JP2018040703A - Method for automatic leveling by laser surveying device and laser surveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for automatic and accurate leveling by a laser surveying device including a light wave distance measuring mechanism and a laser rotation emission mechanism formed integrally with each other, and the laser surveying device.SOLUTION: Leveling is performed by a horizontal tilt sensor 13 provided to a light wave distance measuring mechanism 2, and the tilt sensor used for the leveling is switched to a pair of uniaxial tilt sensors 23 and 24 provided to a laser rotation emission mechanism 3 (S21). After that, leveling is performed (S24) based on an inclination angle a2 detected by the uniaxial tilt sensors 23 and 24 (S22).SELECTED DRAWING: Figure 3

Description

  The present invention relates to an automatic leveling method for a laser surveying apparatus and a laser surveying apparatus that have a light wave distance measurement mechanism and a laser rotation irradiation mechanism integrally.

  As a surveying device, there is a so-called total station optical wave distance measuring device that measures a distance, a horizontal angle, and a vertical angle by directing a measuring optical axis of a ranging optical system to a measurement object. In recent years, a lightwave distance measuring device with a tracking function that rotates following the movement of a measurement object has been developed as a lightwave distance measuring device.

  There is also known a laser rotation irradiation device that forms a reference surface by rotating a laser beam (see Patent Documents 1 and 2).

  And, using a laser surveying device in which a light wave distance measuring device (also called a light wave distance measuring mechanism) and a laser rotation irradiation device (also called a laser rotation irradiation mechanism) are integrated, control of construction machines such as slip-form paving machines is controlled. A system has been developed (see Patent Document 3).

JP 2004-212058 A JP 2005-274229 A JP 2014-55499 A

  The surveying devices such as the laser surveying device and the light wave distance measuring device as shown in the above Patent Documents 1 and 2 have a vertical axis of the surveying device using a tilt sensor provided in the surveying device at the time of installation. Leveled to match the direction of gravity.

  Leveling is performed even in a laser surveying device in which the light wave distance measuring device and the laser rotation irradiation device described in Patent Document 3 are integrated. If leveling is not performed correctly, distance measurement by the light wave distance measuring device is performed. Therefore, since accurate surveying cannot be performed in both of the above and the formation of the reference surface by the laser rotary irradiation device, more accurate leveling is required.

  The present invention has been made to solve such problems, and an object of the present invention is to automatically and more accurately in a laser surveying apparatus in which a light wave distance measuring mechanism and a laser rotation irradiation mechanism are integrated. An object of the present invention is to provide an automatic leveling method of a laser surveying apparatus and a laser surveying apparatus that can perform leveling.

  In order to achieve the above object, in the automatic leveling method of the laser surveying apparatus according to the present invention, at least a light wave distance measuring mechanism that performs distance measurement, and a laser rotation irradiation mechanism that forms a reference surface by rotating and irradiating a laser beam And a leveling unit that adjusts the posture, and an automatic leveling method for a laser surveying apparatus, wherein the leveling unit performs leveling based on a first tilt sensor provided in the light wave distance measuring mechanism. A first leveling step for leveling, and a second leveling step for leveling by the leveling unit based on a second tilt sensor provided in the laser rotation irradiation mechanism.

  In the automatic leveling method of the laser surveying apparatus according to the present invention, the second tilt sensor is more accurate than the first tilt sensor, and the second leveling step is more than the first leveling step. Leveling in a narrow angle range may be performed.

  In the automatic leveling method for a laser surveying apparatus according to the present invention, it is preferable that the second leveling step is performed after the first leveling step.

  Moreover, in the automatic leveling method of the laser surveying apparatus according to the present invention, when the measured value of the first tilt sensor or the second tilt sensor is outside a predetermined measurement range, the leveling unit There may be further provided a search step of searching for an effective measurement range by changing the inclination in one or more predetermined directions.

  In order to achieve the above object, in the laser surveying instrument according to the present invention, the light wave distance measuring mechanism that performs at least distance measurement and the laser rotation irradiation mechanism that forms a reference surface by rotating and irradiating a laser beam are integrated. A laser surveying device provided in the first embodiment, a first tilt sensor provided in the light wave distance measuring mechanism for detecting tilt, a second tilt sensor provided in the laser rotation irradiation mechanism for detecting tilt, and a device Leveling unit capable of adjusting the overall tilt, leveling by the leveling unit based on the first tilt sensor, and leveling by the leveling unit based on the second tilt sensor A control unit.

