the focal length of the lens. Furthermore, the process proceeds to step S8, where the azimuth angle θ of the measuring point P is
Is calculated by θ0 + atan ((s / F) · (D / d)). Since the distance F of the measuring point P, the horizontal azimuth angle θ, and the specific height H + ΔH are obtained as described above, they are stored in step S9. Convert to Cartesian coordinates if necessary. Then, the process returns to step S1 of FIG. 4 to determine whether or not the measurement is completed. When the measurement is completed, the process proceeds to step S10 and the survey result is output to the plotter or printer.

FIG. 6 is a schematic view showing a second embodiment of the surveying instrument according to the present invention. Parts corresponding to those of the first embodiment shown in FIG. 1 are designated by corresponding reference numerals to facilitate understanding. In this embodiment, the actual mark 11 and the auxiliary mark 13 provided on the marker 1 side are constituted by a reflecting prism. The reflecting prism is advantageous in that it does not require a power source unlike the light emitting diode used in the first embodiment. In general,
In the present invention, a bright actual mark can be formed by using a reflector such as a reflecting prism or a light emitter such as a light emitting diode. The actual marks can be individually identified by encoding using, for example, the M-sequence, and a so-called static marker can be used that can identify the actual marks without controlling the blinking of the actual marks.
Although the marks are formed of discrete point light sources in both the first and second embodiments, the present invention is not limited to this. The mark array may be constructed by patterning the reflector or the light emitter into a predetermined shape.

On the other hand, on the measuring instrument 2 side, a laser projecting section 41 is provided on the lens barrel 25. In this example, since reflective prisms are used as the bright real mark 11 and the auxiliary mark 13, these marks are illuminated by the laser projecting unit 41 so that a high-contrast brightness image can be obtained. The laser projection unit 41 is housed in the upper lens barrel 42, which is stacked on the lower lens barrel 25.

FIG. 7 is a schematic view showing a third embodiment of the surveying instrument according to the present invention. Parts corresponding to those of the first embodiment shown in FIG. 1 are designated by corresponding reference numerals to facilitate understanding. In this example, the actual mark 11 provided on the marker 1 is composed of a light emitting diode capable of blinking control. The actual marks 11 are arranged at equal intervals according to the known dimension D. Unlike the identification using the M series as in the first and second embodiments, in this example, the individual real marks 11 are identified by controlling blinking. As described above, it is necessary for at least four static real marks encoded by the M sequence to fit in the field of view, and the minimum distance measurement range is limited. On the other hand, in the present embodiment, since the individual actual marks can be identified by the blink control, they can be identified if only one is within the field of view, and the limit of the minimum distance measurement range can be relaxed.

As a specific configuration, each actual mark 11 is connected to the lighting switch 51. The lighting switch 51 is powered by a battery 52. The lighting switch 51 is controlled by the data receiver 53. The data receiver 53 receives data for identification from the measuring instrument 2 side via the receiving antenna 54. A display 56 is attached to the body 55 of the marker 1. The display 56 is used to display the survey information transmitted from the measuring instrument 2 side via the receiving antenna 54 and the data receiver 53. An operator who sets the marker 1 can confirm his / her position based on the displayed survey information.

On the other hand, the measuring device 2 side is provided with a transmitting antenna 61, and transmits data and control information for controlling the blinking of the mark to the marker 1 side. The control data and the survey information are supplied from the computer 26 to the transmission antenna 61 via the data transmitter 62.

FIG. 8 is a schematic view showing a fourth embodiment of the surveying device according to the present invention, and particularly shows the optical arrangement of the measuring device 2. In this example, a pattern plate 71 is interposed between the lens 21 and the CCD image sensor 22, and the convergent light 7
2 is spatially modulated to increase the resolution of the luminance image.
As shown in the figure, the measuring instrument 2 includes a lens 21, a pattern plate 71, a CCD image sensor 22 which are arranged in order along the optical axis.
Is equipped with. Actual mark 1 to be measured in the optical axis direction
There is one.

The pattern plate 71 has a plurality of pattern elements arranged regularly along a plane orthogonal to the optical axis. In this example, a lattice pattern is formed as shown in FIG.
The pattern plate 71 is arranged at a position spaced apart from the image plane 73 of the lens 21 on the rear side in the optical axis direction. This is because the pattern plate 71 is illuminated with the lens 21 being defocused.

The lens 21 collects the emitted light emitted from each actual mark 11 and converts it into the convergent light 72 which is incident on the corresponding image forming point, and spot-illuminates a part of the pattern plate 71 with the convergent light. Enlarge and project a specific pattern element. CCD
The image sensor 22 has a light-receiving surface arranged along a plane orthogonal to the optical axis, and captures the enlarged pattern image of the pattern to generate a corresponding luminance image. A computer (not shown) processes the luminance image to detect the coordinate value of the pattern shadow. This coordinate value becomes the coordinate value of the image mark.

