JP2017223541A - Laser scanner - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a laser scanner that can allow both measurement work and survey setting work for three-dimensional point group data acquisition.SOLUTION: The laser scanner comprises: a distance measuring light emitting part that emits distance measuring light; a distance measuring part that performs distance measurement based on the light reception result of reflected distance measuring light; a pointer light emitting part that emits laser pointer light in known relation with the distance measuring light; an angle measuring part that detects an emission direction of the distance measuring light; a telescope part 9 that includes the distance measuring light emitting part, the distance measuring part, and the pointer light emitting part, and can rotate in a horizontal direction and a vertical direction; a rotational drive part that rotates the telescope part 9; and a control arithmetic part 17 that includes a storage part storing drawing data having the known coordinate system. The control arithmetic part 17 is configured such that the distance measuring light is rotationally emitted within a required range, three-dimensional point group data is acquired based on distance measurement result and direction angle detection result for each distance measuring light, the three-dimensional point group data is matched with the drawing data based on a measurement result of a point common to the three-dimensional point group data and the drawing data, and a survey setting point specified on the drawing data is irradiated with the laser pointer light.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a laser scanner that rotates and irradiates ranging light and acquires three-dimensional point cloud data.

  Conventionally, a three-dimensional laser scanner is known as a surveying device for acquiring a large number of three-dimensional data (3D data, three-dimensional point cloud data) of a measurement object in a short time.

  The three-dimensional laser scanner is installed on a tripod, rotates and irradiates pulse light via a scanning unit, scans the measurement object, and performs distance measurement and angle measurement for each pulse light. Dimension data is acquired.

  However, since the three-dimensional laser scanner is configured to rotate and irradiate the pulsed light while rotating the scanning unit at a high speed, it is difficult to indicate a specific point such as an instruction of a measuring point.

  Therefore, when acquiring 3D point cloud data, measuring the shape of the object to be measured, and performing measurement work, in addition to the 3D laser scanner, irradiate laser pointer light to indicate the measurement point. A surveying device such as a total station was required.

JP 2015-125099 A

  The present invention provides a laser scanner capable of performing both a measurement work and a setting work for obtaining three-dimensional point cloud data.

  The present invention relates to a distance measuring light emitting unit that emits distance measuring light, a distance measuring unit that performs distance measurement based on a light reception result of reflected distance measuring light, and a pointer that emits laser pointer light in a known relationship with the distance measuring light. A light emitting unit, an angle measuring unit that detects an emitting direction of the distance measuring light, a distance measuring light emitting unit, the distance measuring unit, a telescope unit that includes the pointer light emitting unit and is rotatable in a horizontal direction and a vertical direction, A rotation drive unit that rotates the telescope unit, and a control calculation unit that includes a storage unit that stores drawing data having a known coordinate system, and the control calculation unit transmits the distance measuring light within a required range. Rotate irradiation, acquire three-dimensional point cloud data based on the distance measurement results and direction angle detection results for each distance measuring light, and obtain the measurement results of points common to the three-dimensional point cloud data and the drawing data. Based on the drawing data, the 3D point cloud data is matched with the drawing data. Those of the laser scanner that is configured as to irradiate the laser pointer light for a given survey setting point.

  According to the present invention, the laser pointer light is coaxial with the distance measuring light, the telescope unit is vertically rotated, and the control calculation unit is configured to detect the laser when the optical axis of the distance measuring light coincides with the measuring point. The present invention relates to a laser scanner that controls the pointer light emitting unit so that the pointer light is irradiated.

  Further, in the present invention, the laser pointer light is coaxial with the distance measuring light, the telescope unit is swung in the vertical direction, and the control calculation unit has the optical axis of the distance measuring light coincident with the measuring point. The present invention relates to a laser scanner that controls the pointer light emitting unit so that the laser pointer light is sometimes emitted.