  In the laser surveying instrument according to the present invention, the second tilt sensor is more accurate than the first tilt sensor, and the leveling control unit is based on the leveling unit based on the second tilt sensor. The leveling may be an angle range narrower than leveling by the leveling unit based on the first tilt sensor.

  In the laser surveying apparatus according to the present invention, it is preferable that the leveling control unit performs leveling based on the second tilt sensor after leveling based on the first tilt sensor.

  Further, in the laser surveying apparatus according to the present invention, the leveling control unit, when the measurement value of the first tilt sensor or the second tilt sensor is out of a predetermined measurement range, Search control for searching for an effective measurement range may be executed by changing the inclination in one or more predetermined directions in the horizontal direction.

  According to the present invention using the above means, the laser surveying apparatus in which the light wave distance measuring mechanism and the laser rotating irradiation mechanism are integrated can automatically and accurately perform leveling.

It is a schematic perspective view of a laser surveying instrument provided with the automatic leveling apparatus which concerns on one Embodiment of this invention. It is the flowchart which showed the automatic leveling routine which concerns on one Embodiment of this invention. It is a continuation of the flowchart of FIG. FIG. 4 is a continuation of the flowcharts of FIGS. 2 and 3. It is the flowchart which showed the search control routine. It is a continuation of the flowchart of FIG. It is explanatory drawing of search drive. It is the flowchart which showed the inclination angle acquisition control routine. It is a relationship diagram between temperature and tilt waiting time.

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

  FIG. 1 shows a laser surveying instrument 1 manufactured by the manufacturing method according to the present embodiment. In the laser surveying instrument 1 shown in FIG. 1, a laser rotation irradiation mechanism 3 is integrated on a light wave distance measuring mechanism 2. Is provided.

  The laser surveying device 1 is a laser surveying device used for a control system of a construction machine such as a slip-form paving machine described in the above-mentioned Patent Document 3, for example. It is installed at the point.

  The light wave distance measuring mechanism 2 has the same function as the total station. For example, the light wave distance measuring mechanism 2 irradiates the distance measuring light toward the target of the construction machine, receives the reflected distance measuring light from the target, performs distance measurement and angle measurement, and converts the reflected light from the target to the reflected light. Based on the target tracking.

  Specifically, the light wave distance measuring mechanism 2 has a base 10 and a rotating base 11 in the lower part.

  A tripod (not shown) can be attached to the base unit 10. The base unit 10 has a horizontal rotation driving unit (not shown), and the horizontal rotation driving unit rotationally drives the rotary base 11 in the horizontal direction (in a plane perpendicular to the vertical axis of the laser surveying apparatus 1).

  In addition, a leveling unit 12 is provided between the base unit 10 and the rotary base 11 to adjust the inclination with respect to the base unit 10 and perform leveling. Although the leveling unit 12 is simply shown as a dotted block in FIG. 1, specifically, for example, any one place on the horizontal plane of the rotating base 11 is fixed as a fulcrum, and the leveling section 12 is on the horizontal plane. Two leveling screws that can move the rotary base 11 in the vertical direction are provided at two arbitrary locations, and the inclination of the rotary base 11 with respect to the base portion 10 is adjusted according to the tightening degree of these leveling screws. Is. The number of leveling screws is not limited to this, and for example, three leveling screws may be provided. Each leveling screw can be driven by an actuator such as a stepping motor, and can be automatically leveled via the actuator.

  Further, the rotary base 11 is provided with a horizontal tilt sensor 13 (first tilt sensor) made of a circular bubble tube, and the horizontal tilt sensor 13 is used to tilt the upper portion of the laser surveying instrument 1 from the rotary base 11. That is, it is possible to detect the tilt state of the laser surveying apparatus 1 as a whole.

  A pair of support columns 14 and 15 are erected on the upper surface of the rotating base 11, and a telescope unit 16 is supported between the pair of support columns 14 and 15 so as to be rotatable in the vertical direction. Although not shown, the pair of support columns 14 and 15 is provided with a vertical rotation driving unit that rotates the telescope unit 16 in the vertical direction.

  The telescope unit 16 accommodates a distance measuring optical system, a tracking optical system, and a distance measuring unit, and the distance measuring light L1 and the tracking light (not shown) are emitted from the telescope unit 16 and reflected from the target. Ranging is performed by receiving light at the distance measuring unit. The telescope unit 16 receives the tracking light reflected by the target via the tracking optical system and is driven in the horizontal direction by the horizontal rotation driving unit and in the vertical direction by the vertical rotation driving unit, thereby automatically tracking the target. Is possible.

