JP2003240551A - Surveying machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To record an image concerning survey and survey information without photographing a surveying site and point using a camera. <P>SOLUTION: When survey on a survey object 100 at a survey point is performed with a surveying machine 110 and resultant survey information i.e., work contents, date and time, horizontal angle, vertical angle, and oblique distance are recorded, the image 31 photographed with a CCD camera 45 and the measurement information 32 are overlapped to record on a memory. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surveying instrument equipped with an image pickup device and capable of mechanically driving a vertical axis and a horizontal axis, and more particularly to a personal computer (pen computer) .P.
The present invention relates to a surveying instrument suitable for being operated by control software such as a DA / data collector.

[0002]

2. Description of the Related Art Conventionally, as a surveying instrument, a motor-driven total station equipped with an image pickup device such as a video camera has been known. In this type of total station, when the measurement point is collimated by the collimation telescope, an image relating to the measurement point is displayed on the monitor screen, so that the survey can be performed while observing the image on the monitor screen.

[0003]

In the prior art, it is possible to carry out surveying while looking at the image on the monitor screen. However, surveying data relating to the measuring point, such as work content, date and time, horizontal angle, vertical angle, etc. , Oblique distance, etc. were recorded only by character data. For this reason, after surveying at the total station and recording the survey results, a camera prepared separately is used to take a picture of the survey site or survey point, and the survey results and the photographs are taken together so that the survey results and the photographs match. I was forced to store it in association,
There was a problem that it took time to save the survey results and photos.

The present invention has been made in view of the problems of the prior art, and an object thereof is to record an image and survey information regarding a survey without taking a picture of a survey site or a survey point using a camera. It is to provide a surveying instrument that can

[0005]

In order to achieve the above object, in claim 1, when the sighting point is collimated by a collimation telescope, distance measurement / angle measurement is performed on the measurement point to measure information. And a survey information generating means for generating the image information by photographing the measurement point when the measurement point is collimated by the telescope, and a record for recording the survey information together with the image information. It is configured to include means.

(Operation) Since the surveying information is recorded together with the image information when the surveying on the measuring point is performed, it is not necessary to prepare a camera separately from the image pickup device to take a photograph of the measuring point. It is possible to save the trouble of recording the information.

According to a second aspect of the present invention, when the collimating telescope collimates the measuring point, the surveying information generating means for measuring and measuring the distance and angle to the measuring point, and the measuring by the telescope. Image information generating means for imaging the measuring point and generating image information when the point is collimated; fluctuation detecting means for detecting a change in the surveying information generated by the surveying information generating means; A recording means for recording the surveying information together with the image information in response to the detection output of the fluctuation detecting means is provided.

(Operation) Since the surveying information is recorded together with the image information on the condition that the surveying information fluctuates when surveying the measurement point, a camera is prepared separately from the image pickup device. It is not necessary to take a picture of the measurement point, and it is possible to save the trouble of recording the information regarding the survey.

According to another aspect of the present invention, when the sighting point is collimated by the collimating telescope, surveying information generating means for measuring the distance and angle of the measuring point to generate surveying information, and the telescope performing the measurement. Image information generating means for capturing the measurement point when collimating and measuring the point and generating image information regarding the moving image (image information regarding the moving image of the measurement points before and after the measurement point is collimated and measured); The recording means records the surveying information together with the image information about the moving image.

(Operation) Since the survey information before and after the survey (not including the distance measurement and angle measurement value) is recorded together with the image information regarding the moving image when the survey regarding the measurement point is performed, the camera is provided separately from the image pickup device. There is no need to prepare and photograph the measurement points, and it is possible to save the trouble of recording the information regarding the survey.

According to another aspect of the present invention, when the sighting point is collimated by the collimating telescope, the surveying information generating means for measuring and measuring the distance to the measuring point to generate surveying information, and the telescope for measuring Image information generating means for imaging the measurement point to generate image information on a moving image when the measurement point is collimated, and fluctuation detecting means for detecting a change in the measurement information generated by the measurement information generating means. And a recording means for recording the surveying information together with the image information on the moving image in response to the detection output of the variation detecting means.

(Operation) Since the surveying information is recorded together with the image information relating to the moving image on condition that the surveying information fluctuates when the surveying regarding the measuring point is performed, a camera is prepared separately from the image pickup device. Therefore, it is not necessary to take a picture of the measurement point, and it is possible to save the trouble of recording the information regarding the survey.

According to a fifth aspect of the present invention, in the surveying instrument according to the first to fourth aspects, the reflection target set at the measurement point has an optical axis that is coaxial or parallel to the optical axis (collimation axis) of the objective lens of the telescope. A light source for illumination was built in the collimation telescope.

(Operation) Especially at night or in a dark condition such as in a tunnel, the reflection target is illuminated with the light of the light source for illuminating the reflection target, so that the reflection target appears to appear white in the dark. This is possible, and the measurement point (target) can be easily visually recognized in the captured image information.