  In the invention, it is preferable that the control calculation unit obtains the three-dimensional point group data by irradiation of the distance measuring light, and the laser pointer light when the optical axis of the distance measuring light coincides with the measuring point. The present invention relates to a laser scanner that simultaneously performs the irradiation.

  Furthermore, the present invention further includes an imaging unit provided on an imaging optical axis coaxial with the laser pointer light and the distance measuring light, and obtains a background image including an irradiation point of the laser pointer light by the imaging unit. This relates to a laser scanner that has been made possible.

  According to the present invention, the distance measuring light emitting unit that emits the distance measuring light, the distance measuring unit that measures the distance based on the reception result of the reflected distance measuring light, and the laser pointer light is irradiated with the distance measuring light in a known relationship. A pointer light emitting unit, an angle measuring unit for detecting an emitting direction of the distance measuring light, a telescope that includes the distance measuring light emitting unit, the distance measuring unit, and the pointer light emitting unit and is rotatable in a horizontal direction and a vertical direction. A rotation driving unit that rotates the telescope unit, and a control calculation unit that includes a storage unit that stores drawing data having a known coordinate system. Rotating and irradiating within a range, acquiring three-dimensional point cloud data based on the distance measurement result and direction angle detection result for each distance measuring light, and measuring points common to the three-dimensional point cloud data and the drawing data Based on the result, the three-dimensional point cloud data is matched with the drawing data. Since the laser pointer light is irradiated to the setting point designated on the monitor, both the measurement work and the setting work can be performed, and the versatility and workability can be improved. Exhibits an excellent effect of being able to.

1 is a schematic diagram of a laser scanner according to a first embodiment of the present invention. It is a schematic block diagram of this laser scanner. It is a block diagram which shows the optical system of the telescope part in this laser scanner. It is a flowchart explaining the instruction | indication process of the measuring point which concerns on 1st Example of this invention. It is a block diagram which shows the optical system of the telescope part which concerns on the 2nd Example of this invention.

  Embodiments of the present invention will be described below with reference to the drawings.

  First, the outline of the laser scanner 1 according to the first embodiment of the present invention will be described with reference to FIG.

  A tripod 2 is installed at a predetermined position, a leveling unit 3 is provided on the tripod 2, and a base unit 4 is provided on the leveling unit 3. A horizontal rotation drive unit 5 is accommodated in the base unit 4. The horizontal rotation drive unit 5 has a horizontal rotation shaft 6 extending vertically, and a frame portion 7 as a horizontal rotation unit is attached to the upper end of the horizontal rotation shaft 6.

  The rack portion 7 has a concave portion 8 in which a telescope portion 9 that is a vertical rotating portion is accommodated. The telescope unit 9 is rotatably supported by the rack unit 7 via a vertical rotation shaft 10. The telescope unit 9 is provided with a telescope (lens unit) 11 having a distance measuring optical axis, and the telescope unit 9 houses a distance measuring unit 16 (see FIG. 2) and the like.

  A vertical rotation drive unit 12 is accommodated in the rack portion 7, and the vertical rotation drive unit 12 is connected to the vertical rotation shaft 10 having a horizontal axis. The telescope unit 9 is rotated all around in the vertical direction by the vertical rotation drive unit 12. The vertical rotation shaft 10 is provided with a vertical angle detector 13 so that the rotation angle of the vertical rotation shaft 10 is detected by the vertical angle detector 13 and further the vertical angle of the vertical rotation shaft 10 is detected. It has become. In addition, a control calculation unit 17 is accommodated in the rack unit 7.

  The horizontal rotation drive unit 5 is connected to the horizontal rotation shaft 6 having a vertical axis, and the rack unit 7 is rotated in the horizontal direction by the horizontal rotation drive unit 5. Further, the horizontal rotation shaft 6 is provided with a horizontal angle detector 14, which detects the rotation angle of the rack part 7 and further detects the horizontal angle of the rack part 7. It is like. The vertical angle detector 13 and the horizontal angle detector 14 constitute a direction angle detector.