  Further, although not shown, the base unit 10 is provided with a horizontal angle detector that detects a horizontal rotation angle (horizontal angle) of the rotary base 11 with respect to the base unit 10, and the column units 14 and 15 have telescope units. A vertical angle detector that detects 16 vertical rotation angles (vertical angles) is provided. The collimation direction of the telescope unit 16 can be measured from the horizontal angle and the vertical angle detected by the horizontal angle detector and the vertical angle detector.

  A temperature sensor 17 and a control unit 18 (leveling control unit) are provided on the rotary base 11. The temperature sensor 17 has a function of detecting the outside air temperature around the laser surveying apparatus 1, and the control unit 18 has a function of performing surveying control in the laser surveying apparatus 1. For example, the control unit 18 reads, stores, and calculates various information detected by the telescope unit 16, the horizontal tilt sensor 13, the horizontal angle detector, the vertical angle detector, and the temperature sensor 17, and according to the calculation result. Drive control of the leveling unit 12, the vertical rotation driving unit, and the horizontal rotation driving unit is performed.

  A top plate 19 is provided on the upper ends of the pair of support columns 14 and 15, and the laser rotation irradiation mechanism 3 is provided on the top plate 19.

  The laser rotation irradiation mechanism 3 rotates and irradiates the laser beam L2 at a constant speed, and a reference plane is formed by the laser beam L2. The laser beam L2 is composed of a plurality of fan-shaped beams (fan beams) having a predetermined divergence angle, and at least one is inclined with respect to the horizontal plane. For example, the laser beam L2 is composed of two fan-shaped beams, a vertical fan-shaped beam and a fan-shaped beam inclined at a predetermined angle with respect to a horizontal plane. Thereby, the reference can be formed as a horizontal region extending not only in the reference plane but also in the height direction. Various configurations of the laser beam are conceivable as shown in Patent Documents 2 and 3 above.

  Specifically, in the laser rotation irradiation mechanism 3, a columnar portion 21 is integrally provided at the center of the disk-shaped flange portion 20, and the laser irradiation unit 22 rotates in the horizontal direction on the upper surface of the columnar portion 21. It is provided as possible.

  The flange 20 is fixed to the top plate 19. A pair of uniaxial tilt sensors 23 and 24 (second tilt sensors) are provided on the peripheral surface of the cylindrical portion 21. These uniaxial tilt sensors 23 and 24 are, for example, cylindrical bubble tubes and are arranged in directions in which the axes are orthogonal to each other, and are two axes orthogonal in the horizontal direction of the laser rotation irradiation mechanism 3, that is, the X axis Ax and the Y axis The inclination of Ay can be detected. The inclination angle with respect to the horizontal plane can be calculated by detecting and combining the inclinations of the X axis Ax and the Y axis Ay. Thus, the pair of uniaxial tilt sensors 23 and 24 can also detect the tilt state of the entire laser surveying apparatus 1, and the uniaxial tilt sensors 23 and 24 are more accurate in detecting tilt than the horizontal tilt sensor 13. .

  The laser irradiation part 22 is a part which irradiates the laser beam L2 mentioned above, and can rotate the irradiation direction of the laser beam L2 in the horizontal direction on the cylindrical part 21. FIG. Survey control in the laser rotation irradiation mechanism 3 is also performed by the control unit 18, and the laser irradiation unit 22 is driven and controlled by the control unit 18.

  The laser surveying instrument 1 configured as described above is configured so that the vertical axis of the laser surveying instrument 1 is aligned with the direction of gravity before the surveying is performed after the laser surveying instrument is installed via a tripod at an arbitrary point during surveying. Therefore, leveling is performed. In the laser surveying instrument 1 of the present embodiment, automatic leveling control by the control unit 18 can be executed by operating an operating means such as a switch (not shown).

  2 to 4, an automatic leveling routine executed in the control unit 18 of the laser surveying apparatus in the present embodiment is shown in a flowchart. FIGS. 5 and 6 are flowcharts showing a search control routine executed in automatic leveling control, FIG. 7 is an explanatory diagram of search driving, and FIG. 8 is in automatic leveling control and search control. FIG. 9 is a flowchart showing a tilt angle acquisition control routine to be executed, and FIG. 9 shows a relationship between temperature and tilt waiting time.

  First, automatic leveling control will be described based on the flowcharts of FIGS.

  As shown in FIG. 2, when the automatic leveling control is started, the control unit 18 selects the horizontal tilt sensor 13 as a tilt sensor used for leveling as step S1.

  In subsequent step S2, the control unit 18 acquires an inclination angle a1 detected by the horizontal tilt sensor 13 based on an inclination angle acquisition control described later in detail.

  In step S3, the control unit 18 determines whether the inclination angle a1 acquired in step S2 is within a predetermined measurement range (for example, within ± 2.5 °). The measurement range is set to a measurable range as the specification of the horizontal tilt sensor 13, for example. If the determination result is true (Yes), that is, if the inclination angle a1 is within the measurement range, the process proceeds to step S4.

  In step S4, the control unit 18 drives the leveling unit 12 to perform leveling (hereinafter also referred to as leveling driving) (first leveling step). That is, the leveling screw is driven by the stepping motor so that the inclination angle a1 detected in step S2 is horizontal (inclination angle a1 = 0 °).

  In step S5, the control unit 18 determines whether or not the leveling unit 12 has reached the drive limit. That is, it is determined whether or not the leveling screw of the leveling unit 12 is within the movable range. When the determination result is true (Yes), that is, when the leveling screw reaches the limit of the movable range, it is determined that the leveling unit 12 is at the driving limit, and the process proceeds to step S6.

  In step S6, the control unit 18 performs an error display or error notification (hereinafter referred to as error processing) using a display unit or an alarm device (not shown) outside the leveling range, and ends the routine.

  On the other hand, if the determination result in step S5 is false (No), that is, if the leveling screw is within the movable range and the leveling unit 12 can be driven, the process proceeds to step S7.

  In step S7, similarly to step S2, the control unit 18 acquires the tilt angle a1 by the horizontal tilt sensor 13 again based on the tilt angle acquisition control.

  In step S8, similarly to step S3, the control unit 18 determines whether or not the inclination angle a1 acquired in step S8 is within the measurement range. If the determination result is true (Yes), that is, if the inclination angle a1 is within the measurement range, the process proceeds to step S9.

  In step S9, the control unit 18 determines whether or not the inclination angle a1 acquired in step S7 is within a predetermined first leveling accuracy range (for example, within ± 30 ″). The first leveling accuracy range is set to leveling accuracy required for leveling based on the horizontal tilt sensor 13. When the determination result is false (No), that is, when the inclination angle a1 is outside the first leveling accuracy range, the process proceeds to step S10.

  The control unit 18 stores the number of leveling drives performed by the leveling unit 12 in step S4 (hereinafter referred to as driving number N). In step S10, the control unit 18 increments the number N of driving of the leveling unit 12. (N = N + 1).

  In subsequent step S11, the control unit 18 determines whether or not the number N of driving of the leveling unit 12 is within a preset upper limit number (for example, 10 times). If the determination result is false (No), that is, if the driving frequency N of the leveling unit 12 has not yet reached the upper limit, the process returns to step S4, and leveling driving is attempted again.

  On the other hand, if the determination result in step S11 is true (Yes), that is, if the number of times N of driving of the leveling unit 12 has reached the upper limit, the process proceeds to step S12.

  In step S12, the control unit 18 does not satisfy the leveling accuracy even if the leveling drive is performed a plurality of times. Therefore, considering the possibility that the apparatus is faulty or the installation position is inappropriate, an error is detected as a leveling timeout. Processing is performed, and the routine ends.

  On the other hand, if the determination result in step S9 is true (Yes), that is, if the tilt angle a1 detected by the horizontal tilt sensor 13 is within the first leveling accuracy range, the process proceeds to step S13.

  In step S13, the control unit 18 ends leveling based on the horizontal tilt sensor 13, and proceeds to step S21 in FIG.

  In step S21 of FIG. 3, the control unit 18 selects a pair of uniaxial tilt sensors 23 and 24 as tilt sensors used for leveling.

  The subsequent steps S22 to S28 are the same as the steps S2 to S8 except that the tilt sensor used is different. That is, the tilt angle a2 is detected by the uniaxial tilt sensors 23 and 24 (S22), and when the tilt angle a2 is within the measurement range (S23), leveling drive by the leveling unit 12 is performed (S24) (second) Leveling process). When the drive limit of the leveling unit 12 is reached (S25), error processing is performed (S26), and if it is within the driveable range, the inclination angle a2 is detected again (S27), and within the measurement range. It is confirmed whether it exists (S28).