FIG. 10 shows an example of a brightness image projected on the light receiving surface of the CCD image sensor 22. The brightness image is a spot image 74 corresponding to each actual mark 11.
Is included. A pattern image 75 is projected inside each spot image 74. As described above, the pattern plate 71 has a lattice pattern. Therefore, on the light receiving surface of the CCD image sensor 22, the lattice-shaped pattern image 75 which is spot-illuminated and enlarged and projected by the defocused convergent light is projected. The coordinate value of the image mark corresponding to each actual mark 11 is obtained by image-processing this pattern image 75 and reading the coordinate value. In this example, since the position of the spot on the image plane can be enlarged and projected on the image plane, the coordinate detection accuracy of the image mark can be significantly improved.

FIG. 11 is a schematic view showing another specific example of the marker 1. In this example, the body of the marker 1 is configured using the scattering type optical fiber 81. A reflecting mirror 82 is attached to the top of the scattering type optical fiber 81, and a light emitting diode 83 is attached to the bottom thereof. Light emitting diode 83
The light emitted from the light source is introduced into the scattering type optical fiber 81 via the lens 84. The introduced light travels backward by the reflecting mirror 82 and is confined inside the scattering type optical fiber 81.
The shielding member 8 is provided at a predetermined interval on the body of the scattering type optical fiber 81.
5 is wound. The scattered light is emitted from the slots located between the adjacent shields 85, and the bright real mark 11
Becomes That is, the scattering-type optical fiber 81 has a characteristic of emitting scattered light in a direction orthogonal to the optical axis.

FIG. 12 is a schematic view showing another specific example of the marker 1. In this example, the retro-reflective tape 91 is wound around the columnar body at a predetermined interval to form the actual mark 11. A non-reflective material 92 is wound between adjacent retroreflective tapes 91, which is devised to enhance the contrast of the brightness image.

FIG. 13 is a geometrical optical diagram showing an example of a method of calculating the amount of tilt when the marker 1 is tilted in the distance direction. The survey information can be corrected based on this tilt amount. As shown, the origin of the XY coordinate system is set at the center of the lens 21. On the marker 1, three actual marks P ₀ , P ₁ and P ₂ to be measured are arranged at intervals D. The elevation angles θ ₀ , θ ₁ , θ _{2 with} respect to the actual marks P ₀ , P ₁ , P ₂ viewed from the lens 21 side can be obtained by image processing. Therefore, as shown in the following equation, the elevation angle θ ₀ ,
Using the values of θ ₁ and θ ₂ and the numerical value of the interval D, the coordinate values (x ₀ , y ₀ ), (x ₁ , y of the actual marks P ₀ , P ₁ , P ₂ are used.
₁ ) and (x ₂ , y ₂ ) can be calculated. The inclination amount of the marker 1 is calculated from these three coordinate values arranged on a straight line, and the survey information previously obtained is corrected.

[Equation 1]

Lastly, the measurement accuracy of the surveying instrument according to the present invention was calculated by trial, and is shown below. As a condition, the focal length f0 of the lens is 150 mm, and the actual mark arrangement distance D is 10
It was set to 0 mm. Therefore, the actual length of the marking tool is 1
When placed at 4 levels, the remaining length is 1.4m. CCD
An image sensor having a pixel number of 1024 × 1024 was used. The pixel pitch is 12 μm.
The light-receiving surface size is 12.288 × 12.288 mm ² . According to the trial calculation result, the shortest survey distance is 5d <12.2.
It is calculated to be about 6.3 m from the relationship of 88 mm. The distance resolution with respect to the pixel pitch is given by (12 μm / 14d) × distance F. For example, when the distance F is 40 m, the resolution is 12
μm / 5.27 mm = 1/439 pitch. Therefore, when the distance F is 40 m, 40,000 mm / 439 pitch = 9
It becomes 1.1 mm / pitch, and the resolution is 91.
It is 1 mm. Actually, as described above, the distance resolution can be increased by one order by performing statistical processing using a large number of image marks, enlarging the resolution using a pattern plate, and calculating the center of gravity of the image marks. Pixel pitch / 10 detection accuracy is possible, and measurement is possible within an error range of about 1 cm at a distance of 40 m.

