JP2018048866A - Surveying device and measurement method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a surveying device and a measurement method which can measure positions of a plurality of targets installed in a wide range in a short time and with high accuracy.SOLUTION: A surveying device 1 includes: a surveying instrument 2 for receiving ranging light transmitted to targets, so as to measure positions and angles of the targets; and a scanner 22 for scanning scanning light around at least uniaxial rotational axis R-R, so as to acquire point group data. The approximate positions and the angles of the one or more targets detected from the amount of received light of the scanner 22 are measured by the surveying instrument 2.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an apparatus and method for accurately and quickly measuring the position of a target at a plurality of points.

  In a general motor drive total station (hereinafter referred to as a surveying instrument), a target is roughly collimated manually, and then automatic collimation is performed to measure the distance of the target position. Therefore, when targets are installed at a plurality of points in the measurement range, it is necessary to measure the targets one by one.

  In contrast, in Patent Document 1, a plurality of targets are automatically measured using a surveying instrument. The surveying instrument of Patent Literature 1 scans a search range set to include a plurality of targets with a telescope, detects the target from the telescope image, and measures the range of the target position. In Patent Document 2, a plurality of targets are automatically measured using a three-dimensional scanner (hereinafter referred to as a scanner). The scanner of Patent Document 2 first acquires three-dimensional shape data (point cloud data) of a measurement object by scan scanning, and detects a plurality of targets. Next, the target is scanned, and the range of the target is measured.

Japanese Patent No. 5623226 Japanese Patent No. 5081014

  However, in Patent Document 1, since the target is detected from the telescope image, the field of view is narrow and the imaging frame rate is low. In Patent Document 2, since the measurement is performed by the scanner after the target search, it is necessary to increase the scan density when high-precision measurement is desired, and the measurement takes time.

  It is an object of the present invention to provide a surveying apparatus and a measuring method capable of measuring the positions of a plurality of targets installed in a wide range in a short time with high accuracy.

  In order to solve the above-described problem, a surveying apparatus according to an aspect of the present invention includes a surveying instrument that receives ranging light transmitted to a target, measures the position of the target, and measures the angle of the target. A scanner that scans scanning light around a uniaxial rotation axis to acquire point cloud data, and measures and measures the approximate position of one or more targets detected from the amount of light received by the scanner with the surveying instrument. It is characterized by.

  In the above aspect, it is also preferable that the housing of the surveying instrument has a rotating shaft that can rotate in the horizontal direction, and the scanner rotates horizontally with the housing to scan the scanning light in the vertical direction.

  In the above aspect, it is also preferable to determine the type of the target with reference to the received light amount of the scanner and / or the size of the data image at the time of measurement by the surveying instrument.

  In the above aspect, when the approximate position of the target is detected by the scanner, the approximate position of the target is stored as a reference point, and a plurality of the point group data obtained at different instrument points are combined and overlapped at the reference point. It is also preferable to do this.

  In the above aspect, it is preferable that the scanner can be instructed from an external terminal.

  In the above aspect, the surveying apparatus further includes a visible light laser pointer, and after the measurement by the surveying instrument is completed, the scanner scan is performed again. When the target is detected, the laser pointer is set to the target detection position. Irradiation is also preferred.

  In the above aspect, it is preferable that the scanner is re-executed after the measurement by the surveying instrument is completed and a warning is given to the operator when the target is detected.

  In order to solve the above problem, a surveying method according to an aspect of the present invention includes a search step of scanning a search range with the scanner using the surveying device according to any of the above aspects, and a received light amount of the scanner. And a target detecting step for obtaining an approximate position of one or more targets, and a measuring step for automatically collimating the approximate position with the surveying instrument to measure and measure the angle of the target.

  According to the surveying apparatus and the measuring method of the present invention, the positions of a plurality of targets installed in a wide range can be measured in a short time with high accuracy.

It is an external appearance perspective view of the surveying instrument which concerns on embodiment. 1 is a configuration block diagram of a surveying apparatus according to an embodiment. FIG. 3 is a configuration block diagram of a scanner according to an embodiment. It is a flowchart of the surveying method using the surveying apparatus which concerns on embodiment. It is a figure which shows a part of point cloud data obtained with the scanner of FIG.