According to a sixth aspect, in the surveying instrument according to the fifth aspect, the light source for illuminating the reflection target is configured to blink at a predetermined interval.

(Operation) Especially in a dark state such as at night or in a tunnel, since the reflection target looks as if blinking in the dark, collimation is possible, and in the image information taken, Makes it easier to visually recognize the measurement point (target).

[0017]

Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of the whole surveying instrument (total station) which is an embodiment of the present invention, and FIG. 2 is a diagram for explaining the optical system and automatic collimation device of this surveying instrument. 3 is a rear view of this surveying instrument, and FIG. 4 is
It is a figure explaining the cross-shaped line sensor used for the automatic collimation device of this surveying instrument.

The telescope 46 of the surveying instrument 110 of this embodiment is
As shown in FIG. 1, FIG. 2 and FIG. 3, in addition to the collimation camera optical system 47 as an imaging device for imaging the measurement target at a high magnification, an imaging device for imaging the measurement target in a wide field of view at a low magnification. A wide-angle camera optical system 89 is provided. In this surveying instrument 110, as shown in FIG. 3, a horizontal rotation shaft 43 is horizontally rotatably mounted on the leveling table 40, and between the pair of pillar portions 44 erected on the horizontal rotation shaft 43. A telescope 46 is attached so as to be vertically rotatable.

As shown in FIG. 1, the surveying instrument 110 of this embodiment, as a total station, measures the horizontal angle between the distance measuring unit (light distance meter) 48 for measuring the distance to the measuring point and the telescope 46. A horizontal angle measuring unit (horizontal encoder) 50 for measuring, a vertical angle measuring unit (vertical encoder) 52 for measuring the vertical angle of the telescope 46, and a horizontal control unit (horizontal servo motor) 54 for controlling the horizontal angle of the telescope 46. , Telescope 4
Vertical control unit for controlling the vertical angle of 6 (vertical servo motor)
56, and a CPU (arithmetic control unit) 58 for controlling these units and calculating the measurement result.
Of course, the telescope 46 can also be easily rotated manually.

Further, the surveying instrument 110 of the present embodiment removes noise from the images obtained by the camera optical systems 47 and 89 to obtain a clear image, and discriminates the contour of the object to be measured, the measuring point and the like. The image processing device 60 and each camera optical system 4
Superimposing device 62 for superimposing various information and the like on images obtained from Nos. 7 and 89, and camera optical systems 47 and 8
9. A touch panel display 64 that displays the image obtained in 9 and can specify a measurement point by touching it with a measurement point specification means such as a touch pen 68 or a finger, and can input various data and commands, and a surveying instrument 110. And an input / output device 66 for inputting / outputting data to / from an external device such as a measurement controller (personal computer) 65 and the like.

The image processing device 60 and the superimposing device 62 are mounted inside the surveying instrument 110, and the touch panel display 64 is mounted on the lower rear surface of the horizontal rotating portion 42. The touch panel display 64 is
In addition to displaying the images captured by the camera optical systems 47 and 89, reticle lines (crosshairs) indicating the directions of the collimation axes (optical axes) O1 and O of the wide-angle camera optical system or the collimation camera optical system. 92, an icon for inputting various commands, a numeric keypad for inputting data, measurement results obtained by the distance measuring unit 48 and the angle measuring units 50, 52, etc. can be superimposed and displayed by the superimposing device 62. Has become.

Of course, instead of the touch panel display panel 64, a display device such as an ordinary liquid crystal display and a keyboard for inputting various commands and data are provided separately, and the cursor is used as the measuring point designating means. A key, mouse, trackball, joystick or the like may be used. In addition, the surveying instrument 110 of the present embodiment
Has the distance measuring unit 48 and the angle measuring units 50 and 52, and has the same function as the total station, but since the size of the target is known, if the angle measuring units 50 and 52 are provided, Since the distance can be obtained based on the size of the target image picked up by the wide-angle camera optical system 89, it does not necessarily require the same function as the total station.

The wide-angle camera optical system 89 includes a wide-angle lens 87.
And a wide-angle CCD camera element 88, and the optical axis O1 of the wide-angle camera optical system 89 is the collimation axis O of the collimation camera optical system 47.
It is configured in parallel with. Also, a wide-angle CCD camera 89
Includes a zoom device including a focusing lens 19 ′ and a zoom type autofocus mechanism for adjusting the perspective of the target. Of course, the zoom device can be omitted or the wide-angle camera optical system 89 itself can be omitted in order to reduce the size and cost, and further, instead of the wide-angle CCD camera element 88, another suitable device can be used. An imaging device may be used.

The collimation camera optical system 47 is arranged on the collimation axis O.
An objective lens 11, a reflecting prism 70, a dichroic mirror 72, a beam splitter 120, and a collimating CCD camera element 45 are installed. In addition, the collimation camera optical system 47
Is a light emitting element 74 such as an infrared LED that emits distance measuring light.
And a focusing lens optical system that includes a focusing lens 76 that focuses the ranging light and a dichroic mirror 78 that reflects the focused ranging light toward the reflecting prism 70.
The optical axis O2 of the distance measuring section optical system is an optical system conjugate with the collimation axis O and is a coaxial optical system with the collimation axis O. Further, the collimation camera optical system 47 includes a light source 80 configured by an LED that illuminates with visible light, and a condenser lens 82 that condenses the illumination light.
An illuminating device including a mirror 84 that reflects the collected illuminating light toward the reflecting prism 70 is provided, and the optical axis O3 of the illuminating device is an optical system that is conjugate with the collimation axis O. It is a coaxial optical system with O.

Further, in the collimation camera optical system 47, the distance measuring light reflected by the target is reflected by the dichroic mirror 72 and enters the light receiving element 86 such as a photodiode.
A beam splitter 120 that splits the illumination light reflected by the target into two, and one of the illumination lights split by the beam splitter 120 forms a target image that is illuminated through the focusing lens 19, The collimated CCD camera element 45 for converting the image formation into a digital image and the cross-shaped line sensor 122 for recognizing the position of the other illumination light are provided. Of course, instead of the collimated CCD camera element 45,
Other suitable image pickup device may be used, and an appropriate sensor such as a four-division sensor may be used instead of the cross-shaped line sensor 122.

Although infrared laser light may be used as the illumination light, it is difficult to illuminate the entire field of view of the wide-angle CCD camera element 88 with laser light. Therefore, in this embodiment, an LED is used so that the illumination light easily spreads over the entire field of view. The illuminating device which emits the illuminating light of the visible light by the light source 80
When measured in a dark place indoors, it is convenient for a worker to easily see the illumination light reflected by the target. Further, in the present embodiment, the light source 80 can be blinked by an ON / OFF switching command from the CPU 58. Of course, the light source 80 may be capable of blinking by an appropriate modulation circuit. When the light source 80 blinks, the target seen directly in the dark,
Since the target image on the touch panel display 64 also blinks, it is easier to visually recognize the target and to easily specify the measurement point.

The distance measuring light (LED or infrared laser light) emitted from the light emitting element 74 is directed to the target of the object to be measured through the condenser lens 76, the dichroic mirror 78, the reflecting prism 70, and the objective lens 11. Be transmitted. Then, the distance measuring light reflected by the target travels backward in the optical path that has just come, passes through the objective lens 11, is reflected in the right angle direction by the dichroic prism 72, and is received by the light receiving element 8
It is incident on 6. The distance to the target is calculated from the phase difference between the reference light that directly enters the light receiving element 86 from the light emitting element 74 through an optical fiber (not shown) and the distance measuring light that enters the light receiving element 86 after being reflected by the target, as in the conventional case. To be done.

On the other hand, the illumination light emitted from the light source 80 is
Light is transmitted toward a target installed at the measurement point of the measurement target through the condenser lens 82, the mirror 84, the reflection prism 70, and the objective lens 11. Then, the illumination light reflected by the target travels backward in the optical path that has just come, and the objective lens 1
The illuminating light is split into two by the beam splitter 120 after passing through 1 and the dichroic prism 72. One of the illumination lights forms a target image illuminated through the focusing lens 19 and is incident on a collimation CCD camera element 45 which converts this image formation into a digital image, and the other of the illumination lights forms a cross line. The light is focused on the sensor 122.

By the way, in this embodiment, as the automatic collimation device 69 for locating the measurement point on the collimation axis O of the collimation camera optical system 47, the collimation CCD camera element 45, the CPU
58, an image processing device 60, a horizontal control unit 54, and a first automatic collimation device including a vertical control unit 56, a cross-shaped line sensor 122, a CPU 58, a horizontal control unit 54, and a vertical control unit 5.
A second automatic collimation device composed of 6, a wide-angle CCD camera device 88, a CPU 58, an image processing device 60, and a horizontal control unit 5.
4, a vertical control unit 56, and a preliminary collimation device including a zoom device (not shown).

First, the first automatic collimation device having the collimation CCD camera element 45 will be described in more detail with reference to FIGS. 2 and 6. The center of the light receiving part of the collimation CCD camera element 45 is made to coincide with the collimation axis O of the collimation camera optical system 47, and the light beam along the collimation axis O is collimated CC.
Since the light is incident on the center of the light receiving portion of the D camera element 45,
As shown in, the horizontal deviation h between the collimation axis O and the target image 90 on the touch panel display 64.
And the vertical deviation v correspond to the angle between the collimation axis O and the target direction. Therefore, the target can be automatically collimated by setting both deviations h and v to 0.

Therefore, the image signal from the collimated CCD camera element 45 is input to the CPU 58 via a signal processing unit (amplifier, waveform shaper, A / D converter, etc.) not shown. The CPU 58 causes the image processing device 60 to discriminate the contour of the measuring object and the target image 90 from the image obtained by the collimation CCD camera element 45. The reticle line 92 is displayed at the center of the touch panel display 64, and its intersection point coincides with the collimation axis O. When the touch pen 68 touches the target image 90 desired to be designated on the touch panel display 64, the CPU 58 obtains a horizontal deviation h and a vertical deviation v between the point touched by the touch pen 68 and the collimation axis O, Control signals corresponding to these deviations h and v, respectively,
It is sent to the horizontal control unit 54 and the vertical control unit 56. Then, the two control units 54 and 56 rotate the telescope 46 by the control signal according to the two deviations h and v, and touch the touch pen 68,
That is, the designated target image 90 is moved on the collimation axis O. Thus, when the target image 90 moves near the collimation axis O, the CPU 58 causes the designated target image 9
0 is recognized, and thereafter, a horizontal deviation h and a vertical deviation v between the target image 90 and the collimation axis O are obtained, and control signals corresponding to these deviations h and v are respectively supplied to the horizontal controller. 5
4. Send to the vertical control unit 56 to perform automatic collimation.

Next, a second automatic collimation device having the cross-shaped line sensor 122 will be described with reference to FIGS. As shown in FIG. 4, the cross-shaped line sensor 122 is formed by combining two line sensors 123 and 124 in a cross shape, and a center 125 of the light beam along the collimation axis O of the collimation camera optical system. Make it coincide with the incident position. The output signals from both line sensors 123 and 124 are
It is input to the CPU 58 via a signal processing unit (amplifier, waveform shaper, A / D converter, etc.) not shown. CPU58
Is the light receiving portion 12 of each of the line sensors 123 and 124.
By calculating the midpoints 128 and 129 of 6, 127, the horizontal deviation h1 and the vertical deviation v1 of the center 131 of the irradiation spot 130 of the reflected light of the light source 80 with respect to the center 125 of the cross-shaped line sensor 122 are calculated. At this time, the irradiation spot 130 is not displayed on the display 64, but the image of the collimated CCD camera element 45 or the wide-angle camera element 88 is displayed. Since both deviations h1 and v1 correspond to the angle between the collimation axis O and the target direction, CP
U sends a control signal corresponding to both deviations h1 and v1 to the horizontal control unit 54 and the vertical control unit 56, respectively, and both deviations h1 and v1
The target is automatically collimated by rotating the telescope so that both are zero. For the second automatic collimation device, other than the cross-shaped line sensor 122, a conventionally used appropriate sensor such as a four-division optical sensor can be used.

Next, the pre-collimation device having the wide-angle CCD camera element 88 will be described with reference to FIG. Wide angle C
The center of the light receiving portion of the CD camera element 88 is made to coincide with the collimation axis O1 of the wide-angle camera optical system 89, and the light beam along the collimation axis O1 is aligned with the center of the light receiving portion of the wide-angle CCD camera element 88. Since it is incident, the wide-angle CCD camera element 88
The image obtained in (1) can be automatically collimated by processing in the same manner as the image obtained by the collimation CCD camera element 45 described above. However, since the collimation axis O1 of the wide-angle camera optical system 89 is displaced by the distance d in parallel with the collimation axis O of the collimating camera optical system 89, and the magnification is low, the preliminary collimation device is initially the telescope 46. Is used for pre-collimation to direct the target substantially to the target and finally includes a collimating CCD camera element 45 or a second automatic collimating device including the cross-shaped line sensor 122. Automatically collimates with high accuracy.

The above-mentioned second automatic collimation device is mainly used when measuring outdoors, and the above-mentioned first automatic collimation device is mainly used when measuring indoors in a dark place. The reason for this is that the first automatic collimation device, when measured outdoors during the day,
This is because measurement errors are likely to occur due to the strong disturbance of natural light, but the second automatic collimation device is strong against disturbance.

The following method is used to measure the position of each measurement point of a large structure. As shown in FIG. 5, the measurement object 100, which is a large structure, is installed in a dark place in the measurement room 102 in order to avoid disturbance of natural light, and targets (reflective prism sheet on the reflection prism sheet) are respectively set at a large number of measurement points. (Provided with a wire) 104 is attached. Floor 10 of measurement room 102
A target 108 for indicating a reference point and a surveying instrument 110 for measuring the position of each target 104, 108 are installed at 6 and the like.

First, a measuring method using only one surveying instrument 110 will be described. First, the surveying instrument 110 is installed at a predetermined position, the main switch of the surveying instrument 110 is turned on, and as shown in FIG. 6, the image of the measuring object 100 and the reticle line 92 obtained by the wide-angle camera optical system 89 are displayed. It is displayed on the touch panel display 64.

Next, the target image (measurement point or reference point) 90 displayed on the touch panel display 64 is touched with a touch pen to specify the targets 104 and 108 to be measured. Then, the preliminary collimation device operates, and as shown in FIG. 7, the collimation axis O is displayed on the touch panel display 64.
Target image 9 designated as the center of reticle line 92 indicating
The telescope 46 is rotated and the designated target image 90 is moved to the center of the screen until 0 matches. At this time, the targets 104 and 108 reflect the light only in the direction in which the light comes, so that the target image 90 indicating the measurement point or the reference point is displayed particularly bright, which facilitates the processing of the image processing device 60. At the same time, it is easy for the operator to understand the progress of automatic collimation.

When the designated target 104 or 108 is substantially collimated in this way, in order to collimate more accurately, the wide-angle camera optical system 89 automatically switches to the collimation camera optical system 47 by a program, and FIG. As shown in
The target image 90 and the reticle line 92 are displayed on the touch panel display 64. Here, when the target 104 or 108 is accurately automatically collimated by the first or second automatic collimation device, the distance is automatically measured, and the horizontal angle and the vertical angle are also measured. At this time, these measured values are converted into coordinates on a designated coordinate system and recorded on an appropriate recording medium not shown.

The procedure of the above-described measuring method will be described in more detail with reference to the flowchart of FIG. 9 and the images displayed on the touch panel display 64 shown in FIGS. However, in the following drawings, for simplicity of explanation, only the image 90 of the target 104 and the reticle line 92 indicating the collimation direction are shown on the touch panel display 64.

First, the surveying instrument 110 is installed at a predetermined position,
The main switch (not shown) of the surveying instrument 110 is turned on, and the process proceeds to step S0. As shown in FIG. 10, the wide-angle camera optical system 89 is set to the widest angle and the measurement target 100
(Not shown), the target image 90 and the reticle line 92 on the image are displayed on the touch panel display 64. At this time, an autofocus control device (not shown)
Adjust the position of the focusing lens 19 'and the target 104,
Focus is on 108. In addition, the center of the reticle line 92 is the collimation axis O of the wide-angle camera optical system 89 or the collimation camera optical system 47 even if the telescope 46 is rotated vertically and horizontally.
1, O is always shown. Therefore, hereinafter, the symbol O is also attached to the center of the reticle line.

Next, in step S1, the target image 90 located at the measurement point displayed on the touch panel display 64 is touched with the touch pen 68 to specify the targets 104 and 108 to be measured. If the target 104, 108 to be measured is not displayed on the touch panel display 64, the telescope 46 of the surveying instrument 110 is manually pointed in the direction in which the measurement point is located and the measurement point is displayed on the touch panel 64. Then, the targets 104 and 108 to be measured are designated. If a suitable point on the touch panel display 64 is touched with the touch pen 68, this point can be moved to the center of the touch panel display 64, as will be described later, and the measurement point which has not been displayed until then can be moved to the touch panel display 64. It can also be displayed above.

When the targets 104 and 108 to be measured are designated, the process proceeds to step S2, the preliminary collimation device operates, and C
With the PU 58, as shown in FIG. 11, the touch pen 6
The horizontal deviation h and the vertical deviation v (represented by the number of pixels) between the point touched in 8 and the center O of the reticle line are detected. Next, in step S3, both deviations h and v are sent to the horizontal control unit 54 and the vertical control unit 56 to operate both control units 54 and 56,
The telescope 46 is rotated so that both deviations x and y become 0, and the point touched by the touch pen 68 is moved to the center O of the reticle line 92 at the screen center of the touch panel display 64, as shown in FIG. Then, the designated target image 90 moves to the center O of the substantially reticle line 92, so that it is reliably recognized by the CPU 58.

By the way, it is difficult to accurately touch the center O'of the target image 90 with the touch pen 68.
As shown in FIG. 2, the center O ′ of the target image 90 may not coincide with the center O of the reticle line 92. Therefore,
In step S4, the pre-collimation device turns on the light source 80 to emit illumination light in order to more accurately match the center O ′ of the target image 90 with the center O of the reticle line,
The image formation of the target 104 is received, and the position of the target image 90, that is, the horizontal deviation h and the vertical deviation v between the center O ′ of the target image 90 and the center O of the reticle line 92 are detected. When both deviations h and v are obtained, the light source 80 is turned off. Then, in step S5, both deviations h and v are sent to the horizontal controller 54 and the vertical controller 56, both controllers 54 and 56 are operated, and the telescope 46 is set so that both deviations h and v become zero. The image is rotated, and the center of the designated target image 90 is moved onto the center O of the reticle line 92 as shown in FIG. 13, and provisional preliminary collimation is performed.

Upon completion of this preliminary collimation, in order to collimate more accurately, the process proceeds to step S6, and the wide-angle camera optical system 89 is slightly zoomed up. The reason for zooming up slightly is that zooming to the maximum magnification at one time may cause the target 104 to move out of the field of view due to a collimation error or the like, making automatic collimation impossible. Wide-angle camera optical system 8
When 9 is zoomed up, the center O ′ of the target image 90 and the center O of the reticle line 92 are usually slightly displaced as shown in FIG. Therefore, the process proceeds to step S7, and similarly to step S4, the light source 80 is turned on, the position of the target image 90 is detected again, and then the light source 80 is turned off. Then, the process proceeds to step S8, and both control units 54 and 56 are operated similarly to step S5 to move the center O ′ of the target image 90 onto the center O of the reticle line 92 as shown in FIG. Preliminary collimation.

Then, in step S9, the wide-angle CC
It is checked whether the D camera element 88 has reached the maximum magnification.
If the wide-angle CCD camera element 88 has not reached the maximum magnification, the process returns to step S6, but if the maximum magnification has been reached, the process proceeds to step S10 to turn on the light source 80,
The distance to the target 104 is measured, and then the light source 80 is turned off. For this distance measurement, the target 104
The distance is calculated from the size of the target image 90 on the touch panel display 64 by utilizing the fact that the size of is known.

When the distance to the target 104 is obtained,
The process proceeds to step S11, and this distance and both camera optical systems 4
From the distance d between the collimation axes of 7, 89, the adjustment angle of the orientation of the telescope 46 is calculated so that the target 104 is located on the collimation axis O of the collimation camera optical system 47, and the orientation of the telescope 46 is calculated. Adjust. And to collimate more accurately,
Proceeding to step S12, as shown in FIG. 16, when the target image 90 enters the central area of the reticle line 92, the wide-angle camera optical system 89 automatically changes the high-magnification collimation camera optical system 47 by a program. Switching, focusing lens 1
The position of 9 is adjusted to focus on the target 104. For the focus control of the collimation camera optical system 47 at this time, the distance obtained by the distance measurement in step S10 is used.

Next, the process proceeds to step S13 and step S
Similarly to 4, the light source 80 is turned on and the position of the target image 90 is detected. Then, the process proceeds to step S14, and similarly to step S5, both control units 54 and 56 are operated again, and provisional automatic collimation is performed by the first automatic collimation device. Next, in step S15, the light source 80 is turned off, and the distance measuring unit (lightwave distance meter) 48 causes the target 104
The accurate distance is calculated, and the target 104 is accurately focused using this distance. Then, the process proceeds to step S16, and similarly to step S4, the light source 80
Is turned on to detect the position of the target image 90. Then, proceeding to step S17, as in step S5, both control units 54 and 56 are actuated, and the final automatic collimation is performed by the first automatic collimation device. As shown in FIG. The center O'of 90 is exactly located on the center O of the reticle line.

Then, in step S18, the center O'of the target image 90 is exactly the center O'of the reticle line 92.
Whether it is on the top, that is, the center O ′ of the target image 90
It is checked whether or not the horizontal deviation h and the vertical deviation v between 0 and 0 are within a predetermined range (for example, not more than the control accuracy of the servo motors of both control units 54 and 56). If both deviations h and v are within the predetermined range, the process proceeds to step S19, the light source 80 is turned off, and the distance measuring unit (lightwave distance meter) 48 causes the target 104
The horizontal angle and the vertical angle of the telescope 46 are simultaneously calculated by the horizontal angle measuring unit 50 and the vertical angle measuring unit 52. These angles are determined by the optical encoder. If a coordinate system is specified, these distances and angles are converted into coordinates in the specified coordinate system. If both deviations h and v are outside the predetermined range, the process returns to step S16.

In the above-described measurement, the light source 80 is turned on only when detecting the position of the measurement point in steps S4, S7, S13 and S16 and when calculating the distance in step S10. The light source 80 is always turned off in steps S15 and S19 for measuring the distance with.
The illumination light by does not give an error to the distance measurement. In this way, the light source 80 is turned on only for a short time when necessary, so that a power-saving surveying instrument can be obtained.

When the measurement of one measurement point or the reference point is completed in this way, the mode is switched to the wide-angle camera optical system 89 again, and the image as shown in FIG. 6 is displayed. Is specified by the touch pen 68. Similarly, the positions of the targets 104 and 108 are sequentially measured.

On the other hand, an automatic measurement switch (not shown) is turned on.
Then, the CPU 58 causes the target 104 attached to the measurement object 100 and the target 1 indicating the reference point.
08 is automatically specified in order from one end to the other, and all the above-mentioned measurements are automatically performed. In this case, the coordinates of the measurement point and the reference point are input in advance from an external device such as the measurement controller 65 so that automatic measurement can be efficiently performed.

Thus, when the above-mentioned measurement is completed at one place, the surveying instrument 110 is moved to the next place, and the targets 104 and 108 are measured from end to end as described above. Do it at all planned locations. In this way, after the measurement at all planned locations is completed, the measurement result is displayed on the touch panel display 64 and recorded on an appropriate recording medium (not shown) to complete the measurement.