  Thus, the telescope unit 9 is rotated in two required directions in the vertical and horizontal directions by the rotation drive unit constituted by the horizontal rotation drive unit 5 and the vertical rotation drive unit 12. Further, the vertical angle and the horizontal angle are detected in real time by the vertical angle detector 13 and the horizontal angle detector 14.

  Next, referring to FIG. 2, an outline of the configuration of the laser scanner 1 will be described.

  In FIG. 2, 17 is a control calculation unit, 18 is an angle measurement unit, 19 is a storage unit, 21 is an operation unit, and 22 is a display unit.

  The telescope unit 9 includes the telescope 11, the distance measuring light emitting unit 24, the distance measuring unit 16 that receives the reflected distance measuring light 25, and the pointer light emitting unit 27 that emits the laser pointer light 26. The distance measuring light emitting unit 24 emits distance measuring light (pulse laser beam) 23 on the distance measuring optical axis and is irradiated through the telescope 11. The pointer light emitting unit 27 emits the laser pointer light 26 on the distance measuring optical axis and is irradiated through the telescope 11.

  The distance measuring light emitting unit 24 emits the distance measuring light 23 as light emission is controlled by the control calculating unit 17. The distance measuring unit 16 measures the measurement point by obtaining the round trip time of the pulsed light for each pulse based on the light receiving signal when the reflected distance measuring light 25 reflected from the measurement point or the measurement object is received. Distance is performed (Time Of Flight). The distance measuring unit 16 can perform prism measurement using a measurement object as a retroreflector (for example, a prism) or non-prism measurement using a measurement object as a natural object. The pointer light emitting unit 27 emits the laser pointer light 26 in a pulsed manner at a predetermined timing, for example.

  A vertical angle detection signal from the vertical angle detector 13 is input to the angle measuring unit 18, and the angle measuring unit 18 calculates a vertical angle of the vertical rotation shaft 10 based on the vertical angle detection signal. Further, the horizontal angle detection signal from the horizontal angle detector 14 is input to the angle measuring unit 18, and the angle measuring unit 18 calculates the horizontal angle of the rack unit 7 based on the horizontal angle detection signal. A vertical angle and a horizontal angle are obtained for each distance measurement by the distance measuring light 23, and a direction angle for each measurement point with respect to the laser scanner 1 is obtained from the vertical angle and the horizontal angle.

  The control calculation unit 17 causes the vertical rotation driving unit 12 to rotate the telescope unit 9 in the vertical direction at a predetermined speed and at a high speed. Further, the control calculation unit 17 synchronizes the vertical rotation of the telescope unit 9 by the horizontal rotation driving unit 5 and horizontally rotates the mount unit 7 at a predetermined speed. The laser scan of the required range is executed by the cooperation of the vertical rotation and the horizontal rotation, and three-dimensional point group data of the required range can be acquired. Further, the control calculation unit 17 can set a measurement pitch (interval between measurement points) by setting a scanning speed and a repetition frequency of pulsed light emission, and the laser pointer light 26 by the pointer light emitting unit 27 can be set. Light emission timing can be set.

  The storage unit 19 stores various programs for operating the laser scanner 1. For example, a measurement program for performing distance measurement and angle measurement, a drive control program for controlling driving of the horizontal rotation driving unit 5 and the vertical rotation driving unit 12, and the distance measuring light by the distance measuring light emitting unit 24 A distance measuring light control program for controlling the light emission of 23, a laser pointer light control program for controlling the light emission of the laser pointer light 26 by the pointer light emitting unit 27, a measurement pitch setting program for setting a measurement pitch, A timing setting program for setting the emission timing of the laser pointer light 26, a matching program for matching measurement results with design drawing data, a display program for displaying various information on the display unit 22, and the like are stored.

  The storage unit 19 is provided with a data storage area for storing various data such as design drawing data (hereinafter referred to as drawing data) having a known coordinate system such as measurement data and absolute coordinates.