  Next, preferred embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is an external perspective view of a surveying instrument according to an embodiment. Reference numeral 1 in FIG. 1 is a surveying apparatus according to the present embodiment. The surveying apparatus 1 has a surveying instrument 2 and a scanner 22.

  The surveying instrument 2 is a so-called motor drive total station, and is installed at a known point using a tripod. The surveying instrument 2 includes, from below, a leveling unit, a base part provided on the leveling part, a case 2b that rotates about the horizontal rotation axis HH on the base part, and a case 2b A telescope 2a that rotates about the vertical rotation axis VV at the center of the center. Reference numerals 9-1, 9-2, 9-3,..., 9-n denote targets (prisms and reflection sheets) installed at measurement points. In the following description, 9-n is used as the target code when no position is specified.

  FIG. 2 is a configuration block diagram of the surveying apparatus 1. The surveying instrument 1 includes a horizontal angle detector 11, a vertical angle detector 12, a horizontal rotation drive unit 13, a vertical rotation drive unit 14, a display unit 15, an operation unit 16, an arithmetic control unit 17, and a tracking. A unit 18, a distance measuring unit 19, a storage unit 20, an audio output unit 21, and a scanner 22 are provided.

  The horizontal rotation drive unit 13 and the vertical rotation drive unit 14 are motors, and are controlled by the calculation control unit 17 to drive the horizontal rotation axis HH and the vertical rotation axis VV, respectively. In the surveying instrument 2, distance measuring light (or tracking light) is emitted from the telescope 2a by the cooperation of the horizontal rotation of the housing 2b and the vertical rotation of the telescope 2a.

  The horizontal angle detector 11 and the vertical angle detector 12 are rotary encoders having a rotating disk, a slit, a light emitting diode, and an image sensor. The horizontal angle detector 11 is provided with respect to the horizontal rotation axis HH (FIG. 1) and detects the horizontal rotation angle of the housing 2b. The vertical angle detector 12 is provided with respect to the vertical rotation axis VV (FIG. 1) and detects the vertical rotation angle of the telescope 2a.

  The display unit 15 and the operation unit 16 are interfaces of the surveying apparatus 1 and can perform measurement work command / setting, work status, and confirmation of measurement results.

  The distance measuring unit 19 transmits infrared pulse laser light to the target 9-n as distance measuring light. Then, the reflected light from the target 9-n is received by a light receiving unit such as a photodiode, for example, and converted into a distance measurement signal. Reference numeral 4 in FIG. 1 indicates an optical axis of distance measuring light (or tracking light).

  The tracking unit 18 transmits infrared laser light having a wavelength different from that of the distance measuring light as tracking light. Then, a landscape image including the tracking light and a landscape image excluding the tracking light are acquired by a light receiving unit such as an image sensor. The arithmetic control unit 17 detects the position of the target 9-n from the difference between both images, and automatically tracks so that the telescope 2a always faces the target 9-n.

  The arithmetic control unit 17 is a microcontroller in which, for example, a CPU, ROM, RAM, and the like are mounted on an integrated circuit, controls the rotation driving units 13 and 14, performs automatic tracking by the tracking unit 18, and compares the output of the distance measurement signal. Automatic collimation is performed by processing. Further, the distance between the targets 9-1, 9-2, 9-3,..., 9-n is measured based on the number of times the light wave oscillates from light transmission to light reception, and the horizontal angle detector 11 The angle of each target 9-1, 9-2, 9-3,..., 9-n is measured from the value of the vertical angle detector 12, and the X coordinate, Y coordinate, and Z coordinate of each target are measured. To do. The storage unit 20 is, for example, a hard disk drive, and stores a program for the above arithmetic control, and stores acquired measurement data.

  The audio output unit 21 is a speaker, and outputs audio based on instructions from the calculation control unit 17.

  The scanner 22 is a three-dimensional laser scanner. FIG. 3 is a configuration block diagram of the scanner 22 according to the embodiment. The scanner 22 includes a vertical angle detector 31, a vertical rotation driving unit 32, a rotating mirror 33, a communication unit 34, a calculation control unit 35, a storage unit 36, a distance measuring unit 37, and an imaging unit 38.