  If the detected inclination angle a2 is within the measurement range, in step S29, the control unit 18 determines whether the inclination angle a2 is within the second leveling accuracy range (for example, within ± 10 ″). Is determined. The second leveling accuracy range is leveling accuracy with respect to leveling based on the uniaxial tilt sensors 23 and 24, and the first leveling accuracy range is set to be narrower, that is, higher accuracy. If the determination result is false (No), that is, if the inclination angle a2 is outside the second leveling accuracy range, the process proceeds to step S30.

  In steps S30 to S32, as in steps S10 to S12, the control unit 18 increments the number of times N of driving of the leveling unit 12 (N = N + 1) (S30), and the number of times of driving N is an upper limit (for example, 10 times). If so, the process returns to step S24, and if the upper limit is reached, error processing is performed (S32).

  On the other hand, if the determination result in step S29 is true (Yes), that is, if the tilt angle a2 detected by the uniaxial tilt sensors 23 and 24 is within the second leveling accuracy range, the process proceeds to step S33.

  In step S33, the control unit 18 ends leveling based on the uniaxial tilt sensors 23 and 24, and ends automatic leveling control.

  On the other hand, if the determination result of the measurement range of the inclination angle a1 or a2 in Steps S3, S8, S23, and S28 is false (No), that is, if the inclination angle a1 or a2 is outside the measurement range, In order to perform search control for searching for an effective measurement range of the tilt sensor, the process proceeds to step S41 shown in FIG.

  The control unit 18 stores the number of executions of search control to be described later (hereinafter referred to as the number of searches S), and determines whether or not the number of searches S is within the upper limit number (for example, 1) in step S41. . When the determination result is false (No), that is, when the search control has already been executed more than the upper limit number of times, when the tilt sensor used for leveling at this time is the horizontal tilt sensor 13, the process proceeds to step S6. If it is the tilt sensors 23 and 24, the process proceeds to step S26 and error processing is performed.

  On the other hand, if the determination result in step S41 is true (Yes), that is, if the search count S does not exceed the upper limit, the process proceeds to step S42. In step S42, the control unit 18 increments the search count S (S = S + 1).

  In subsequent step S43, the control unit 18 executes search control to be described later (search process).

  In step S44, the control unit 18 determines whether or not the search control has ended normally. If the determination result is false (No), that is, if the search control has not ended normally, the process proceeds to step S6 or step S26 depending on the tilt sensor selected at this time, and error processing is performed. On the other hand, when the determination result is true (Yes), that is, when the search control is normally completed, the process proceeds to step S4 or step S24 according to the tilt sensor selected at this time, and leveling is performed.

  Next, the search control executed in step S43 will be described in detail with reference to FIGS.

  First, as shown in FIG. 5, as step S51 of search control, the control unit 18 drives the leveling unit 12 to the neutral position. The neutral position is, for example, the state of the leveling unit 12 when the vertical axis of the laser surveying instrument 1 is substantially coincident with the earth's gravity direction at the time of factory shipment. It should be noted that the neutral position in step S51 does not always need to be in the factory-shipped state. For example, if there is a neutral position learning function, the neutral position is the latest neutral position.

  Subsequently, in steps S52 to S54, as in steps S5 to S8 and S25 to S28, it is checked again whether the leveling unit 12 is at the driving limit (S52) and selected at this time by the inclination angle acquisition control. The tilt angle a1 or a2 is acquired by the tilt sensor (S53), and it is confirmed whether the acquired tilt angle a1 or a2 is within the measurement range (S54).

  If the determination result in step S58 is false (No), that is, if the inclination angle a1 or a2 is still outside the measurement range, the process proceeds to step S55.

  In step S55, the control unit 18 drives the leveling unit 12 for search. In the search drive, the leveling unit 12 is driven so that the laser surveying instrument 1 is tilted by a predetermined amount in one horizontal direction (for example, the positive direction of the X axis) set with the neutral position of the leveling unit 12 as the origin.

  Subsequently, in steps S56 to S58, it is confirmed again whether the leveling unit 12 is at the drive limit (S56), the inclination angle a1 or a2 is acquired by the inclination angle acquisition control (S57), and the acquired inclination angle a1 or a2 is acquired. Is within the measurement range (S58).

  As a result of performing the search drive in step S55, if the inclination angle a1 or a2 is within the measurement range, the determination result in step S58 is true (Yes), and the process proceeds to step S59. The process also proceeds to step S59 if the tilt angle a1 or a2 is within the measurement range before the search drive is performed in step S54.

  In step S59, the control unit 18 exits the routine, assuming that the search control has been completed normally.

  On the other hand, if the determination result in step S58 is false (No), that is, if the tilt angle a1 or a2 is outside the measurement range even after performing search driving, the process proceeds to step S60.

  In step S60, the control unit 18 determines whether or not the predetermined range of search driving has been completed. A plurality of search driving directions can be set. In this embodiment, for example, as shown in FIG. 7, the X axis positive and negative directions (d1, d2), the Y axis positive and negative directions (d3, d4), and the X axis In addition, search driving is set to be performed in a total of eight directions including four directions in the middle of the Y axis (d5 to d8).

  In step S60, it is determined whether or not search driving has been performed in all of these eight directions. If the determination result is false (No), the process returns to step S55 to perform search driving in different directions. On the other hand, when the search drive in all eight directions is completed, that is, when the tilt angle a1 or a2 does not fall within the measurement range even if the search drive is performed in the eight directions, the determination result is true (Yes), and step S61. Proceed to

  In step S61, the control unit 18 drives the leveling unit 12 to the neutral position. Then, in step S62, the control unit 18 determines whether or not it is the drive limit of the leveling unit 12, and when the determination result is false (No), that is, when it is not the drive limit of the leveling unit 12, Proceed to step S63.

  In step S63, the control unit 18 cannot find an effective measurement range even by the search control, performs search control error processing outside the search range, and ends the routine.

  On the other hand, if the determination result regarding the drive limit of the leveling unit 12 in steps S52, S56, and S62 is true, that is, if the leveling unit 12 reaches the drive limit, the leveling screw position is reset. Therefore, the process proceeds to step S71 in FIG.

  The control unit 18 stores the number of times of resetting the position of a leveling screw (to be described later) (hereinafter referred to as a reset number R), and whether or not the reset number R is within an upper limit number (for example, one time) in step S71. Is determined. If the determination result is false (No), that is, if the leveling screw has already been reset more times than the upper limit, the process proceeds to step S72.

  In step S72, the control unit 18 performs error processing as a search control timeout, and ends the search control.

  On the other hand, if the determination result in step S71 is true (Yes), that is, if the reset count R does not exceed the upper limit, the process proceeds to step S73. In step S73, the control unit 18 increments the reset count R (R = R + 1).

  In subsequent step S74, the controller 18 once drives the leveling screw to the movable limit and resets the absolute position.

  In step S75, the control unit 18 determines whether or not the absolute position has been successfully reset in step S74. If the determination result is true (Yes), that is, if the leveling screw has been successfully reset, the process returns to step S51 to perform search control again. On the other hand, if the determination result is false (No), for example, if the leveling screw cannot be reset due to a stepping motor failure or the like, the process proceeds to step S76.

  In step S76, the control unit 18 performs a search control error process, for example, as a stepping motor error, and ends the search control.

  Next, the tilt angle acquisition control executed in steps S2, S7, S22, S27, S53, and S57 will be described in detail with reference to FIGS. The tilt angle acquisition control is similarly applied to both the horizontal tilt sensor 13 and the uniaxial tilt sensors 23 and 24 in the present embodiment, and these tilt sensors are distinguished in the following description. It will be described simply as a tilt sensor.

  First, as shown in FIG. 8, as step S81 of the inclination angle acquisition control, the control unit 18 sets a timeout time To. The timeout time To is a time for determining an error of the tilt sensor, and is set to, for example, three times a tilt waiting time Tw described later in the present embodiment.

  In subsequent step S82, the control unit 18 determines whether or not the horizontal angle h1 at this time can be acquired. If the horizontal angle h1 is detected by the horizontal angle detector and the control unit 18 cannot acquire the horizontal angle information from the horizontal angle detector, the determination result is false (No), and the process proceeds to step S83.

  In step S83, since the control unit 18 cannot accurately grasp the state of the laser surveying instrument 1 due to a failure of the control unit 18 or the horizontal angle detector or a communication failure between the control unit 18 and the horizontal detector, The error processing is performed as a vessel error, and the tilt angle acquisition control is terminated.

  On the other hand, if the determination result in step S82 is true (Yes), that is, if the control unit 18 can acquire the horizontal angle h1, the process proceeds to step S84.

  In step S84, the control unit 18 sets a tilt waiting time Tw. The tilt waiting time Tw is set as a time necessary for stably acquiring the tilt angle by the tilt sensor, and is set according to the temperature.

  Specifically, the tilt sensor composed of a bubble tube has a lower viscosity of the liquid inside as the temperature increases, and the movement of the bubbles becomes smoother. Therefore, as shown in FIG. 9, the tilt waiting time becomes shorter as the temperature increases. Is set. On the other hand, if the movement of bubbles becomes smooth, the sensitivity increases and the possibility of erroneous detection due to vibration also increases. Therefore, the degree of decrease in waiting time is set to decrease as the temperature increases.

  Furthermore, in the present embodiment, the larger the inclination angle, the more the bubbles are located on the end side of the bubble tube, and the movement of the bubbles becomes dull. Therefore, the tendency is set to change according to the inclination angle detected by the tilt sensor. . Specifically, when the tilt angle detected by the tilt sensor is larger than 10 ', the tilt waiting time is set to be longer than when the tilt angle is larger than 10'.

  In this way, the tilt waiting time in step S84 is set based on the relationship diagram as shown in FIG.

  In the next step S85, the control unit 18 acquires the current system time Ts. The system time Ts is, for example, the time from the start of the inclination angle acquisition control measured by a timer included in the control unit 18.

  In step S86, the control unit 18 determines whether or not the system time Ts acquired in step S85 has reached the timeout time To (To <Ts). If the determination result is true (Yes), that is, if the system time Ts has reached the timeout time To, the process proceeds to step S87.

  In step S87, the control unit 18 sets a timeout, performs an error process for obtaining the tilt angle, and ends the tilt angle obtaining control.

  On the other hand, if the determination result in step S86 is false (No), that is, if the system time Ts has not reached the timeout time To, the process proceeds to step S88.

  In step S88, the control unit 18 determines again whether or not the horizontal angle h2 can be obtained by the horizontal angle detector. If the horizontal angle h2 cannot be acquired, the process proceeds to step S83 described above to perform error processing. If it can be acquired, the process proceeds to step S89.

  In step S89, the horizontal rotation angle hr obtained from the difference between the horizontal angle h2 acquired in step S88 and the horizontal angle h1 previously acquired in step S82 is within the allowable range for horizontal rotation (for example, ± 30 ′). It is determined whether or not the entire laser surveying instrument 1 or the light wave distance measuring mechanism 2 is in a rotating state. When the determination result is false (No), that is, when the entire laser surveying instrument 1 or the optical distance measuring mechanism 2 whose horizontal rotation angle hr is outside the allowable range is in a rotating state, the inclination angle is accurately acquired. Since it is difficult to do this, the process returns to step S82. On the other hand, if the determination result is true (Yes), that is, if the entire laser surveying instrument 1 and the light wave distance measuring mechanism 2 are in a substantially stationary state, the process proceeds to step S90.

  In step S90, the control unit 18 determines whether the tilt waiting time has ended, that is, whether the system time Ts has reached the tilt waiting time (To <Ts). If the determination result is false (No), that is, if it is still within the tilt waiting time, the process returns to step S85. On the other hand, when the determination result is true (Yes), that is, when the tilt waiting time is reached, the process proceeds to step S91.

  In step S91, the control unit 18 acquires the tilt angle by the corresponding tilt sensor, and ends the tilt angle acquisition control.

  As described above, in this embodiment, in order to acquire the tilt angle by the tilt sensor, a tilt wait time set according to the temperature is provided, and the tilt angle is acquired after the tilt wait time has elapsed. Thereby, the horizontal tilt sensor 13 and the uniaxial tilt sensors 23 and 24 formed of bubble tubes can detect a more accurate tilt angle in consideration of disturbances such as temperature and vibration.

  According to the automatic leveling in the present embodiment, after leveling is first performed based on the horizontal tilt sensor 13 included in the light wave distance measuring mechanism 2, the pair of uniaxial tilt sensors 23 and 24 included in the laser rotation irradiation mechanism 3 are applied. Perform leveling based on this. As described above, in the laser surveying apparatus 1 integrally including the light wave distance measuring mechanism 2 and the laser rotation irradiation mechanism 3, the leveling based on the tilt sensors 13, 23, and 24 provided in the respective mechanisms is performed, thereby ensuring reliable. Accurate automatic leveling can be performed.

  The uniaxial tilt sensors 23 and 24 have higher accuracy than the horizontal tilt sensor 13, and after performing rough leveling based on the leveling based on the horizontal tilt sensor 13 performed first, leveling based on the single axis tilt sensors 23 and 24 is performed. By performing leveling in a narrower angle range, it is possible to realize leveling efficiently and with high accuracy.

  Further, in this embodiment, even when the tilt angle detected by the tilt sensor is outside the measurement range, leveling from the state where the laser surveying instrument 1 is tilted can be performed by performing search control for searching for an effective measurement range. It can be carried out.

  From the above, according to the automatic leveling method of the laser surveying instrument 1 and the laser surveying instrument 1 according to the present embodiment, the laser surveying instrument 1 in which the light wave distance measuring mechanism 2 and the laser rotation irradiation mechanism 3 are integrally formed. In, more accurate leveling can be performed automatically.

  This is the end of the description of the embodiment of the present invention, but the aspect of the present invention is not limited to this embodiment.

  In the above embodiment, the optical distance measuring mechanism 2 is provided with the horizontal tilt sensor 13, and the laser rotation irradiation mechanism 3 is provided with a pair of uniaxial tilt sensors 29, 30. The tilt sensor is not necessarily limited to this. For example, a pair of uniaxial tilt sensors may be provided in the light wave distance measuring mechanism, or a horizontal tilt sensor may be provided in the laser rotation irradiation mechanism.

  In the above embodiment, the temperature sensor 17 is provided on the rotating base 11, but the position and number of the temperature sensors are not limited to this. For example, a temperature sensor is provided near the uniaxial tilt sensor. Also good.

  In the above embodiment, the search control is set to perform search driving in eight directions. However, the search driving direction and the number thereof are not limited to this, and may be only one direction, for example.

  In the above embodiment, the timeout time To is set to three times the tilt waiting time Tw in the tilt angle acquisition control, but the setting of the timeout time is not limited to this.

DESCRIPTION OF SYMBOLS 1 Laser surveying apparatus 2 Light wave distance measuring mechanism 3 Laser rotation irradiation mechanism 13 Horizontal tilt sensor (1st tilt sensor)
16 Telescope unit 17 Temperature sensor 18 Control unit (leveling control unit)
22 Laser irradiation unit 23, 24 Uniaxial tilt sensor (second tilt sensor)

Claims (8)

An automatic leveling method for a laser surveying apparatus, which integrally includes at least a light wave distance measuring mechanism that performs distance measurement, a laser rotation irradiation mechanism that rotates and irradiates a laser beam to form a reference plane, and a leveling unit that adjusts a posture. Because
A first leveling step of leveling by the leveling unit based on a first tilt sensor provided in the light wave distance measuring mechanism;
A second leveling step of leveling by the leveling unit based on a second tilt sensor provided in the laser rotation irradiation mechanism;
An automatic leveling method for a laser surveying instrument comprising:   The laser surveying apparatus according to claim 1, wherein the second tilt sensor has higher accuracy than the first tilt sensor, and the second leveling step performs leveling in a narrower angle range than the first leveling step. Automatic leveling method.   3. The laser leveling apparatus automatic leveling method according to claim 1, wherein the second leveling step is performed after the first leveling step.   When the measured value of the first tilt sensor or the second tilt sensor is outside a predetermined measurement range, the leveling unit changes the tilt in one or more predetermined directions in the horizontal direction. The method for automatically leveling a laser surveying apparatus according to any one of claims 1 to 3, further comprising a search step of searching for an effective measurement range. A laser surveying apparatus that integrally includes at least a light wave distance measuring mechanism that performs distance measurement and a laser rotation irradiation mechanism that rotates and irradiates a laser beam to form a reference surface,
A first tilt sensor provided in the light wave distance measuring mechanism for detecting tilt;
A second tilt sensor provided in the laser rotation irradiation mechanism for detecting tilt;
A leveling unit capable of adjusting the inclination of the entire apparatus,
A leveling control unit that performs leveling by the leveling unit based on the first tilt sensor and performs leveling by the leveling unit based on the second tilt sensor;
Laser surveying instrument comprising: The second tilt sensor is more accurate than the first tilt sensor,
The leveling control unit sets the leveling by the leveling unit based on the second tilt sensor to an angle range narrower than the leveling by the leveling unit based on the first tilt sensor. Laser surveying equipment.   7. The laser surveying apparatus according to claim 5, wherein the leveling control unit performs leveling based on the second tilt sensor after leveling based on the first tilt sensor. When the measurement value of the first tilt sensor or the second tilt sensor is out of a predetermined measurement range, the leveling control unit determines one or more of the horizontal directions in advance by the leveling unit. The laser surveying apparatus according to any one of claims 5 to 7, wherein search control for searching for an effective measurement range is performed by changing an inclination in a selected direction.

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