JP2017062265A - Measurement device and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that a movement amount of an image generated by a telescope upon rotating the telescope by an operation of a fine motion screw largely varies in accordance with magnification of the telescope.SOLUTION: A measurement device 1 includes: a view angle value acquisition part 51 that acquires an angle of view of a telescope; and an operation amount correction part 52 that corrects a displacement amount of the telescope on the basis of the angle of view acquired by the view angle value acquisition part 51 such that a displacement amount of the telescope to rotation amounts of a horizontal fine motion screw and a vertical fine motion screw when the angle of view of the telescope is narrow is made smaller than that of the telescope to rotation amounts of the horizontal fine motion screw and the vertical fine motion screw when the angle of view of the telescope is wide.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a surveying apparatus and a program.

Conventionally, there is a surveying device that can change the magnification of a telescope as disclosed in Patent Document 1.
In such a surveying device, as disclosed in Patent Document 2, a fine movement screw for rotating the telescope around the horizontal axis and a main body supporting the telescope about the vertical axis are rotated. There are devices having a fine screw.

JP 2008-76105 A JP 2000-346647 A

  However, in the surveying instrument as described above, the rotation amount of the telescope is always constant according to the operation amount of each fine movement screw. For this reason, the amount of movement of the image produced by the telescope when the telescope is rotated by operating the fine adjustment screw changes greatly according to the magnification of the telescope, and it is difficult for the surveying instrument operator to perform collimation and other operations. There was a case.

  According to one aspect of the present invention, a surveying instrument includes a telescope that can rotate around a vertical axis and a horizontal axis of a surveying instrument, a horizontal rotation operation unit that can be operated by a user, and the horizontal rotation operation unit that is operated by a user. In response, the horizontal rotation drive unit that rotates the telescope around the vertical axis, the vertical rotation operation unit that can be operated by the user, and the operation of the vertical rotation operation unit by the user. A vertical rotation driving unit that rotationally drives the telescope around the horizontal axis, a detection unit that detects a zoom magnification set for the telescope, and a case where the user operates the horizontal rotation operation unit by a predetermined amount, When the first zoom magnification is detected by the detection unit, the horizontal rotation driving unit is controlled to rotate the telescope around the vertical axis by a first rotation amount, and the detection unit controls the first zoom. When a second zoom magnification higher than the rate is detected, the horizontal rotation driving unit is controlled to rotate the telescope around the vertical axis by a second rotation amount less than the first rotation amount, and the vertical rotation is performed by a user. When the rotation operation unit is operated by a predetermined amount, and the first zoom magnification is detected by the detection unit, the vertical rotation drive unit is controlled to rotate the telescope around the horizontal axis by a third rotation amount. When the second zoom magnification is detected by the detection unit, the vertical rotation drive unit is controlled to rotate the telescope around the horizontal axis by a fourth rotation amount smaller than the third rotation amount. And a section.

  According to one aspect of the present invention, the program detects the zoom magnification set for the telescope, and when the user operates the horizontal rotation operation unit by a predetermined amount, the detection step performs the first zoom magnification. Is detected, the horizontal rotation driving unit is controlled to rotate the telescope around the vertical axis of the surveying instrument by a first rotation amount, and a second zoom magnification higher than the first zoom magnification is detected by the detection step. When the horizontal rotation driving unit is controlled to rotate the telescope around the vertical axis by a second rotation amount smaller than the first rotation amount, and the vertical rotation operation unit is operated by a predetermined amount by the user. When the first zoom magnification is detected by the detecting step, a vertical rotation driving unit is configured to rotate the telescope for a third rotation amount around the horizontal axis of the surveying instrument. When the second zoom magnification is detected by the detecting step, the vertical rotation driving unit is controlled to rotate the telescope around the horizontal axis by a fourth rotation amount smaller than the third rotation amount. The control step is executed by a computer.

  According to one aspect of the present invention, a surveying device includes a wide-angle camera and a collimation camera having a field angle narrower than the field angle of the wide-angle camera, and is rotatable about the vertical axis and the horizontal axis of the surveying device. A telescope, a horizontal rotation operation unit that can be operated by the user, a horizontal rotation drive unit that rotates the telescope around the vertical axis in response to the user operating the horizontal rotation operation unit, and a user operation A vertical rotation operation unit capable of rotating the telescope around the horizontal axis in response to the user operating the vertical rotation operation unit, and the wide-angle camera and the collimation camera. When a predetermined amount of the detection unit that detects whether the image is captured by the camera and the horizontal rotation operation unit is operated by the user, the detection unit detects that the image is captured by the wide-angle camera. The horizontal rotation driving unit is controlled to rotate the telescope around the vertical axis by a first rotation amount, and when the detection unit detects that the collimating camera is picking up the image, the telescope is moved to the vertical axis. When the horizontal rotation driving unit is controlled to rotate around a shaft by a second rotation amount smaller than the first rotation amount and the vertical rotation operation unit is operated by a predetermined amount by a user, the detection unit causes the wide-angle camera to When it is detected that an image is being captured, the vertical rotation drive unit is controlled to rotate the telescope by a third rotation amount around the horizontal axis, and the collimation camera captures an image by the detection unit. And a control unit that controls the vertical rotation driving unit so as to rotationally drive the telescope around the horizontal axis by a fourth rotation amount that is smaller than the third rotation amount.