  The rotating mirror 33 is driven by the vertical rotation driving unit 32 and rotates around the vertical rotation axis RR (FIG. 1) via a lens barrel (not shown). Further, the rotating mirror 33 is arranged on the horizontal rotation axis HH of the surveying instrument 2 via the casing 22a (FIG. 1) of the scanner 22, and the casing 22a of the scanner 22 and the surveying instrument 2 The housing 2b rotates horizontally as a unit.

  The distance measuring unit 37 vertically scans infrared pulse laser light as scan light toward the measurement object using the rotating mirror 33. Then, the reflected light is received by a light receiving unit such as a photodiode. Reference numeral 5 in FIG. 1 indicates the optical axis of the scanning light of the scanner 22 at a certain time. Reference numeral 10 indicates an irradiation point (measurement position) at that time.

  The imaging unit 38 is an image sensor in which a large number of pixels are arranged in a plane, and assumes XY coordinates with the optical axis obtained by dividing the optical path from the scan light of the distance measuring unit 37 as the origin, and image data of the measurement object To get. The image data can be combined with point cloud data by a technique such as texture mapping.

  The vertical angle detector 31 is an encoder and detects the vertical rotation angle of the rotating mirror 33. The communication unit 34 receives a signal from the external terminal 41 described later.

  The calculation control unit 35 is a microcontroller and is electrically connected to the calculation control unit 17 of the surveying instrument 2. The arithmetic control unit 35 controls the vertical rotation driving unit 32 to scan the scan light via the rotating mirror 33. The vertical rotation drive unit 32 is controlled to rotate the rotation mirror 33, and the pulse laser is scanned in the vertical direction and the horizontal direction by driving the horizontal rotation drive unit 13. Moreover, the distance to the irradiation point 10 is calculated | required by measuring the time which a laser pulse reciprocates. Moreover, the angle of each irradiation point 10 is measured from the value of its own vertical angle detector 31 and the horizontal angle detector 11 of the surveying instrument 2. Then, point cloud data is obtained from the distance, horizontal angle, and vertical angle of the irradiation point 10. The image data obtained by the imaging unit 38 is subjected to image processing. Further, the communication of the communication unit 34 is controlled. In addition, a search range designation and a scan start instruction are received from the operation unit 16 of the surveying instrument 2. The storage unit 36 is, for example, a hard disk drive, and stores a program for the above arithmetic control, and stores the acquired point cloud data and image data.

  In the surveying instrument 1, the horizontal angle detector 11, the vertical angle detector 12, the horizontal rotation drive unit 13, the vertical rotation drive unit 14, the calculation control unit 17, the storage unit 20, and the audio output unit 21 are included in the housing of the surveying instrument 2. The display unit 15 and the operation unit 16 are accommodated in the body 2b, and are provided outside the housing 2b. The tracking unit 18 and the distance measuring unit 19 are accommodated in the telescope 2 a of the surveying instrument 2. As an example, the scanner 22 is fixed to the upper part of the telescope 2a of the surveying instrument 2 as shown in FIG. In addition, the telescope 2a may be disposed below or on the side of the telescope 2a or below the display unit 15.

  Next, the basic operation of the surveying apparatus 1 will be described. FIG. 4 is a flowchart of a surveying method using the surveying apparatus 1 according to the embodiment.

  When measurement is started, the process proceeds to step S1, and the search range of the scanner 22 can be designated from the operation unit 16 of the surveying instrument 2. At this time, the scan pitch can also be specified.

  Next, the process proceeds to step S <b> 2, and a scan start is instructed from the operation unit 16 of the surveying instrument 2.

  Next, the process proceeds to step S3, where the scanner 22 scans the scanning light within the search range of step S1. This measurement is performed by repeating the horizontal rotation of the surveying instrument 2 after scanning the vertical direction with the scanner 22. Or the reverse may be sufficient.

  Next, proceeding to step S4, the calculation control unit 35 of the scanner determines whether the search has been completed for the search range of step S1. If not completed, the process returns to step S3.

  When step S4 ends, the process proceeds to step S5, where the calculation control unit 35 of the scanner creates point cloud data based on the light reception output from the light receiving unit of the distance measuring unit 37. Then, approximate positions of the targets 9-1, 9-2, 9-3,..., 9-n are extracted from the light quantity distribution of the point group data. FIG. 5 is a view showing a part of the point cloud data obtained by the scanner 22. As shown in FIG. 5, in the point group data, a point with a high received light amount is shown as a white point, and a point with a low received light amount is shown as a black point. Therefore, an area including all white spots (an example is shown by a black frame) is extracted, and this area is set as the approximate position 40-n of the target 9-n.