[0032]

As described above, according to the present invention, two or more real marks on the marker are detected by the measuring device arranged at the reference point, and the distance is calculated from the reduction rate of the image mark interval. As a result, a simple and economical rangefinder can be realized without using a complicated device such as a lightwave rangefinder. By using the actual marks arranged vertically, it is possible to use a linear image sensor with a large number of pixels that can be easily obtained, and it is possible to improve the survey accuracy. By increasing the number of image marks to be detected, a statistical method can be used in the processing calculation on the measuring instrument side, so that the detection accuracy can be further improved. Further, by setting the number of image mark detection points to three or more, it is possible to obtain a correct survey result even if the marker is inclined. It is possible to measure distance and specific height at the same time. By providing a pattern plate for performing spatial modulation on the convergent light that has passed through the lens on the measuring instrument side, the position of the spot on the image plane can be enlarged and projected on the image pickup plane, so that the detection accuracy can be significantly improved. In particular, this means that a sufficiently practical distance detection accuracy can be secured even if an area image sensor in which the number of pixels is restricted in manufacturing is used. The use of the area image sensor makes it possible to correct the inclination of the marking tool, and it is possible to detect the deviation during the automatic tracking in the horizontal direction. By arranging real marks that can be individually identified in the height direction of the marking tool and marking the scales, it is possible to read a specific height even with a linear image sensor, the processing is easy, and the detection accuracy is high. M
By encoding the sequence, a static real mark can be used, and a reflector can also be used. Furthermore, by configuring the actual mark with a light-emitting body that can be controlled to blink, the range of graduation reading can be further narrowed, so that the shortest survey distance can be shortened or a telephoto lens with a large focal length on the measuring instrument side can be used. The distance resolution can be improved. By mounting the measuring instrument on the controllable rotary stage, it is easy for a single operator to perform multipoint survey.
If you compare with the conventional tracking type total station,
The effect is immeasurable considering the economy because it has a very simple structure.

[Brief description of drawings]

FIG. 1 is a block diagram showing a first embodiment of a surveying instrument according to the present invention.

FIG. 2 is a diagram for explaining the operation of the first embodiment.

FIG. 3 is a diagram for similarly explaining the operation.

FIG. 4 is a flowchart showing a processing calculation procedure of the first embodiment.

FIG. 5 is a flowchart similarly showing a processing calculation procedure.

FIG. 6 is a block diagram showing a second embodiment of the surveying instrument according to the present invention.

FIG. 7 is a block diagram showing a third embodiment of the surveying instrument according to the present invention.

FIG. 8 is a schematic view showing a fourth embodiment of the surveying instrument according to the present invention.

FIG. 9 is a plan view showing a pattern plate used in a fourth embodiment.

FIG. 10 is a diagram for explaining the operation of the fourth embodiment.

FIG. 11 is a schematic view showing another specific example of the marker.

FIG. 12 is a schematic view showing another embodiment of the marker.

FIG. 13 is a geometric diagram showing a correction calculation for the inclination of the marker.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Marking tool 2 Measuring instrument 11 Actual mark 21 Lens means 22 CCD image sensor 26 Computer 29 Rotating stage

Claims (11)

[Claims] 1. A surveying device comprising a combination of a marker placed at a measuring point and a measuring instrument arranged at a reference point, wherein the marker is a bright real mark arranged in large numbers at known intervals. The measuring device has a lens unit that collects the emitted light from the bright real mark included in the field of view to form convergent light, and receives the convergent light to form the bright real mark. An image pickup unit for generating a corresponding brightness image, an image mark taken by processing the brightness image is extracted, and surveying information regarding the measurement point is calculated from the relative relationship between the actual mark array and the image mark array. A surveying instrument comprising a processing and computing means. 2. The surveying instrument according to claim 1, wherein the processing operation means calculates the specific height survey information from a relative relationship between the actual mark array and the image mark array along the vertical direction of the visual field. apparatus. 3. The processing calculation means calculates the relative ratio between the size of the actual mark array and the size of the image mark array to calculate the distance measurement information according to the lens formula. Surveying equipment. 4. The processing calculation means is capable of calculating measurement information based on three or more image marks to remove an error caused by the inclination of the marker.
The surveying instrument according to 1 to 3. 5. The measuring device is characterized in that a pattern plate is interposed between the lens means and the image pickup means, and spatially modulates the converged light to increase the resolution of the luminance image. The surveying instrument according to claim 1. 6. The surveying instrument according to claim 1, wherein said measuring instrument is provided with a scanning means so that a visual field direction can be selected. 7. The surveying instrument according to claim 1, wherein the image pickup means is composed of an area image sensor. 8. The marker has an actual mark that can be individually identified, and enables the calculation of surveying information using a one-to-one correspondence between the actual mark and the image mark. Item 1. The surveying instrument according to item 1. 9. The surveying instrument according to claim 8, wherein the identifiable real marks are arranged according to an M series. 10. The surveying instrument according to claim 1, wherein the marker has a static bright actual mark made of a reflector or a constant lighting type light emitter. 11. The surveying instrument according to claim 1, wherein the marker has a dynamic bright real mark made of a light-emitting body capable of blinking control.