  According to one aspect of the present invention, a program detects a camera that is capturing an image with a wide-angle camera of a telescope and a collimation camera with a field angle narrower than a field angle of the wide-angle camera, and a user When the horizontal rotation operation unit is operated by a predetermined amount, when the detection step detects that an image is being captured by the wide-angle camera, the telescope is rotated about the vertical axis of the surveying device by a first rotation amount. When the horizontal rotation drive unit is controlled and the detection step detects that the collimating camera is picking up the image, the telescope rotates about the vertical axis by a second rotation amount smaller than the first rotation amount. The horizontal rotation drive unit is controlled to drive, and when the vertical rotation operation unit is operated by a predetermined amount by the user, it is detected that the image is captured by the wide angle camera by the detection step. The vertical rotation driving unit is controlled to rotate the telescope around the horizontal axis of the surveying instrument by a third rotation amount, and it is detected by the detection step that the image is captured by the collimating camera. In this case, the computer is caused to execute a control step of controlling the vertical rotation driving unit so as to rotationally drive the telescope around the horizontal axis by a fourth rotation amount smaller than the third rotation amount.

It is a figure which shows the structural example of the external appearance of the surveying apparatus which concerns on this embodiment. It is a block diagram which shows the structural example of a surveying apparatus. It is a block diagram which shows the structural example of a correction process part. It is a figure which shows an example of the view angle value map with which imaging camera selection information, zoom magnification value, and view angle value were matched. It is a figure which shows an example of the correction coefficient map with which the view angle value and the correction coefficient were matched. It is a flowchart which shows a series of processing examples from the detection of the rotation amount of a horizontal fine adjustment screw to the output of a horizontal direction rotation command value. It is a flowchart which shows a series of processing examples from the detection of the amount of rotations of a vertical fine adjustment screw to the output of a vertical direction rotation command value. It is a figure explaining the relationship between the movement of the display image of a display part according to the rotation amount of a horizontal fine adjustment screw, or a vertical fine adjustment screw, and an angle of view, and is a figure in case an angle of view is large. It is a figure explaining the relationship between the movement of the display image of a display part according to the rotation amount of a horizontal fine adjustment screw, or a vertical fine adjustment screw, and an angle of view, and is a figure in case an angle of view is small. It is a figure which shows an example of the correction coefficient map with which the zoom magnification value and the correction coefficient were matched.

Embodiments of the present invention will be described with reference to the drawings.
The surveying apparatus according to the present embodiment is, for example, a total station (hereinafter referred to as TS) in which a telescope is rotatable around two orthogonal axes. Here, examples of the TS include a manual TS (that is, MTS) that is manually operated, a motor-driven TS (that is, an STS) that automatically operates by motor driving, and the like. In addition, the motor-driven TS automatically tracks a moving target or an automatic collimating TS that has a function of automatically collimating a target (for example, a reflecting prism) that is a survey target in the field of view of the telescope. There is an automatic tracking TS having a function to perform. For example, in automatic tracking TS, surveying by one worker can be realized.
The surveying apparatus according to the present embodiment is configured as any one of the TSs as described above.

(Constitution)
FIG. 1 is a diagram illustrating a configuration example of an appearance of a surveying apparatus 1 according to the present embodiment.
As shown in FIG. 1, the surveying device 1 is installed on a tripod (not shown) via a leveling device 2. The leveling device 2 is disposed between the base 3 (or the bottom plate) 3 mounted on the tripod, the mounting portion 4 to which the surveying device 1 is mounted, the base 3 and the mounting portion 4, and the mounting portion 4 with respect to the base 3. And a leveling screw 5 for adjusting the degree of inclination. For example, the operator adjusts the leveling screw 5 of the leveling device 2 before the start of the surveying work so that, for example, the bubbles in the bubble tube forming the inclination detecting unit provided in the attachment unit 4 are in a predetermined position. To do.

Further, the surveying instrument 1 has a main body 6 that is rotatable about the first axis O ₁ with respect to the mounting portion 4. Surveying device 1 is adjusted attitude by leveling device 2, the axis O ₁ of the first is installed such that the vertical.
In addition, the surveying instrument 1 has a telescope 7 that is rotatable with respect to the main body 6 around a _second axis O ₂ perpendicular to the _first axis O ₁ . Since the telescope 7 can rotate with the main body 6 about the first axis O ₁ , the telescope 7 can freely rotate about the orthogonal first axis O ₁ and second axis O ₂ .

The surveying instrument 1 has a horizontal fine adjustment screw 23 for rotating the main body 6, that is, the telescope 7 around the first axis O ₁ (hereinafter, the direction of the rotation is referred to as horizontal rotation). Yes. Further, the surveying instrument 1 has a vertical fine adjustment screw (not shown) for rotating the telescope 7 about the second axis O ₂ (hereinafter, the direction of the rotation is referred to as vertical rotation or vertical rotation). Have. The operator can rotate the horizontal fine adjustment screw 23 or the vertical fine adjustment screw to change the direction of the telescope 7 in the horizontal direction or the vertical direction.

  The telescope 7 is provided with a collimating telephoto lens (hereinafter referred to as a collimating lens) 8 and a wide-angle lens 9 as objective lenses. In the present embodiment, a wide angle lens 9 is provided above the collimation lens 8. Here, the collimating lens 8 constitutes a part of a collimating camera optical system (or telephoto camera optical system) 11 described later, and the wide-angle lens 9 constitutes a part of a wide-angle camera optical system 12 described later.

FIG. 2 is a block diagram illustrating a configuration example of the surveying apparatus 1.
As shown in FIG. 2, the surveying instrument 1 has a collimating camera optical system 11 (or simply referred to as a collimating camera) and a wide-angle camera optical system 12 (or simply referred to as a wide-angle camera) as internal structures. , Ranging unit 13, angle measuring unit 30, horizontal rotation motor driver 14, horizontal rotation motor 15, vertical rotation motor driver 16, vertical rotation motor 17, display unit 18, information input unit 19, input / output I / F ( Interface) 20, encoders 21 and 22, a storage unit 25, and a calculation unit 40.

The collimating camera optical system 11 includes a collimating lens 8 and a collimating CCD (Charge Coupled Device) (not shown). The collimation camera optical system 11 outputs a captured image captured by the collimation CCD via the collimation lens 8 to the calculation unit 40.
The wide-angle camera optical system 12 has a wide-angle lens 9 and a wide-angle CCD (not shown). The wide-angle camera optical system 12 outputs a captured image captured by the wide-angle CCD through the wide-angle lens 9 to the arithmetic unit 40.

The distance measuring unit 13 includes the telescope 7 as a part of the configuration, and measures the distance to a surveying object such as a target. Then, the distance measurement unit 13 outputs the measurement value to the calculation unit 40.
Here, generally, as a distance measuring method, there are a prism method using a reflector such as a reflecting prism and a non-prism method not using a reflecting prism. In the prism method, for example, the distance is measured from the time difference between irradiating the reflecting prism with laser light and receiving the reflected light. Here, as a thing provided with targets, such as a reflective prism, there exists a pole with a mirror, for example. Further, since the non-prism method does not use a reflecting prism and does not require a reflecting prism, the degree of freedom in surveying is higher than that of the prism method. That is, for example, in the non-prism method, it is possible to perform surveying from a remote place without entering the site. For example, in the present embodiment, the distance measurement unit 13 is configured using any one of these distance measurement methods.

  The angle measuring unit 30 includes a horizontal angle detecting unit 31 and a vertical angle detecting unit 32. The horizontal angle detector 31 detects the rotation angle (that is, the horizontal angle) of the main body 6 that rotates in the horizontal direction, that is, the telescope 7. The vertical angle detection unit 32 detects the rotation angle (that is, the vertical angle or altitude angle) of the telescope 7 that rotates in the vertical direction. The horizontal angle detection unit 31 and the vertical angle detection unit 32 output detection values to the calculation unit 40. For example, the horizontal angle detector 31 is a horizontal angle encoder, and the vertical angle detector 32 is a vertical angle encoder.

  The horizontal rotation motor 15 rotates the main body 6, that is, the telescope 7 in the horizontal direction according to the rotation amount of the horizontal fine adjustment screw 23. For this purpose, in the surveying instrument 1, the first encoder 21 detects the amount of rotation of the horizontal fine adjustment screw 23. Then, the first encoder 21 outputs the detection value to the calculation unit 40. The calculation unit 40 outputs a horizontal direction rotation command value corresponding to the detection value of the first encoder 21 to the horizontal rotation motor driver 14. The horizontal rotation motor driver 14 drives the horizontal rotation motor 15 according to the horizontal direction rotation command value.

  The vertical rotation motor 17 rotates the telescope 7 in the vertical direction according to the amount of rotation of the vertical fine adjustment screw 24. Therefore, in the surveying instrument 1, the second encoder 22 detects the amount of rotation of the vertical fine adjustment screw 24. Then, the second encoder 22 outputs the detection value to the calculation unit 40. The calculation unit 40 outputs a vertical direction rotation command value corresponding to the detection value of the second encoder 22 to the vertical rotation motor driver 16. The vertical rotation motor driver 16 drives the vertical rotation motor 17 in accordance with the vertical direction rotation command value.

In this embodiment, a process of correcting the amount of rotation of the telescope 7 with respect to the amount of rotation of the horizontal fine adjustment screw 23 or the vertical fine adjustment screw 24 (that is, the amount of displacement of the direction of the telescope 7) according to the angle of view is performed. This correction process will be described in detail later.
The display unit 18 displays various information as characters, graphics, and the like. The display unit 18 is, for example, a liquid crystal display. The display state of the display unit 18 is controlled by the calculation unit 40.

  The information input unit 19 is a part that is operated by a user to input information. For example, the information input unit 19 includes a push button switch such as a numeric keypad. In this embodiment, the information input unit 19 (for example, a camera selection key) can select an image using either the collimating camera optical system 11 or the wide-angle camera optical system 12. In the present embodiment, the information input unit 19 (for example, a zoom magnification setting key) can set a zoom magnification at the time of imaging by the collimating camera optical system 11. The information input unit 19 outputs various input information to the calculation unit 40.

The input / output I / F 20 is an interface for performing data communication with an external device. Here, examples of the external device include a personal computer and a data collector (electronic field book).
The storage unit 25 includes a ROM, a RAM, an HDD (Hard Disk Drive), and the like. The storage unit 25 stores various programs, fixed data, data acquired by the processing unit 40 through processing, and the like. The storage unit 25 stores design coordinate data created by, for example, CAD.

  The calculation unit 40 performs various processes for the surveying apparatus 1. For example, the calculation unit 40 includes a microcomputer and its peripheral circuits. In the present embodiment, as illustrated in FIG. 2, the calculation unit 40 includes a surveying control unit 41, an image processing unit 42, a correction processing unit 50, and a drive control unit 43.

  The surveying control unit 41 controls the distance measuring unit 13 and the angle measuring unit 30. The survey control unit 41 calculates a survey value based on the detection values of the distance measurement unit 13 and the angle measurement unit 30. Then, the survey control unit 41 displays the calculated survey value on the display unit 18. Here, the surveying control unit 41 can calculate the coordinate value of the collimated point (that is, the target) based on the surveyed distance, altitude angle, and horizontal angle.

The image processing unit 42 performs preset image processing on an image captured by the collimating camera optical system 11 and an image captured by the wide-angle camera optical system 12. Specifically, the image processing unit 42 performs digital zoom processing as one of image processing. In this case, the image processing unit 42 performs digital zoom processing on the image captured by the collimating camera optical system 11 based on the zoom magnification value input from the information input unit 19. The image processing unit 42 displays an image on the display unit 18 based on image data obtained by performing image processing on the captured image.
The correction processing unit 50 performs processing for correcting the rotation amount of the telescope 7 with respect to the rotation amount of the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24 according to the angle of view.

FIG. 3 is a block diagram illustrating a configuration example of the correction processing unit 50.
As illustrated in FIG. 3, the correction processing unit 50 includes an angle-of-view value acquisition unit 51 and an operation amount correction unit 52.
Here, the view angle value acquisition unit 51 acquires the view angle value of the image displayed on the display unit 18. Specifically, the angle-of-view value acquisition unit 51 includes imaging camera selection information indicating which one of the collimating camera optical system 11 and the wide-angle camera optical system 12 is used for imaging, and the collimating camera optical system 11. The angle-of-view value is acquired based on the zoom magnification value at the time of image pickup by. That is, for example, when the imaging camera selection information indicates that imaging by the collimating camera optical system 11 is being performed, the angle-of-view value acquisition unit 51 has a smaller (that is, narrower) image than that during imaging by the wide-angle camera optical system 12. Get the angle value. Further, the angle-of-view value acquisition unit 51 acquires a smaller angle-of-view value as the zoom magnification value is larger during imaging by the collimating camera optical system 11.

FIG. 4 shows an example of an angle-of-view value map for acquiring the angle-of-view value based on the imaging camera selection information and the zoom magnification value.
As shown in FIG. 4, in the field angle value map, the field angle value is smaller during imaging with the collimating camera optical system 11 than during imaging with the wide angle camera optical system 12. In the field angle value map, the field angle value decreases as the zoom magnification increases. For example, this field angle value map is stored in the storage unit 25. The view angle value acquisition unit 51 refers to the view angle value map shown in FIG. 4 and acquires the view angle value corresponding to the imaging camera selection information and the zoom magnification value. Then, the angle-of-view value acquisition unit 51 outputs the acquired angle-of-view value to the operation amount correction unit 52.

  The operation amount correction unit 52 detects the amount of rotation of the horizontal fine adjustment screw 23 or the vertical fine adjustment screw 24 according to the angle of view value acquired by the angle of view value acquisition unit 51, that is, the amount of rotation by the first and second encoders 21 and 22. Correct the value. Specifically, the operation amount correction unit 52 performs correction to decrease the rotation amount detection values of the first and second encoders 21 and 22 as the angle of view value is smaller. For example, the operation amount correction unit 52 multiplies the correction coefficient that changes according to the angle of view value and the rotation amount detection values of the first and second encoders 21 and 22 to thereby multiply the first and second encoders 21 and 22. The rotation amount detection value is corrected.

FIG. 5 shows an example of a correction coefficient map in which the angle of view value and the correction coefficient are associated with each other.
As shown in FIG. 5, in the correction coefficient map, the correction coefficient increases proportionally as the field angle value increases. For example, this correction coefficient map is stored in the storage unit 25. The operation amount correction unit 52 refers to the correction coefficient map shown in FIG. 5 and acquires a correction coefficient corresponding to the angle of view value. Thus, the operation amount correction unit 52 multiplies the acquired correction coefficient by the rotation amount detection values of the first and second encoders 21 and 22, thereby detecting the rotation amount detection values of the first and second encoders 21 and 22. Perform the correction. Then, the operation amount correction unit 52 outputs the corrected rotation amount detection value to the drive control unit 43.

  The drive control unit 43 calculates a horizontal direction rotation command value and a vertical direction rotation command value according to the rotation amount detection values of the horizontal fine movement screw 23 and the vertical fine movement screw 24 from the operation amount correction unit 52. Then, the drive control unit 43 outputs the calculated horizontal direction rotation command value to the horizontal rotation motor driver 14 or outputs the calculated vertical direction rotation command value to the vertical rotation motor driver 16.

  Next, a series of processing from the detection of the rotation amount of the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24 to the output of the horizontal direction rotation command value and the vertical direction rotation command value will be described. FIG. 6 shows a series of processing examples from the detection of the rotation amount of the horizontal fine adjustment screw 23 to the output of the horizontal direction rotation command value, and FIG. 7 shows the detection of the rotation amount of the vertical fine adjustment screw 24 to the vertical direction rotation command. A series of processing examples up to output of values will be shown.

  As shown in FIG. 6, first, in step S <b> 1, the correction processing unit 50 detects the amount of rotation of the horizontal fine adjustment screw 23. That is, the correction processing unit 50 acquires the rotation amount detection value from the first encoder 21. In step S2, the angle-of-view value acquisition unit 51 acquires the angle-of-view value corresponding to the imaging camera selection information and the zoom magnification value using an angle-of-view value map or the like. Next, in step S3, the operation amount correction unit 52 acquires a correction coefficient corresponding to the angle-of-view value acquired in step S2 using a correction coefficient map or the like. Next, in step S4, the operation amount correction unit 52 corrects the rotation amount detection value by multiplying the correction coefficient acquired in step S3 by the rotation amount detection value acquired in step S1. In step S5, the drive control unit 43 calculates a horizontal rotation command value corresponding to the rotation amount detection value corrected in step S4. In subsequent step S6, the drive control unit 43 rotates the calculated horizontal rotation command value horizontally. Output to the motor driver 14.