  Next, the operation control unit 35 of the scanner proceeds to step S6, and the operation control unit 17 of the surveying instrument instructs the approximate positions 40-1, 40-2, 40-3,. 40-n position information is transmitted. The calculation control unit 17 of the surveying instrument directs the telescope 2a of the surveying instrument 2 toward the approximate position 40-n selected manually or automatically based on this information.

  Next, the process proceeds to step S7, and the surveying instrument 2 automatically collimates the approximate position 40-n and measures the range of the position of the target 9-n.

  Next, the process proceeds to step S8, and it is determined whether all of the target approximate positions 40-1, 40-2, 40-3, ..., 40-n have been measured. If the measurement has not been completed, the process returns to step S6. If all the measurements have been completed, the process proceeds to step S9 and the measurement is terminated. Step S3 is a search step, step S5 is a target detection step, and step S7 is a measurement step.

  That is, if the surveying instrument 1 is used, the target search can be performed at a high speed by the scanner 22, so that a plurality of targets 9-1, 9-2, 9-3,. Can be detected in a short time. Since the target approximate positions 40-1, 40-2, 40-3,..., 40-n extracted by the scanner 22 can be automatically and sequentially collimated and measured by the surveying instrument 2, the scanner 22 The measurement can be completed in a shorter time than the measurement by.

  When the target 9-n is measured by the scanner 22, the scanner 22 measures the target 9-n at “points”, and therefore the horizontal angle and vertical angle of the target center are obtained from the distribution of reflected light. Become. For this reason, when the density of the irradiation points 10 is small, it is difficult to accurately obtain the angle of the target 9-n. On the other hand, if the scan density is increased, the measurement takes time. On the other hand, in the surveying instrument 1, since the angle is measured by the surveying instrument 2, the tertiary of the targets 9-1, 9-2, 9-3,. The original position can be obtained with high accuracy.

  A preferred modification of the above embodiment will be described. During the measurement in step S7, the calculation control unit 17 of the surveying instrument may determine the type of target extracted by the scanner 22. That is, when the received light quantity actually measured by the scanner 22 and the size of the target image are compared with the received light quantity and size at the theoretical value at the distance obtained by the surveying instrument 2, if both or any of them are sufficiently different, It is determined that the one extracted by the scanner 22 is different from the target 9-n. Further, the type (prism, reflection sheet) of the target 9-n can be determined based on a comparative consideration of the amount of received light and the size. When it is determined that what is extracted by the scanner 22 is not the installed target 9-n, the surveying instrument 2 does not perform measurement for the extraction point. Thereby, even if there is an error in target detection by the scanner 22, the surveying instrument 2 can reliably measure only the target 9-n.

  Another modification is given. The surveying apparatus 1 is preferably used for surveying by the tie point method. In tie point surveying, when creating an image of a wide range of measurement objects, images are acquired from a plurality of different instrument points, and two adjacent images are acquired in an overlapping manner. A reference point is extracted, and two images are superimposed on the reference point to compose an image. Conventionally, it is common to use a scanner for tie point surveying. First, the scanner scans the point cloud data, automatically detects the reference point target, then resets the scan area and increases the scan density. The target was scanned again to measure the position of the target.

  On the other hand, in the surveying instrument 1, the storage unit 36 or the storage unit 20 stores the position information of the target approximate positions 40-1, 40-2, 40-3,..., 40-n obtained in step S6. If saved as a reference point for the tie point method, the point cloud data can be measured and the reference point target can be searched in a single scan with the scanner 22, and the reference point target is automatically measured by the surveying instrument 2. Therefore, the work efficiency of creating a three-dimensional point cloud map is greatly improved.