  From the operation unit 21, measurement conditions such as a measurement range and measurement density are input, and position data (for example, three-dimensional data) of a measuring point is input to the control calculation unit 17, or measurement start, measurement stop, etc. Command is input. The position data of the measuring point may be preset based on the drawing data and stored in the storage unit 19 together with the drawing data.

  The display unit 22 displays measurement conditions such as a measurement range and a measurement state, or displays measurement results and the like.

  Next, the optical system of the telescope unit 9 will be described with reference to FIG.

  As described above, the telescope unit 9 houses the lens unit (telescope) 11, the distance measuring light emitting unit 24, the distance measuring unit 16, the pointer light emitting unit 27, the internal reference light path 28, and the like. .

  The distance measuring light emitting unit 24 includes a light emitting unit 29, an optical path dividing member 31 such as a half mirror or a beam splitter, and a first beam splitter 32. The light emitting unit 29 is, for example, a semiconductor laser or the like, and emits a laser beam of infrared light which is invisible light on the distance measuring optical axis as the distance measuring light 23.

  The optical path dividing member 31 reflects part of the distance measuring light 23 and guides it to the internal reference optical path 28 as internal reference light 33. Further, the first beam splitter 32 has an optical characteristic of reflecting the distance measuring light 23 of invisible light and transmitting the laser pointer light 26 of visible light. The distance measuring light emitting unit 24 is controlled by the control calculation unit 17 so as to emit the distance measuring light 23 in a required state such as a required light intensity and a required pulse interval.

  The distance measuring unit 16 includes a second beam splitter 34, an optical path coupling unit 35, and a light receiving element 36. The second beam splitter 34 is, for example, a half mirror, and reflects part of the laser pointer light 26 of visible light and the distance measuring light 23 of invisible light, and transmits part of the reflected distance measuring light 25. Has optical properties. The optical path coupling unit 35 couples the reflected distance measuring light 25 that has passed through the second beam splitter 34 and the internal reference light 33 that has passed through the internal reference optical path 28 so that the light receiving element 36 receives the light. It has become.

  The light receiving element 36 converts the received reflected distance measuring light 25 and the internal reference light 33 into a reflected light receiving signal and an internal light receiving signal, and sends them to the control calculation unit 17. ing. The control calculation unit 17 obtains a light reception time difference between the reflected light reception signal and the internal light reception signal for each distance measuring light 23 and measures the distance based on the light reception time difference between the internal reference light 33 and the reflected distance measurement light 25. The distance to the light irradiation point (measurement point) is measured.

  The pointer light emitting unit 27 is, for example, a light emitting diode (LED), and emits the visible laser pointer light 26. The control arithmetic unit 17 drives the horizontal rotation driving unit 5, drives the vertical rotation driving unit 12, and detects the laser pointer light 26 based on the detection results of the vertical angle detector 13 and the horizontal angle detector 14. The timing of light emission is controlled.

  When the distance measuring light 23 is emitted from the light emitting unit 29 during the measurement operation, a part (most part) of the distance measuring light 23 passes through the optical path dividing member 31 and the first beam splitter. 32 is incident. The remaining portion of the distance measuring light 23 is reflected by the optical path dividing member 31 as the internal reference light 33 and guided to the distance measuring section 16 via the internal reference light path 28.

  The distance measuring light 23 reflected by the first beam splitter 32 is incident on the second beam splitter 34, and a part of the distance measuring light 23 is reflected by the second beam splitter 34, so that a light projecting lens, etc. To the lens unit 11 composed of the lens groups. The distance measuring light 23 transmitted through the first beam splitter 32 and the second beam splitter 34 is absorbed by an antireflection member (not shown).

  The distance measuring light 23 converted into a parallel light beam by the lens unit 11 is applied to a measurement range or a measurement object (not shown). Further, the telescope unit 9 is rotated about the vertical rotation axis 10, so that the distance measuring light 23 is rotated and irradiated in a vertical plane. Further, when the horizontal rotation driving unit 5 rotates the frame unit 7 in the horizontal direction, the distance measuring light 23 is rotated and irradiated in the horizontal direction around the horizontal rotation shaft 6. Accordingly, a predetermined range or the entire measurement range can be scanned with the distance measuring light 23 by the cooperation of the vertical rotation of the telescope unit 9 and the horizontal rotation of the rack unit 7.