  As shown in FIG. 7, first, in step S <b> 11, the correction processing unit 50 detects the amount of rotation of the vertical fine adjustment screw 24. That is, the correction processing unit 50 acquires the rotation amount detection value from the second encoder 22. In step S12, the angle-of-view value acquisition unit 51 acquires the angle-of-view value corresponding to the imaging camera selection information and the zoom magnification value using an angle-of-view value map or the like. Next, in step S13, the operation amount correction unit 52 acquires a correction coefficient corresponding to the angle-of-view value acquired in step S12 using a correction coefficient map or the like. Next, in step S14, the operation amount correction unit 52 corrects the rotation amount detection value by multiplying the correction coefficient acquired in step S13 by the rotation amount detection value detected in step S11. In step S15, the drive control unit 43 calculates a vertical direction rotation command value corresponding to the rotation amount detection value corrected in step S14, and in the subsequent step S16, the calculated vertical direction rotation command value is vertically rotated. Output to the motor driver 16.

(Operation, action, etc.)
Next, an example of operation | movement, an effect | action, etc. of the surveying instrument 1 in surveying work is demonstrated.
The surveying apparatus 1 displays the image captured by the collimating camera or the wide-angle camera on the display unit 18 based on the imaging camera selection information input from the information input unit 19 by the operator. At this time, the surveying apparatus 1 sets the zoom magnification of the collimation camera based on the zoom magnification value input from the information input unit 19 if the operator has selected to image with the collimation camera. In addition, when the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24 are rotated by the operator, the surveying apparatus 1 rotates the telescope 7 in the horizontal direction or the vertical direction according to the rotation operation.

For example, when an operator performs imaging with a collimating camera after imaging with a wide-angle camera, the surveying apparatus 1 operates as follows.
When the imaging camera selection information for selecting a wide-angle camera is input from the information input unit 19, the surveying apparatus 1 displays an image captured by the wide-angle camera on the display unit 18. Then, when the operator rotates the horizontal fine screw 23 and the vertical fine screw 24 so that the target of the measurement object moves in the vicinity of the center of the reticle line in the screen of the display unit 18, the surveying instrument 1 rotates the rotation. The telescope 7 is rotated in the horizontal direction or the vertical direction according to the operation.

  Thereafter, when the imaging camera selection information for selecting the collimating camera is input from the information input unit 19, the surveying apparatus 1 displays an image captured by the collimating camera on the display unit 18. At this time, the surveying apparatus 1 displays the captured image on the display unit 18 at a zoom magnification according to the zoom magnification value input from the information input unit 19. When the operator rotates the horizontal fine adjustment screw 23 or the vertical fine adjustment screw 24 so that the target coincides with the center of the reticle line in the screen of the display unit 18, the surveying instrument 1 responds to the rotation operation with the telescope. 7 is rotated horizontally or vertically.

  In the operation as described above, the surveying instrument 1 corrects the detection value of the rotation amount of the horizontal fine screw 23 according to the angle of view currently being imaged, and the telescope 7 (or only the horizontal angle corresponding to the corrected detection value). The main body 6) is rotated in the horizontal direction. Further, the surveying instrument 1 corrects the detected value of the rotation amount of the vertical fine adjustment screw 24 according to the angle of view currently being imaged, and rotates the telescope 7 in the vertical direction by the vertical angle corresponding to the corrected detected value. Yes.

  Here, the relationship between the movement of the display image of the display unit 18 according to the rotation amount of the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24 and the angle of view will be described with reference to FIGS. FIG. 8 shows a case where the angle of view is large, for example, when the image is being captured by a wide-angle camera or when the image is being captured at a low zoom magnification by a collimating camera. FIG. 9 shows a case where the angle of view is small, for example, when imaging with a collimating camera (especially during imaging with a high zoom magnification).

  As shown in FIGS. 8 and 9, the amount of movement of the display image 100 on the display unit 18 when the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24 are rotated to change the direction of the telescope 7 (that is, the subject becomes the subject). The amount of movement of the display image of the target 101 and the like is always the same value with respect to the rotational operation amount of the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24 even if the angle of view is different.

  In the description of the above-described embodiment, the base 3 and the attachment portion 4 constitute a base portion, for example. Further, the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24 constitute, for example, an operation unit. Moreover, the 1st and 2nd encoders 21 and 22 comprise a detection part, for example. Moreover, the drive control part 43 comprises a displacement control part, for example. Moreover, the operation amount correction | amendment part 52 comprises a correction | amendment part, for example. The angle-of-view value acquisition unit 51 configures an acquisition unit, for example. The collimating camera optical system 11 constitutes, for example, a first optical system, and the wide-angle camera optical system 12 constitutes, for example, a second optical system.

(Modification of this embodiment)
In the present embodiment, the amount of movement of the image on the display unit 18 when the direction of the telescope 7 is changed does not differ even if the angle of view of the telescope 7 is different (that is, the display unit regardless of the angle of view of the telescope 7). The amount of displacement of the direction of the telescope 7 with respect to the amount of rotational operation of the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24 is controlled so that the movement amount of the 18 images is always the same. On the other hand, in the present embodiment, when the angle of view of the telescope 7 is different, the amount of movement of the image on the display unit 18 when the orientation of the telescope 7 is changed (strictness to be the same). The amount of displacement of the direction of the telescope 7 relative to the amount of rotational operation of the horizontal fine adjustment screw 23 or the vertical fine adjustment screw 24 can be controlled so that it does not change significantly. That is, in the present embodiment, the amount of movement of the image on the display unit 18 when the angle of view of the telescope 7 is narrow is smaller than the amount of movement of the image of the display unit 18 when the angle of view of the telescope 7 is wide. It is sufficient to control the amount of displacement in the direction.

  In the present embodiment, the correction coefficient is acquired from the imaging camera selection information and the zoom magnification value using the angle-of-view value map and the correction coefficient map. However, the present embodiment is not limited to this. For example, the calculation unit 40 can acquire the correction coefficient from the imaging camera selection information and the zoom magnification value using a preset calculation formula.

  In this embodiment, the rotation amount of the telescope 7 is corrected with respect to the rotation amounts of the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24 based on the angle of view value. However, the present embodiment is not limited to this. For example, in the present embodiment, the rotation amount of the telescope 7 with respect to the rotation amounts of the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24 can be corrected based on the zoom magnification value. In this case, the calculation unit 40 calculates a correction coefficient for correcting the rotation amount detection values of the first and second encoders 21 and 22 based on the zoom magnification value.

Here, FIG. 10 shows an example of a correction coefficient map in which the zoom magnification value and the correction coefficient are associated with each other.
As shown in FIG. 10, in the correction coefficient map, the correction coefficient decreases as the zoom magnification value increases. The calculation unit 40 refers to the correction coefficient map shown in FIG. 10 and acquires a correction coefficient corresponding to the zoom magnification value. Thus, the calculation unit 40 multiplies the acquired correction coefficient by the rotation amount detection values of the first and second encoders 21 and 22 to correct the rotation amount detection values of the first and second encoders 21 and 22. I do.

  In the present embodiment, the rotation amount of the telescope 7 can be corrected with respect to the rotation amounts of the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24 based on the angle of view value and the zoom magnification value without any correction coefficient. . In this case, for example, the calculation unit 40 uses the preset calculation formula to calculate the correction values of the rotation amount detection values of the first and second encoders 21 and 22 based on the angle of view value and the zoom magnification value. calculate.

  In the present embodiment, the horizontal fine adjustment screw 23 or vertical fine adjustment screw 24 or the vertical fine adjustment screw 24 is corrected by correcting the rotation amount (that is, the rotation detection value of each encoder 21, 22) based on the angle of view. The rotation amount of the telescope 7 with respect to the rotation amount of the vertical fine movement screw 24 is corrected according to the angle of view. However, the present embodiment is not limited to this. That is, for example, in this embodiment, the amount of rotation of the telescope 7 with respect to the amount of rotation of the horizontal fine adjustment screw 23 or the vertical fine adjustment screw 24 can also be corrected by correcting the horizontal direction rotation command value or the vertical direction rotation command value based on the angle of view value. Correction can be realized according to the angle of view. Further, in the present embodiment, the correction of the gains of the horizontal rotation motor driver 14 and the vertical rotation motor driver 16 based on the angle of view value can also be used for the telescope 7 with respect to the rotation amount of the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24. It is possible to correct the rotation amount according to the angle of view.

In the present embodiment, the amount of rotation of the telescope 7 with respect to the amount of rotation of the horizontal fine adjustment screw 23 or the vertical fine adjustment screw 24 can be corrected using both the angle of view value and the zoom magnification value.
In the present embodiment, the telescope may have only the collimating camera optical system 11 without the wide-angle camera optical system 12.

  Further, the present embodiment can also be applied to the case where the display unit 18 is not provided, that is, when an eyepiece (not shown) of the telescope 7 is looked into. Also in this case, for example, the calculation unit 40 is information on the objective lens used by the operator among the collimation lens 8 and the wide-angle lens 9, and the zoom magnification when the collimation lens 8 is used for the operation. Gets the angle of view based on the value.

  In the present embodiment, the display unit (for example, touch panel) 18 and the information input unit 19 can be provided with the functions of the horizontal fine adjustment screw 23 and the vertical fine adjustment screw 24. In this case, the calculation unit 40 corrects the information about the operation amount in the horizontal direction and the vertical direction of the telescope 7 input from the display unit (for example, touch panel) 18 or the information input unit 19 based on the angle of view value.

In the present embodiment, the surveying apparatus 1 includes a digital zoom, but can also include an optical zoom. In this case, the calculation unit 40 obtains the field angle value based on the zoom magnification value of the optical zoom.
In addition to the total station, this embodiment can be applied to theodolite.

  Moreover, in this embodiment, the process implement | achieved when the calculating part 40 performs the program memorize | stored in the memory | storage part 25 as said process by the surveying apparatus 1 is mentioned. In this case, the program may be stored in the storage unit 25 from the beginning of shipment of the surveying instrument 1, but from a storage medium that can be attached to and detached from the surveying instrument 1 by the work of an operator after shipment. It may be read and stored in the storage unit 25.

  Further, although the embodiments of the present invention have been specifically described, the scope of the present invention is not limited to the illustrated and described exemplary embodiments, and effects equivalent to those intended by the present invention. All embodiments that provide are also included. Further, the scope of the present invention is not limited to the combination of features of the invention defined by claim 1 but can be defined by any desired combination of specific features among all the disclosed features. .

  DESCRIPTION OF SYMBOLS 1 Surveying device, 7 Telescope, 21, 22 Encoder 23 Horizontal fine adjustment screw, 24 Vertical fine adjustment screw, 40 Calculation part, 43 Drive control part, 50 Correction process part, 51 Angle-of-view value acquisition part, 52 Manipulation amount correction part

According to one aspect of the present invention, a surveying instrument includes a telescope that can rotate around a vertical axis and a horizontal axis of a surveying instrument, a horizontal rotation operation unit that can be operated by a user, and the horizontal rotation operation unit that is operated by a user. In response, the horizontal rotation drive unit that rotates the telescope around the vertical axis, the vertical rotation operation unit that can be operated by the user, and the operation of the vertical rotation operation unit by the user. A vertical rotation driving unit that rotates the telescope around the horizontal axis, a setting unit that sets a zoom magnification, and a horizontal rotation operation unit that is operated by a user. The amount of horizontal rotation of the telescope about the vertical axis is determined according to an arbitrary zoom magnification so that the amount of horizontal rotation of the telescope at When the horizontal rotation driving unit is controlled to rotate the telescope around the vertical axis, and the vertical rotation operation unit is operated by a user, the larger the zoom magnification, the higher the vertical rotation of the telescope around the horizontal axis. The vertical rotation amount of the telescope around the horizontal axis is determined according to an arbitrary zoom magnification so that the amount is small, and the telescope is rotated around the horizontal axis with the determined vertical rotation amount. And a control unit that controls the vertical rotation driving unit .

According to one aspect of the present invention, the program includes a setting step for setting a zoom magnification, and a horizontal rotation of the telescope around the vertical axis of the surveying instrument as the zoom magnification increases when the horizontal rotation operation unit is operated by the user. The horizontal rotation amount of the telescope around the vertical axis is determined according to an arbitrary zoom magnification so that the amount is small, and the telescope is driven to rotate around the vertical axis with the determined horizontal rotation amount. When the horizontal rotation driving unit is controlled and the vertical rotation operation unit is operated by the user, an arbitrary zoom magnification is set such that the larger the zoom magnification is, the smaller the vertical rotation amount of the telescope around the horizontal axis of the surveying device is The amount of vertical rotation of the telescope about the horizontal axis is determined according to the rotation amount, and the telescope is rotated about the horizontal axis by the determined amount of vertical rotation. It is executed a control step for controlling the vertical rotation driving unit to dynamic in the computer and said.

Claims (9)