Although the method of measuring with only one surveying instrument has been described above, usually, a plurality of surveying instruments 110 are installed on the floor 106 of the measuring room 102, and the input / output devices of these surveying instruments 110 are installed. 66 and a measurement controller (personal computer) 65 equipped with a display (image display device) installed in the observation room 112 are connected by a power cable 116, a video cable 117, and a communication cable 118 to measure each survey. The machine 110 is remotely operated by the measurement controller 65, and the images and measurement results obtained by each surveying machine 110 are immediately sent to the measurement controller 65 so that the measurement can be performed efficiently. Of course, even if the measurement controller 65 is installed in a more distant office or the like, and each surveying instrument 110 and the measurement controller 65 are connected via an appropriate communication device (telephone, mobile phone, wireless device, etc.). Good.

When remotely operating such a surveying instrument 110, when a measurement start command is sent to one surveying instrument 110 from the measurement controller 65, the main switch of this surveying instrument 110 is turned off.
Since the surveying instrument 110 sends the image of the measurement object 100 obtained by the wide-angle CCD camera element 88 to the measurement controller 65, the image of the measurement object 100 is displayed on the display of the measurement controller 65. To be done. Measurement controller 6
Since No. 5 incorporates the same measurement control program as the surveying instrument 110, the targets 104 and 108 are thereafter measured from end to end in the same manner as the method performed by the surveying instrument 110 described above. When all the measurements with this surveying instrument 110 have been completed, the main switch of this surveying instrument 110 is turned off, a measurement start command is sent to the next surveying instrument 110, and so on. I do. When the measurement by all the surveying instruments 110 is completed, the measurement controller 65
Displays this measurement result on the display,
The measurement result is recorded on an appropriate recording medium, the measurement result is printed if necessary, and the measurement is completed.

When measuring outdoors, if automatic collimation is performed from an image obtained by the collimation CCD camera element 45, false collimation is likely to occur due to a strong disturbance of natural light, etc.
Collimation CCD camera element 45 or wide-angle CCD camera element 8
When the brightness of the background obtained in 8 is equal to or more than a predetermined value, the collimation CC
The background brightness is determined by the D camera element 45, and the program automatically switches to the second automatic collimation using the cross-shaped line sensor 122. Even in this case, the display of the measurement controller 65 or the surveying instrument 11
0 on the touch panel display 64, the target image 9 from the wide-field image obtained by the wide-angle CCD camera element 88.
By simply specifying 0, automatic collimation is performed.

When recording an image relating to a measurement point on a recording medium (recording means) such as a memory, the image is picked up by a collimation CCD camera element 45 or a wide-angle CCD camera element 88, for example, as shown in FIG. When the image 31 is recorded in the memory, the superimposing device 62 records the work content, the date and time, the measuring point number, the horizontal angle, the vertical angle, and the oblique distance as the surveying information 32 by the surveying by the surveying instrument 110. This makes it possible to record the image 31 regarding the measurement point and the survey information 32 regarding the measurement point in association with each other without separately preparing a camera in addition to the image pickup device to photograph the measurement target 100, and to record the information regarding the survey. The effort for recording can be saved. Note that FIG.
Is the image 31 captured by the image pickup device and the surveying information 32, which are recorded in the memory in an overlapping manner and then output as an image on paper. Reference numeral 104 indicates the measurement data when the target and the target in the center of the image are measured. The included survey information 32 is displayed in the lower right portion of the image 31 at a position that does not interfere with image recognition.

Further, when recording the information on the surveying, the surveying information may be recorded together with the image information on the condition that the surveying information fluctuates, or a still image may be taken before and after the surveying to obtain a moving image. It is also possible to record the image information regarding the information together with the survey information. In this case, the surveying instrument 110 constitutes the surveying information generating means and the image information producing means, and the surveying controller 65 constitutes the variation detecting means for detecting the variation of the surveying information.

In the above embodiment, the case where the measurement controller 65 side records the information regarding the survey is described.
The surveying instrument 110 can also record information regarding surveying. For example, information can be recorded in a memory built in the CPU or a memory connected to the input / output device 66. In this case, the surveying instrument 110 constitutes the surveying information generating means, the image information generating means, and the variation detecting means for detecting the variation in the surveying information.

[0060]

As is apparent from the above description, according to the first aspect, the surveying information is recorded together with the image information when the surveying is performed on the measurement point. There is no need to prepare and photograph the measurement points, and it is possible to save the trouble of recording the information regarding the survey.

According to the second aspect, when the surveying information on the measurement point is varied, the surveying information is changed,
Since the survey information is recorded together with the image information,
It is not necessary to prepare a camera separately from the imaging device to take a picture of the measurement point, and it is possible to save the labor for recording the information regarding the survey. That is, in the past, when measuring the same point, only one picture of the survey site is required, but if the location of the survey point changes or the position of the measurement point changes due to disturbance, etc., the photograph after the change is also necessary. I had to take a picture of the survey site, but I didn't have to do that.

According to the third aspect of the present invention, when the surveying on the measuring point is performed, the surveying information before and after the surveying is recorded together with the image information on the moving image. Therefore, a camera is prepared separately from the image pickup device to measure the measuring point. No need to take a photo,
It is possible to save the trouble of recording the information regarding the survey.

According to the fourth aspect, when the surveying information is varied when the surveying is performed on the measuring point,
Since the surveying information is recorded together with the image information about the moving image, it is not necessary to prepare a camera separately from the image pickup device to take a picture of the measurement point, and it is possible to save the trouble for recording the information about the surveying.

According to the fifth and sixth aspects, the target can be visually recognized even when the area is dark, so that the target can be measured and
Since image information (target) can be recorded together with surveying information, it can be used even at night or in dark conditions such as in tunnels.

[0065]

[Brief description of drawings]

FIG. 1 is a block diagram of an entire surveying instrument that is an embodiment of the present invention.

FIG. 2 is a diagram illustrating an optical system and an automatic collimation device of the surveying instrument.

FIG. 3 is a rear view of the surveying instrument.

FIG. 4 is a diagram illustrating a cross-shaped line sensor.

FIG. 5 is a diagram showing a method of measuring the position of each part of the measurement object.

FIG. 6 is a diagram showing an image obtained by a wide-angle camera optical system of the surveying instrument.

FIG. 7 is a diagram showing an image obtained by the wide-angle camera optical system after preliminary collimation using the image obtained by the wide-angle camera optical system in the surveying instrument.

FIG. 8 is a diagram showing an image obtained by the collimation camera optical system after automatic collimation is performed by the surveying instrument using the image obtained by the collimation camera optical system.

FIG. 9 is a flowchart illustrating a procedure for measuring the position of a measurement point by the surveying instrument.

FIG. 10 is a diagram showing the widest-angle image obtained by the wide-angle camera optical system before starting the automatic collimation of the surveying instrument.

11 is a diagram showing horizontal deviation and vertical deviation from the center of the reticle line of the center of the target of the measurement point in FIG.

FIG. 12 shows the wide-angle camera optical system in the widest angle state,
It is a figure showing the middle of moving a target in the collimation axis direction.

FIG. 13 shows the widest angle state of the wide angle camera optical system,
It is a figure which shows the state which made the center of a target and the collimation axis correspond.

FIG. 14 is a diagram showing a state in which the wide-angle camera optical system is slightly zoomed up during the preliminary collimation of the surveying instrument.

FIG. 15 is a diagram showing a state where the center of the target and the collimation axis are aligned with each other in a state where the wide-angle camera optical system is zoomed up in a small width.

FIG. 16 is a diagram showing an image captured by the collimation camera optical system immediately after switching to the collimation camera optical system.

FIG. 17 is a view showing an image captured by the collimation camera optical system, showing a state where the center of the target and the collimation axis are aligned with each other.

FIG. 18 is a diagram showing a display example when recording surveying information together with an image of a surveyed object.

[Explanation of symbols]

31 images 32 Survey information 46 Telescope 47 Collimation camera optical system (imaging device) 60 Image processing device 64 Touch panel display (display device) 65 Measurement controller 68 Touch pen (measuring point designation means) 89 Wide-angle camera optical system (imaging device) 90 Target image (measurement point) 104 Target (measurement point)

Claims (6)

[Claims] 1. A surveying information generating unit that generates surveying information by performing distance measurement and angle measurement on the measuring point when the measuring point is collimated by the collimating telescope, and the measuring point is collimated by the telescope. A surveying instrument comprising: an image information generating unit that captures an image of the measurement point to generate image information; and a recording unit that records the surveying information together with the image information. 2. A surveying information generating means for generating a surveying information by performing distance measurement and angle measurement on the measuring point when collimating the measuring point with the collimating telescope, and collimating the measuring point with the telescope. An image information generating unit that captures the measurement point to generate image information at the time, and a fluctuation detecting unit that detects a change in the surveying information generated by the surveying information generating unit,
A surveying instrument comprising recording means for recording the surveying information together with the image information in response to a detection output of the variation detecting means. 3. A surveying information generating unit for measuring and measuring the distance to and from the measuring point when collimating the measuring point with the collimating telescope, and collimating the measuring point with the telescope. Then, the surveying instrument comprises image information generating means for capturing the measurement point and generating image information regarding a moving image at the time of measurement, and recording means for recording the surveying information together with the image information regarding the moving image. . 4. A surveying information generating unit for measuring and measuring the distance to and from the measuring point when collimating the measuring point with the collimating telescope, and collimating the measuring point with the telescope. Image information generating means for imaging the measurement point to generate image information about a moving image, variation detecting means for detecting a variation in the survey information generated by the survey information generating means, and the variation detection A surveying instrument comprising recording means for recording the surveying information together with the image information on the moving image in response to the detection output of the surveying means. 5. The collimating telescope has an optical axis coaxial with or parallel to the optical axis (collimation axis) of the objective lens of the telescope.
The surveying instrument according to any one of claims 1 to 4, wherein a light source for reflecting target illumination set at a measurement point is incorporated. 6. The surveying instrument, wherein the light source for illuminating the reflection target is configured to blink at predetermined intervals.