  The distance measuring light 23 is scanned within the measurement range and is reflected by a measurement object existing within the measurement range. The reflected distance measuring light 25 is incident on the lens unit 11, partially transmitted through the second beam splitter 34, and guided to the distance measuring unit 16.

  The reflected distance measuring light 25 transmitted through the second beam splitter 34 is received by the light receiving element 36 through the optical path coupling unit 35. The internal reference light 33 that has passed through the internal reference optical path 28 is received by the light receiving element 36 through the optical path coupling unit 35.

  The control calculation unit 17 measures the distance to the distance measurement light irradiation point (measurement point) based on the difference in the light reception time between the reflected light reception signal and the internal light reception signal. Further, based on the distance to the measurement point, the vertical angle detected by the vertical angle detector 13 for each distance measuring light 23, and the horizontal angle detected by the horizontal angle detector 14, the control calculation unit 17 calculates the three-dimensional coordinates of the measurement point. By recording the three-dimensional coordinate value of the measurement point for each distance measuring light 23, three-dimensional point group data relating to the entire measurement range or for the measurement object can be obtained.

  Further, the laser pointer light 26 emitted from the pointer light emitting unit 27 passes through the first beam splitter 32 and is reflected by the second beam splitter 34. As a result, the optical axis of the laser pointer light 26 coincides with the optical axis of the distance measuring light 23, and the laser pointer light 26 is irradiated coaxially with the distance measuring light 23. Furthermore, the laser pointer light 26 is applied to any position in the entire measurement range by cooperation of the vertical rotation of the telescope unit 9 and the horizontal rotation of the rack unit 7.

  In order to perform the measuring work after the measurement work is completed, it is necessary to continuously irradiate the designated measuring point with the laser pointer light 26 and to instruct the operator of the measuring point.

  Next, with reference to the flowchart of FIG. 4, the acquisition of three-dimensional point cloud data and the setting point instruction processing using the laser scanner 1 will be described.

  STEP: 01 First, the laser scanner 1 is installed at an arbitrary position, and leveling is performed by the leveling unit 3.

  (Step 02) Next, the horizontal rotation drive unit 5 horizontally rotates the frame unit 7, the vertical rotation drive unit 12 vertically rotates the telescope unit 9, and the laser scanner 1 scans the measurement range. Acquire three-dimensional point cloud data of the measurement object.

  (Step 03) When the three-dimensional point cloud data is acquired, the control calculation unit 17 performs measurement having a known coordinate such as a prism provided at a known point or a bolt hole of a pipe from the measurement result. A point or the like is selected, and the installation position of the laser scanner 1 relative to the measurement object is made known based on the measurement result of the known point. Further, the position of the laser scanner 1 in the coordinate system (drawing coordinate system) of the drawing data is calculated based on the measurement result of the known point.

  In the case where the laser scanner 1 is provided close to two orthogonal wall surfaces, the laser scanner 1 is rotated all around in the horizontal direction to scan the wall surface, and the laser scanner 1 and each wall surface are Each distance may be obtained, and the position of the laser scanner 1 in the drawing coordinate system may be calculated based on the distance. Further, when the laser scanner 1 is installed at a reference point having known coordinates, the step of STEP: 03 can be omitted.

  (Step 04) Based on the position of the laser scanner 1 in the drawing coordinate system, the control calculation unit 17 matches the point cloud data with the drawing data, and converts the coordinates of the point cloud data into the drawing coordinate system.

  (Step 05) When a predetermined measuring point is designated based on the drawing data, the control calculation unit 17 converts the coordinates of the drawing point coordinate system of the measuring point into the coordinate system of the point group data. The control calculation unit 17 drives the horizontal rotation drive unit 5 to horizontally rotate the rack unit 7 and point the telescope unit 9 to the designated measuring point. When the horizontal direction of the telescope unit 9 coincides with the measuring point, the horizontal rotation driving unit 5 is stopped and the stopped state is maintained. Next, the control calculation unit 17 drives the vertical rotation driving unit 12 to vertically rotate the telescope unit 9 at a high speed and causes the pointer light emitting unit 27 to emit the laser pointer light 26 in pulses. In this case, it is preferable that the rotation speed be equal to or higher than the extent that an afterimage is maintained when the laser pointer light 26 is visually recognized.

  Here, the vertical angle of the telescope unit 9 when the telescope unit 9 is vertically rotated is always detected by the vertical angle detector 13. Based on the detection result of the vertical angle detector 13, the control calculation unit 17 is configured to emit the pointer light emitting unit so that the laser pointer light 26 is irradiated when the distance measuring optical axis coincides with the coordinates of the measuring point. 27 controls the light emission timing of the laser pointer light 26.

  Therefore, the laser pointer light 26 is irradiated only to the designated measuring point. Further, since the telescope unit 9 is vertically rotated at a high speed, the laser pointer light 26 is recognized as irradiating a measuring point continuously.

  As described above, in this embodiment, the laser scanner 1 continuously irradiates the measuring point with the laser pointer light 26 and instructs the measuring point to the operator. This makes it possible to perform surveying (layout) work using the.

  Furthermore, it is possible to simultaneously acquire point cloud data and instruct a survey point. In this case, while acquiring the point cloud data, the laser pointer light 26 is emitted when the distance measuring optical axis coincides with the coordinates of the measuring point.

  Therefore, since both the measurement work and the setting work can be performed by the laser scanner 1 alone, the versatility of the laser scanner 1 can be improved and the workability can be improved.

  In addition, if the laser scanner 1 is used as a measuring point indicating device in order to irradiate the measuring point with the laser pointer light 26, it is not necessary to separately provide a surveying device such as a total station, thereby reducing the work cost. it can.

  Further, since the laser scanner 1 can perform measurement work and setting work, matching between the coordinate system of the total station and the coordinate system of the laser scanner 1 can be achieved as when the total station and the laser scanner 1 are used together. Since it becomes unnecessary, the processing time can be shortened and the workability can be improved.

  In this embodiment, the telescope unit 9 is vertically rotated at a high speed when the laser pointer light 26 is irradiated to the measuring point. However, the telescope unit 9 is swung vertically. Also good. When the telescope unit 9 is swung in the vertical direction, the laser pointer light 26 is used when the optical axis of the distance measuring light 23 coincides with the coordinates of the measuring point by the control calculation unit 17 as in the case of vertical rotation. The light emission of the pointer light emitting unit 27 is controlled so as to irradiate.

  In this embodiment, the pointer light emitting unit 27 is provided to irradiate the visible laser pointer light 26 coaxially with the invisible light distance measuring light 23. However, the distance measuring light 23 is visible light. In this case, since the distance measuring light 23 can be used as a laser pointer light for designating a measuring point, the pointer light emitting unit 27 can be omitted.

  When the distance D between the optical axis of the distance measuring light 23 and the optical axis of the laser pointer light 26 is known, the distance measuring light 23 and the laser pointer light 26 are not coaxial. Also good. In this case, the distance measuring optical axis is changed by the distance D when converting from the drawing coordinate system to the coordinate system of the point cloud data.

  Next, a second embodiment of the present invention will be described with reference to FIG. 5 that are the same as those in FIG. 3 are given the same reference numerals, and descriptions thereof are omitted.

  In the second embodiment, a third beam splitter 37 is provided between the second beam splitter 34 and the optical path coupling unit 35, and the imaging unit 38 is disposed on the reflected optical axis (imaging optical axis) of the third beam splitter 37. Provided. That is, the imaging optical axis is coaxial with the optical axis of the distance measuring light 23 and the optical axis of the laser pointer light 26. Further, the third beam splitter 37 transmits only the distance measuring light 23 and the reflected distance measuring light 25 of invisible light, and reflects the reflected laser pointer light and background light of visible light.

  The imaging unit 38 has an imaging element 39. The image sensor 39 outputs a digital image signal, and is composed of a collection of pixels (pixels) such as a CCD or a CMOS sensor. Each pixel has a position in the image sensor 39. It can be specified.

  The laser pointer light 26 emitted from the pointer light emitting unit 27 is reflected by the measurement range or the measurement object, and the reflected laser pointer light is incident on the lens unit 11 together with the background light and passes through the second beam splitter 34. Part of the light is transmitted, reflected by the third beam splitter 37, and received by the image sensor 39. A two-dimensional background image including the irradiation point of the laser pointer light 26 is acquired by a digital image signal output from the image sensor 39.

  Accordingly, since the irradiation position of the laser pointer light 26 can be recognized on the image, the position of the measuring point can be confirmed and the measuring point can be easily specified visually.

  In the first embodiment and the second embodiment, the laser scanner 1 uses the distance measuring light 23 as pulse light and measures the distance by the TOF method. However, the distance measuring light 23 of the laser scanner 1 is modulated. The phase difference between the emitted light and the reflected light may be obtained, and the distance may be measured based on the phase difference.

DESCRIPTION OF SYMBOLS 1 Laser scanner 5 Horizontal rotation drive part 7 Mounting part 9 Telescope part 12 Vertical rotation drive part 13 Vertical angle detector 14 Horizontal angle detector 16 Distance measuring part 17 Control calculating part 19 Memory | storage part 23 Distance measuring light 24 Distance light emitting part 25 Reflective distance measuring light 26 Laser pointer light 27 Pointer light emitting unit 38 Imaging unit

Claims (5)

  A distance measuring light emitting unit that emits distance measuring light; a distance measuring unit that performs distance measurement based on a result of receiving the reflected distance measuring light; and a pointer light emitting unit that emits laser pointer light in a known relationship with the distance measuring light; An angle measuring unit for detecting the emitting direction of the distance measuring light, a distance measuring light emitting unit, the distance measuring unit, a telescope unit rotatable in a horizontal direction and a vertical direction including the pointer light emitting unit, and the telescope unit. A rotation driving unit that rotates, and a control calculation unit having a storage unit that stores drawing data having a known coordinate system, the control calculation unit irradiates the distance measuring light within a required range, Three-dimensional point group data is acquired based on the distance measurement result and direction angle detection result for each distance measuring light, and the three-dimensional point group data and the drawing data are used based on the point measurement result common to the drawing data. Dimensional point cloud data is matched with the drawing data and specified on the drawing data. Laser scanner configured as to irradiate the laser pointer light to the survey setting point.   The laser pointer light is coaxial with the distance measuring light, the telescope unit is rotated vertically, and the control calculation unit is irradiated with the laser pointer light when the optical axis of the distance measuring light coincides with the measuring point. The laser scanner according to claim 1, wherein the pointer light emitting unit is controlled.   The laser pointer light is coaxial with the distance measuring light, the telescope unit is swung up and down, and the control calculation unit is configured to detect the laser pointer light when the optical axis of the distance measuring light coincides with the measuring point. The laser scanner according to claim 1, wherein the pointer light emitting unit is controlled so as to be irradiated.   The control calculation unit simultaneously executes the acquisition of the three-dimensional point cloud data by the irradiation of the distance measuring light and the irradiation of the laser pointer light when the optical axis of the distance measuring light coincides with the measuring point. The laser scanner according to claim 2 or 3.   The image pickup part provided on the imaging optical axis coaxial with the said laser pointer light and the said ranging light is further provided, The background image containing the irradiation point of the said laser pointer light was acquirable by this imaging part. The laser scanner according to claim 4.

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