A telescope capable of rotating around the vertical and horizontal axes of the surveying instrument;
A horizontal rotation operation unit operable by the user;
A horizontal rotation driving unit that drives the telescope to rotate about the vertical axis in response to the user operating the horizontal rotation operation unit;
A vertical rotation operation unit operable by the user;
A vertical rotation driving unit that rotates the telescope around the horizontal axis in response to the user operating the vertical rotation operation unit;
A detection unit for detecting a zoom magnification set for the telescope;
When the user operates the horizontal rotation operation unit by a predetermined amount, when the first zoom magnification is detected by the detection unit, the horizontal rotation drive is performed so that the telescope is rotated about the vertical axis by a first rotation amount. And when the second zoom magnification higher than the first zoom magnification is detected by the detection unit, the telescope is rotated about the vertical axis by a second rotation amount smaller than the first rotation amount. When the horizontal rotation driving unit is controlled and the vertical rotation operation unit is operated by a predetermined amount by the user, when the first zoom magnification is detected by the detection unit, the telescope is moved around the horizontal axis. The vertical rotation driving unit is controlled to rotate and rotate, and when the second zoom magnification is detected by the detection unit, the telescope is rotated around the horizontal axis by a number smaller than the third rotation amount. Surveying device, characterized in that it comprises a control unit for controlling the vertical rotation driving unit to drive the rotation amount rotation. The surveying instrument according to claim 1,
The telescope has a wide-angle camera and a collimation camera having an angle of view narrower than the angle of view of the wide-angle camera,
The detection unit detects whether the wide-angle camera or the collimation camera is capturing an image,
The control unit moves the telescope around the vertical axis when the detection unit detects that the horizontal rotation operation unit is operated by a predetermined amount and when the detection unit detects that the image is captured by the wide-angle camera. The horizontal rotation drive unit is controlled to rotate and drive a fifth rotation amount that is greater than one rotation amount, and when the image is captured by the collimating camera and the first zoom magnification is detected by the detection unit, When the horizontal rotation driving unit is controlled to rotationally drive the telescope around the vertical axis by the first rotation amount, and when the collimating camera is picked up by the detection unit and the second zoom magnification is detected Controls the horizontal rotation driving unit to rotate the telescope about the vertical axis by the second rotation amount, and when the user operates the vertical rotation operation unit by a predetermined amount, the detection unit When it is detected that the image is picked up by the wide-angle camera, the vertical rotation driving unit is controlled to rotate the telescope around the horizontal axis by a sixth rotation amount larger than the third rotation amount, and the detection And when the first zoom magnification is detected by the unit, the vertical rotation driving unit is controlled to rotate the third rotation amount around the horizontal axis by the third rotation amount. The vertical rotation driving unit is configured to rotationally drive the telescope around the horizontal axis by the fourth rotation amount when the detection unit detects that the collimating camera is capturing an image and the second zoom magnification is detected. Surveying device, characterized by controlling In the surveying instrument according to claim 1 or 2,
The horizontal rotation operation unit is a horizontal fine adjustment screw that can be rotated by a user,
The vertical rotation operation unit is a vertical fine movement screw that can be rotated by a user,
A first encoder for detecting a rotation amount of the horizontal fine screw;
A surveying apparatus, further comprising: a second encoder that detects a rotation amount of the vertical fine screw. In the surveying instrument according to any one of claims 1 to 3,
The horizontal rotation drive unit is a horizontal rotation motor that drives the telescope to rotate about the vertical axis in response to an operation of the horizontal rotation operation unit by a user.
The surveying apparatus according to claim 1, wherein the vertical rotation driving unit is a vertical rotation motor that rotates the telescope around the horizontal axis in response to the user operating the vertical rotation operation unit. In the surveying instrument according to any one of claims 1 to 4,
The surveying device characterized in that the zoom magnification is a zoom magnification of digital zoom. In the surveying instrument according to any one of claims 1 to 5,
A display unit for displaying an image based on image data generated by imaging with the telescope;
When the user operates the horizontal rotation operation unit by a predetermined amount, the control unit displays the display unit before and after the telescope rotates around the vertical axis regardless of the zoom magnification detected by the detection unit. When the first zoom magnification is detected by the detector so that the amount of movement of the displayed images is the same, the horizontal rotation is performed so that the telescope is rotated about the vertical axis by the first rotation amount. When the driving unit is controlled and the second zoom magnification is detected by the detection unit, the horizontal rotation driving unit is controlled to rotate the second rotation amount around the vertical axis by the user, and When the vertical rotation operation unit is operated by a predetermined amount, the display unit before and after the telescope rotates around the horizontal axis regardless of the zoom magnification detected by the detection unit. When the first zoom magnification is detected by the detection unit, the vertical rotation is performed so that the telescope is rotated about the horizontal axis by the third rotation amount so that the movement amounts of the displayed images are the same. The driving unit is controlled, and when the second zoom magnification is detected by the detection unit, the vertical rotation driving unit is controlled to rotationally drive the telescope around the horizontal axis by the fourth rotation amount. Surveying device. A detection step for detecting a zoom magnification set for the telescope;
When the user operates the horizontal rotation operation unit by a predetermined amount, when the first zoom magnification is detected by the detection step, the rotation of the telescope is driven to rotate around the vertical axis of the surveying instrument by the first rotation amount. And when the second zoom magnification higher than the first zoom magnification is detected by the detection step, the telescope is rotated about the vertical axis by a second rotation amount smaller than the first rotation amount. When the horizontal rotation driving unit is controlled and the vertical rotation operation unit is operated by a predetermined amount by the user, and when the first zoom magnification is detected by the detection step, the telescope is moved around the horizontal axis of the surveying instrument. The vertical rotation driving unit is controlled to rotate the third rotation amount, and when the second zoom magnification is detected by the detection step, the telescope is moved forward about the horizontal axis. A program characterized by executing a control step of controlling the vertical rotation driving unit to drive the third fourth rotational amount smaller than the rotation amount of rotation to the computer. A telescope having a wide-angle camera and a collimating camera having an angle of view narrower than the angle of view of the wide-angle camera, and rotatable about the vertical axis and the horizontal axis of the surveying instrument;
A horizontal rotation operation unit operable by the user;
A horizontal rotation driving unit that drives the telescope to rotate about the vertical axis in response to the user operating the horizontal rotation operation unit;
A vertical rotation operation unit operable by the user;
A vertical rotation driving unit that rotates the telescope around the horizontal axis in response to the user operating the vertical rotation operation unit;
A detection unit for detecting whether the wide-angle camera or the collimation camera is capturing an image;
When the user operates the horizontal rotation operation unit by a predetermined amount, when the detection unit detects that the image is being captured by the wide-angle camera, the telescope is rotated about the vertical axis by a first rotation amount. A second rotation amount less than the first rotation amount about the vertical axis when the horizontal rotation drive unit is controlled and the detection unit detects that the collimating camera is picking up the image. When the horizontal rotation driving unit is controlled to rotate and the vertical rotation operation unit is operated by a predetermined amount by the user, and the detection unit detects that the image is being captured by the wide-angle camera, the telescope The vertical rotation driving unit to rotate the third rotation amount around the horizontal axis, and when the detection unit detects that the collimating camera is picking up the telescope, Surveying device, characterized in that it comprises a control unit for controlling the vertical rotation driving unit such that the fourth driving rotation amount rotation less than the third rotation amount around the flat axis. A detection step of detecting which of the wide-angle camera of the telescope and the collimating camera with a narrower angle of view than the angle of view of the wide-angle camera,
When the user operates the horizontal rotation operation unit by a predetermined amount, when the detection step detects that the wide-angle camera is capturing an image, the telescope is rotated about the vertical axis of the surveying device by the first rotation amount. A second rotation amount less than the first rotation amount about the vertical axis when the horizontal rotation drive unit is controlled to detect that the collimating camera is picking up an image by the detection step. When the horizontal rotation drive unit is controlled to rotate and the vertical rotation operation unit is operated by a predetermined amount by the user, when the detection step detects that the image is being captured by the wide-angle camera, the telescope is The vertical rotation drive unit was controlled to rotate and rotate the third rotation amount around the horizontal axis of the surveying instrument, and it was detected that the collimation camera was picking up the image by the detection step. Huang, program characterized by executing a control step of controlling said vertical rotation driving unit as the telescope for driving the third fourth rotational amount smaller than the rotation amount of rotation about said horizontal axis to the computer.