  Another modification is given. Since the surveying instrument 1 includes the communication unit 34, in steps S <b> 1 to S <b> 2, for example, a search range or start of scanning from an external terminal (for example, a mobile phone, a smartphone, a tablet, or the like) on the target 9 -n side. May be instructed. In addition to the configuration found in the prior art, a light emitting device is added to the target and light is emitted from the target side so that it is detected by the surveying instrument, or a beam emitting device is added to the surveying instrument and There is a configuration in which the approximate position of the target is detected by emitting a beam. However, since the surveying apparatus 1 can perform a target search by the scanner 22, it is not necessary to provide such a dedicated apparatus for detecting the target. Further, by enabling scanning from an external terminal, work efficiency is improved.

  Still another modification will be described. It is also preferable that the surveying instrument 1 returns to step S2 with an automatic or manual instruction after completing the measurement in step S9, and re-executes steps S2 to S5 to detect forgetting to collect the target. When the target 9-n is detected in step S5 at this time, the calculation control unit 17 of the surveying instrument issues a warning to the display unit 15 or a warning sound from the voice output unit 21. Thereby, it can be confirmed whether the installed target is not left on the site after the measurement is completed. Moreover, it is preferable that the surveying instrument 1 further includes a visible light laser pointer. If this laser pointer is the structure of FIG. 1, for example, it is provided in the lower part of the surveying instrument 2 main body. Thereby, the surveying instrument 1 can irradiate the rough position 40-n of the target 9-n with the laser pointer and detect the position to the operator when the target 9-n forgotten to be recovered is detected. . At this time, the operator may be more easily recognized by swinging the laser pointer.

  In each of the above embodiments, the calculation control unit 35 of the scanner may be integrated with the calculation control unit 17 of the surveying instrument so that the control can be performed by the calculation control unit 17 of the surveying instrument. The scanner 22 has been shown to rotate around one axis of the vertical rotation axis RR. For example, a scanner casing 22a is provided with a lower casing, and the lower casing has a horizontal rotation axis H- of the surveying instrument 2. A horizontal rotation axis coaxial with H may be provided so as to rotate in the biaxial direction.

  The preferred embodiments of the surveying instrument of the present invention and the modifications thereof have been described above. However, the embodiments and modifications can be combined based on the knowledge of those skilled in the art, and such forms are also within the scope of the present invention. include.

DESCRIPTION OF SYMBOLS 1 Surveying apparatus 2 Surveying instrument 2a Telescope 2b Case 9-1, 9-2, ... 9-n Target 11 Horizontal angle detector 12 Vertical angle detector 17 Calculation control part 19 Distance measuring part 22 Scanner 40-1, 40-2,... 40-n Target approximate position 41 External terminal HH Surveying instrument horizontal rotation axis RR Scanner rotation axis

Claims (8)

A surveying instrument that receives the distance measuring light transmitted to the target, measures the position of the target, and measures the angle of the target;
A scanner that scans scanning light around at least one axis of rotation and acquires point cloud data, and
A surveying apparatus, wherein the surveying instrument measures and measures the approximate position of one or more targets detected from the amount of light received by the scanner.
The housing of the surveying instrument has a rotating shaft that can rotate in the horizontal direction,
The surveying apparatus according to claim 1, wherein the scanner horizontally rotates integrally with the housing and scans the scan light in a vertical direction.
3. The surveying apparatus according to claim 1, wherein the type of the target is determined by referring to the received light amount of the scanner and / or the size of the data image at the time of measurement by the surveying instrument.
When the approximate position of the target is detected by the scanner, the approximate position of the target is stored as a reference point, and a plurality of the point group data obtained at different instrument points are combined and overlapped at the reference point. The surveying device according to claim 1.
The surveying apparatus according to claim 1, wherein the scanner can be instructed from an external terminal.
The surveying instrument further comprises a visible laser pointer,
The scanning of the scanner is re-executed after the measurement by the surveying instrument is completed, and when the target is detected, the laser pointer is irradiated to the detection position of the target. The surveying instrument described.
The surveying apparatus according to claim 1, wherein after the measurement by the surveying instrument is completed, the scanning of the scanner is re-executed, and a warning is given to an operator when a target is detected.
Using the surveying instrument according to any one of claims 1 to 7,
A search step of scanning a search range with the scanner;
A target detection step for obtaining an approximate position of one or more targets from the amount of light received by the scanner;
A measurement step of automatically collimating the approximate position with the surveying instrument to measure the range and angle of the target;
A measuring method characterized by comprising: