JP2019105515A - Target device, surveying method, surveying device and program - Google Patents

Abstract

To obtain a technique to be able to measure a posture of a surveying object using laser light.SOLUTION: A target device 130 comprises a whole circumference reflection prism 110 that is a first target to be surveyed by a laser and a spiral target 120 of which physical relationship with the whole circumference reflection prism 110 is specified and that is a second target comprising a surface with a spiral structure. The detection of a rotational position around an axis of the spiral structure is conducted based on a distance between a position of the whole circumference reflection prism 110 and a position of a valley in a rugged structure of the spiral structure.SELECTED DRAWING: Figure 1

Description

  The present invention relates to surveying technology for detecting the orientation of a target.

  In the survey using TS (total station), a target device provided with a rod-like member provided with a reflection prism is used (see, for example, Patent Document 1). In the survey using this target device, with the tip of the vertical bar-shaped member being in contact with the ground, the positioning by TS is performed on the reflecting prism to thereby make the position of the tip of the bar-shaped member contact. Get coordinates. Then, by performing this work at each place of the land to be surveyed, the land is surveyed.

  In the above operation, the worker holds the target device in hand, and while walking and moving, surveying is performed at a plurality of positions. At this time, guidance from the TS side to the next surveying position is performed using a terminal or the like obtained by the worker. At this time, it is convenient to know the horizontal angle (direction in the horizontal plane) of the target device with respect to TS. Usually, the above horizontal angle detection is performed using a magnetic sensor or a gyro sensor. Also known is a technique for detecting an azimuth using GPS.

JP, 2009-229192, A

  The detection of the horizontal angle by the magnetic sensor is affected by the metal structure. For example, near a bridge, it is affected by rebar and steel in concrete. In addition, there is a technology in which a corrugated steel material is driven into the ground to reinforce the ground, but the accuracy of the magnetic sensor may decrease due to the influence of the steel material in the ground. In addition, the gyro sensor has a problem of output drift. Although there is also a gyro sensor which improves this point, it becomes expensive and large. GPS can not be used (or loses accuracy if it can be used) in places where navigation satellites are not visible (in valleys, under bridges, in tunnels, indoors, underground, forests, etc.).

  The above problems also occur when it is desired to know the orientation of a UAV (Unmanned aerial vehicle) with respect to TS. For example, a technique for tracking a UAV by TS is known (US2014 / 0210663). In this technology, it is important to know the attitude of the UAV with respect to the TS, but the above-mentioned attitude detection using the orientation sensor, the gyro sensor, and the GPS causes the same problem as described above.

  In such a background, the present invention aims to provide a technique capable of measuring the posture of a measurement object using a laser beam.

  The present invention is a target device provided with a helical uneven structure on the surface, and the target device of the present invention based on the position on the helical axis of a specific part of the helical uneven structure when measured from a specific direction. It is a target device in which detection of a rotational position around the helical axis is performed.

  In the present invention, as the cross-sectional shape of the concavo-convex structure, any one of a triangular waveform, a sine waveform, a sawtooth waveform, a rectangular waveform, and a waveform combining multiple frequencies can be adopted. Also, in the present invention, the position of the specific portion is defined by the distance between the position and another portion that can be distinguished from the helical uneven structure and is at a distance from the helical axis in the extension direction. Aspects can be mentioned. Here, it is also possible that the other part is not on the axis of the helical axis.

  It is preferred to use a reflecting prism as the other part. Further, in the present invention, when a distance between the specific portion and the other portion is L and an angle of the rotational position with respect to a reference rotational position is θ, the L and the θ have a specific relationship. There is an aspect in which the θ can be obtained by measuring the L. In addition, an aspect in which the L and the θ are in direct proportion may be mentioned.

  Another aspect of the present invention is a method of measuring an angular position around a helical axis of the target device described above, which is based on the step of performing laser scanning in the helical axial direction with respect to the helical uneven structure, and the result of the laser scan. A surveying method comprising: calculating a position of the specific part on the helical axis; and determining an angular position around the helical axis of the target device based on the position of the specific part on the helical axis. is there.

  Another aspect of the present invention is a surveying instrument for surveying an angular position about a helical axis of the target device described above, wherein the laser scan means performs a laser scan in a helical axis direction with respect to the helical uneven structure; And calculating an angular position of the target device about a helical axis based on the position calculation means for calculating the position of the specific part on the helical axis and the position of the specific part on the helical axis. It is a surveying instrument provided with an angular position calculation means.

  Another present invention is a surveying program for causing a computer to calculate the angular position of the target device described above about the helical axis, and the result of laser scanning in the helical axis direction with respect to the helical uneven structure on the computer Performing the steps of calculating the position of the specific part on the helical axis, and determining the angular position of the target device about the helical axis based on the position of the specific part on the helical axis It is a program for surveying.

  According to the present invention, it is possible to obtain a technology capable of measuring the attitude of a measurement object using a laser beam.

It is a conceptual diagram of an embodiment. It is a perspective view of a surveying instrument of an embodiment. It is a front view of a surveying instrument of an embodiment. It is a principle view showing the mechanism which measures the horizontal angle of a spiral target. It is a graph which shows the relationship between the horizontal angle (horizontal axis) and the distance L (vertical axis) between the position of the valley of the spiral target and the position of the reflection center of the total circumferential reflection prism. It is a figure explaining the method to obtain | require the horizontal angle of the target apparatus in an absolute coordinate system. It is a figure which shows the method of calculating | requiring the position of the trough of a helical target. It is a block diagram of a survey instrument. It is a flowchart which shows an example of the procedure of a process. It is a figure which shows an example of the display screen of a terminal. It is a figure which shows an example of the display screen of a terminal. It is a conceptual diagram which shows the outline | summary of other embodiment. It is a conceptual diagram which shows the outline | summary of other embodiment. It is a figure which shows the waveform pattern of the cross-sectional shape of a helical target. It is a figure which shows the relationship between the optical axis of the ranging light of TS function part, and a laser scanning direction. It is a principle view showing the mechanism which measures the horizontal angle of a spiral target. It is a principle view showing the mechanism which measures the horizontal angle of a spiral target.

1. First embodiment (outline)
An overview of the embodiment is shown in FIG. In FIG. 1, the positional relationship between the all around reflecting prism 110, which is the first target to be laser positioned, and the all around reflecting prism 110 is specified, and a spiral target that is the second target having the surface of the spiral structure And a target device 130 for detecting the rotational position around the axis of the helical structure based on the positional relationship between the circumferential reflection prism 110 and the concavo-convex structure in the helical structure.

  In FIG. 1, the position and horizontal angle (orientation in the horizontal direction) of the target device 130 are measured by the surveying instrument 400. Here, the surveying instrument 400 is horizontally installed at a position where coordinates are known in the absolute coordinate system, and the horizontal direction in the absolute coordinate system is determined. This is the same as in the case of a normal TS or other surveying instrument.

  An absolute coordinate system is a coordinate system used in GNSS. In an absolute coordinate system, coordinates are specified by longitude, latitude, and altitude from the mean sea level. In addition, a local coordinate system defined on the spot can also be used as a coordinate system.

(Surveying instrument)
The surveying instrument 400 will be described below. The surveying instrument 400 has a configuration in which the TS function unit 200 and the laser scanner unit 300 are combined. The TS function unit 200 exerts a function as a TS (total station). About TS, it describes, for example in JP, 2009-229192, A, JP, 2012-202821.

  The laser scanner unit 300 performs processing (laser scan) for obtaining a laser scan point group. About the technique which concerns on a laser scanner, it describes, for example in Unexamined-Japanese-Patent No. 2010-151682, 2008-268004, U.S. Patent No. 8767190 etc. In addition, as the laser scanner, a form in which a scan is electronically performed as described in US Patent Publication No. US 2015/0293224 can be adopted.

  The surveying instrument 400 will be described below with reference to FIGS. 2 and 3. The surveying instrument 400 has a horizontal rotation unit 11. The horizontal rotation unit 11 is held on the pedestal 12 so as to be horizontally rotatable. The pedestal 12 is fixed to the top of a tripod (not shown). The horizontal rotation portion 11 has a substantially U-shape having two extension portions extending upward, and the vertical rotation portion 13 has an elevation angle (elevation angle and depression angle) between the two extension portions. Is held in a state in which control of

  The horizontal rotation unit 11 electrically rotates horizontally with respect to the pedestal 12. The vertical rotation unit 13 is rotated in a vertical plane by a motor. The angle control in the horizontal plane of the horizontal rotation unit 11 is performed by the horizontal rotation drive unit 207 (see FIG. 8) built in the horizontal rotation unit 11. The angle control in the vertical plane of the vertical rotation unit 13 is performed by the vertical rotation drive unit 208 (see FIG. 8) built in the horizontal rotation unit 11.

  In the horizontal rotation unit 11, a horizontal rotation angle control dial 14a and an elevation control dial 14b are disposed. By operating the horizontal rotation angle control dial 14a, the horizontal rotation angle of the horizontal rotation portion 11 is adjusted, and by operating the elevation angle control dial 14b, the elevation angle in the vertical plane of the vertical rotation portion 13 ( Adjustment of elevation angle and depression angle is performed.

  At the upper part of the vertical rotation unit 13, a sighting device 15a for aiming roughly is disposed. Further, in the vertical rotation unit 13, an optical sight 15b (see FIG. 3) having a narrower field of view than the sight 15a (see FIG. 3) and a telescope 16 capable of more precise collimation are disposed.

  An optical system for guiding an image captured by the sighting device 15 b and the telescope 16 to the eyepiece unit 17 is accommodated in the vertical rotation unit 13. The image captured by the sighting device 15 b and the telescope 16 can be viewed by looking through the eyepiece 17. The image captured by the telescope 16 can be captured by a camera 211 (see FIG. 8) disposed inside the vertical rotation unit 13.

  The telescope 16 doubles as an optical system of distance measurement laser light and tracking light for tracking and capturing a distance measurement target (for example, a dedicated reflection prism serving as a target). The optical system is designed such that the optical axes of the distance measurement light and the tracking light coincide with the optical axis of the telescope 16. The structure of this part is the same as commercially available TS.

  Displays 18 and 19 are attached to the horizontal rotation unit 11. The display 18 is integrated with the operation unit 210. A numeric keypad, a cross control button, and the like are arranged in the operation unit 210, and various operations and data related to the surveying instrument 400 are input. The displays 18 and 19 display various information, survey data, etc. necessary for the operation of the survey instrument 400. The two front and back displays are provided so that the display can be viewed from either the front or back side without rotating the horizontal rotation unit 11.

  A laser scanner unit 300 is fixed to the top of the horizontal rotation unit 11. The laser scanner unit 300 has a first tower 301 and a second tower 302. The first tower portion 301 and the second tower portion 302 are joined at the joining portion 303, and the space above the joining portion (the space between the first tower portion 301 and the second tower portion 302) is scanned It is covered with a protective case 304 made of a member that transmits laser light. Inside the protective case 304, a columnar rotating portion 305 that protrudes in the horizontal direction from the first tower portion 301 is disposed. The tip of the rotating portion 305 has a shape that is cut off at an angle, and the tilt mirror 306 is fixed to the tip.

  The rotating unit 305 is driven by a motor housed in the first tower unit 301, and rotates with its extending direction (horizontal direction) as a rotation axis. In addition to the above-described motor, the first tower portion 301 contains a drive circuit for driving the motor, a control circuit for the motor, a sensor for detecting a rotation angle of the rotation unit 305, and a peripheral circuit of the sensor.

  Inside the second tower 302, a light emitting unit for emitting laser scanning light, a light receiving unit for receiving laser scanning light reflected from an object, an optical system related to the light emitting unit and the light receiving unit, a scanning point A distance calculation unit for calculating the distance to the point is included. The laser scanner unit 300 further includes a scan point position calculation unit that calculates three-dimensional coordinates of the scan point based on the rotation angle of the rotation unit 305, the horizontal rotation angle of the horizontal rotation unit 11, and the distance to the scan point.

  The laser scanning light is a single line, and is emitted from the inside of the second tower 302 toward the oblique mirror 306, is reflected there, and is emitted to the outside through the transparent case 304. The laser scan light is pulse emitted from the light emitting portion at a repetition frequency of several kHz to several hundreds kHz, and is irradiated from the horizontal direction to the oblique mirror 306 at the tip of the rotating portion 305 which rotates, and reflected at right angles there. As the rotation unit 305 rotates around the horizontal axis, the laser scan light is pulse-irradiated pointwise radially while being scanned along the vertical plane.

  In the survey instrument 400, when the radial laser scan from the laser scanner unit 300 is performed on the vertical plane, the laser scan is performed along the vertical line (see FIG. 15). That is, the radial laser scan light from the laser scanner unit 300 forms a set of bright spots (reflection points) distributed on the vertical line in the vertical plane. As shown in FIG. 15, the positional relationship between the TS function unit 200 and the laser scanner unit 300 is set so that the vertical line formed by the bright spot of the laser scan light by the laser scanner unit 300 intersects the optical axis of the telescope 16. It is done.

  That is, the surveying instrument 400 is set such that the optical axis of the telephoto pole 16 is included in the fan-shaped scan surface (surface to be swept by the scan laser light) on which the laser scan from the laser scanner unit 300 is performed. In this configuration, the scan direction in the elevation angle direction of the laser scanner unit 300 is orthogonal to the horizontal direction, and the horizontal angle of the scan light (direction in the horizontal direction) and the horizontal angle of the optical axis of the telescope 16 (TS function unit 200 Horizontal angle of) matches.

  In addition, by performing the above-described laser scanning while horizontally rotating the horizontal rotation unit 11, the laser scanning in the necessary range is performed.

  The scan light reflected from the object follows a path reverse to the irradiation light, and is received by the light receiving unit inside the second tower 302. Positioning of the scan point (reflection point of scan light) is based on the light emission timing and light reception timing of scan light, and the angle position (height angle: elevation angle or depression angle) of the rotation unit 305 at that time and the horizontal rotation angle of the horizontal rotation unit 11 It takes place. The principle of positioning is the same as that of the distance measuring unit 202 described later.

  The target device 130 is used for positioning work at a civil engineering work site or the like. At the time of this work, positioning is performed by the TS function unit 200 targeting the all-round reflection prism 110. The target device 130 includes a rod-like member 131 serving as a support member, an all-round reflecting prism 110 fixed to the upper part of the bar-like member 131, a spiral target 120 fixed to the upper part of the all-round reflecting prism 110, and an upper part of the spiral target 120 And a terminal 132 fixed via a support.

  The all-round reflecting prism 110 changes the direction of the incident light by 180 ° and reflects it. The all-round reflection prism 110 may be a conventional product used for measurement using TS. Here, the reflection center P of the total circumferential reflection prism 110 is adjusted to be on the spiral axis of the spiral target 120. Although it is also possible to use a reflection prism that is not of the all around reflection type, there is a limit to the range of angles that can be supported. The spiral target 120 will be described later.

  The terminal 132 includes an image display device such as a liquid crystal display. In this image display device, guide display for guiding the position of the positioning operation using the all-round reflecting prism 110 to the operator who handles the target device 130 is performed. The guide display will be described later. As the terminal 132, a tablet or a smartphone is used. A dedicated terminal may be prepared as the terminal 132.

  For example, the case of stake driving will be described. In piling work, in construction work site or civil engineering work site, the position which was determined beforehand in drawing is specified in the actual site, and it is the work of putting the pile of the mark on it (or giving some mark) It is. In this work, the work of searching for a piling point → specification → pile driving to that position is performed for a plurality of piling candidate positions. At this time, the target device 130 is used to identify the stakeout point.

  For example, in a state where the worker holds the rod-like member 131 by hand, the worker moves on foot and moves to the planned stake position. At this time, the operator moves to the target position using the guide display of the terminal 132. At this time, the guide display is created using the information of the direction (posture) in the horizontal direction of the target device 130 obtained using the spiral target 120. The technology relating to this guide display will be described later.

  The pinpointing point is specified by bringing the tip end of the rod-like member 131 into contact with the ground, standing the target device 100 there, and positioning the total collecting / reflecting prism 110 by the TS function unit 200. This work is the same as a normal surveying work using TS.

(Helical target)
FIG. 4 shows the target device 130 configured by the all-round reflecting prism 110 and the spiral target 120 fixed to the top, as viewed from the side (the direction perpendicular to the spiral axis). The target device 130 includes a level not shown, and is installed using the level so that the helical axis (Z axis in FIG. 4) of the helical target 120 is in the vertical direction.

  The helical axis is an axis of a helical structure, and for example, a rotation axis of a screw is an example of a helical axis. The target device 130 is fixed to an upper portion of a rod-like member serving as a support member, but the rod-like member is not shown in FIG. Also, the terminal 132 and its supporting structure are not shown.

  The helical target 120 has a helical axis extending in the extension direction of the rod-like member 131. The structure of the spiral is set such that the phase advances by one cycle (phase difference 2π) in one rotation around the axis. That is, when the spiral is rotated around the helical axis by one rotation, the same shape viewed from the side is moved by a phase difference of 2π in the helical axis direction. The structure of the helix is not limited to this, but this structure is the simplest.

  The shape of the uneven cross section of the spiral surface is a triangular wave shape in which the triangular shape is repeated continuously. The surface of the spiral target 120 is a reflection surface of the laser scan light. The surface of the helical target 120 is selected from materials and states that reflect the laser scan light in an appropriate reflection state.

  Now, consider the state of (A) as the reference state. Here, it is assumed that the helical axis of the helical target 120 is vertical. At the bottom of (A), the direction of the viewpoint as viewed from above is shown conceptually.

  Here, it is assumed that the target device 130 (helical target 120) is rotated by 1⁄4 right rotation (rotation by 90 ° in the clockwise direction) as viewed from vertically above from the state of (A). In this case, it can be seen that the helical structure has advanced by a phase difference of π / 2 upward (in the positive direction of the Z axis). That is, the appearance state shifts from (A) to (B).

  In this case, the position (BTM) of the valley of the spiral target 120 on the vertical line including the optical axis of the TS function unit 200 moves from the state of (A) to the state of (B). The movement amount at this time is equivalent to 1⁄4 cycle considering the cycle of the spiral. The phenomenon that the position of valley (BTM) is advanced by the rotation of the spiral is the same principle as that of the valley portion of the thread by the rotation of the screw.

  Here, if the direction of rotation is reversed, the valley position (BTM) moves in the reverse direction (the negative direction of the Z axis). As described above, the valley position (BTM) on the vertical line intersecting the optical axis of the TS function unit 200 moves on the spiral axis (on the Z axis) by the rotation of the spiral target 120.

  That is, the distance L between the position (BTM) of the valley of the helical structure on the helical axis and the reflection center of the circumferential reflection target 110 changes with the rotation of the helical target 120. FIG. 4 shows a state where L = L1 in the state of (A) but L = L2 (L1 <L2) by rotating the spiral target 120 by 1⁄4 rotation.

  Here, it is assumed that the state shown in FIG. 4A is a state in which the front of the spiral target 120 is viewed from the surveying instrument 400 and the horizontal rotation angle Dm of the spiral target 120 with respect to the surveying instrument 400 is 0 °. Then, from the state of FIG. 4A, assuming that the clockwise direction is + rotation when viewed from the vertically upper direction, and the reverse rotation direction is −rotation, between the distance L and the horizontal rotation angle Dm, as shown in FIG. Relationship.

  By the way, according to the principle to be described later, the position of the valley on the helical axis of the helical target 120, that is, the height V1 in the vertical direction can be identified by laser scanning. On the other hand, the position (height V2) on the spiral axis of the reflection center P of the total circumferential reflection target 110 can be specified by the TS function unit 200. Thus, the value of L in FIG. 4 can be calculated from V1-V2.

  Therefore, the relationship of FIG. 5 is obtained in advance. Then, the value of L is calculated from the difference between the position in the vertical direction of the valley (BTM) obtained from the laser scan of the spiral target 120 and the position in the vertical direction of the reflection center P of the circumferential reflection target 110 obtained by the TS function unit 200. The horizontal angle Dm (see FIG. 6), which is the horizontal direction of the spiral target 120 (target device 130) with respect to the surveying instrument 400, is obtained by finding the value of L and applying the relationship of FIG.

  The horizontal angle Hm with respect to the reference orientation (for example, the north direction) of the TS function unit 200 is acquired when the surveying instrument 400 is installed, and is known. Therefore, the horizontal angle Ht in the absolute coordinate system of the target device 130 can be obtained from the relationship shown in FIG.

  The method of calculating Ht will be described below. First, it is assumed that the horizontal angle Hm of the TS function unit 200 is measured as an angle in the clockwise direction with respect to north. Since the surveying instrument 400 is calibrated at the time of installation to set the reference of the horizontal angle, the horizontal angle Hm can be obtained from the output of the horizontal angle detection unit 205.

  Dm is an angle between the reference direction of the horizontal angle of the target device 130 (in this case, the front direction) and the optical axis of the TS function unit 200. Dm is obtained from the relationship shown in FIG. 5 by determining the distance L in the vertical direction between the position BTM of the valley in FIG. 4 and the reflection center P of the all-round reflecting prism 110.

  Here, Ht is calculated from the horizontal angles Hm and Dm according to the formula shown in FIG. 6 as an angle measured in the clockwise direction with respect to north. Thus, the horizontal angle Ht (direction in the horizontal direction) in the absolute coordinate system of the target device 130 is calculated.

  The method shown in FIG. 4 can be understood as a method of determining the horizontal angle of the spiral target 120 (target device 130) based on the difference in the phase of the spiral with respect to the reflection center P of the all-round reflection prism 110. That is, in FIG. 4A and FIG. 4B, the state of the phase of the convex-concave structure (the structure of the triangular wave) of the spiral with respect to the position on the vertical line of the reflection center P of the all-round reflection prism 110 is different. Specifically, with respect to the state of (A), in the state of (B), the phase of the spiral (phase of the triangular wave) with respect to the reflection center P leads the quarter cycle (π / 2). The difference between the phase states and the rotational position (horizontal angle) of the spiral target 120 have an unambiguous relationship. This unique relationship is shown in FIG.

  That is, in the example of FIG. 4, the difference in the phase state of the spiral structure is detected as the difference in the valley position BTM, and L is used as a specific parameter. The difference in the phase can be grasped by parameters other than the valley, which characterize the waveform of the unevenness of the spiral structure. According to this technique, by acquiring in advance the relationship between the shape of unevenness of the helical structure and the horizontal rotation angle, the horizontal direction of the helical target can be obtained from the uneven shape of the helical structure viewed from the direction orthogonal to the helical axis. The rotational position can be determined.

(How to determine the valley position)
A method of determining the position of the valley of the spiral target 120 in FIG. 4 (the position of the valley on the vertical straight line intersecting the optical axis of the TS function unit 200) will be described. The processing relating to the calculation of the valley position is performed by the position calculation unit 217 of a specific part in the surveying instrument 400.

  FIG. 7 describes the principle of processing for specifying the position of the valley of the spiral. In this technique, a linear laser scan along a vertical line intersecting the optical axis of the TS function unit 200 is performed by the laser scanner unit 300. 7 (A) shows a helical target 120, FIG. 7 (B) shows a distribution of laser scanning points on the helical surface at a first rotation angle, and FIG. 7 (C) shows , The distribution of laser scan points on the helical surface at a second rotation angle.

  In this example, a plane is adopted as the slope of the spiral mountain. Therefore, the equation of the line along the slope is determined from a plurality of scan points along the surface of the spiral, the three-dimensional position of the valley is determined from the point of intersection of two adjacent lines in the vertical direction, and the coordinate in the vertical direction . Thus, the valley position (BTM) is determined. As a method of determining the position of valley (BTM), it is also possible to obtain the positions of the tops of two peaks sandwiching the valley and obtain an intermediate value thereof.

  Then, the distance L between the position (BTM) of the valley in the vertical direction and the reflection center P of the all-round reflecting prism 110 is calculated, and the TS function unit 200 of the target device 130 (surveying machine 400 The horizontal rotation angle (Dm in FIG. 6) with respect to.

  As described above, the periodicity in the axial direction of the helical structure in the helical target is used to specify the rotational position around the helical axis of the helical target.

(TS / Laser scanner combined surveying device)
The internal configuration of the surveying instrument 400 of FIG. 1 will be described. A block diagram (configuration diagram) of the surveying instrument 400 is shown in FIG.

  The TS function unit 200 includes a storage unit 201, a distance measurement unit 202, a tracking light transmission unit 203, a tracking light reception unit 204, a horizontal angle detection unit 205, an elevation angle detection unit 206, a horizontal rotation drive unit 207, and a vertical rotation drive unit. 208, displays 18, 19, an operation unit 210, a camera 211, an arithmetic control unit 212, a communication unit 216, and a position calculation unit 217 of a specific part. Further, in the operation control unit 212, a positioning operation unit 213, a scan density setting unit 214, and a horizontal angle calculation unit 215 are included. At least one of the positioning operation unit 213, the scan density setting unit 214, and the horizontal angle calculation unit 215 may be configured separately from the operation control unit 212.

  The storage unit 201 is configured by a data storage device such as a semiconductor memory circuit. The storage unit 209 stores data necessary for the operation of the surveying instrument 400, an operation program, and data obtained by the operation.

  The distance measuring unit 202 measures the distance between the surveying instrument 400 and the distance measuring object (all-round reflecting prism 110). As the origin of distance measurement, a predetermined position such as the position of the light emitting unit of the distance measurement unit 202 or the imaging position in the telescope 16 is adopted.

  The distance measuring unit 202 includes a light emitting element (laser diode or the like) for emitting distance measuring light, a peripheral circuit of the light emitting element, and a light receiving element for receiving distance measuring light reflected from a distance measuring object And a peripheral circuit of the light receiving element, and an arithmetic circuit for calculating the distance to the object based on the output of the light receiving element.

  The positioning process in the distance measuring unit 202 is performed as follows. The distance measurement light from the light emitting element is divided into two by an optical system such as a half mirror, one is irradiated to the positioning target, and the other is guided to a reference light path (not shown). The reference optical path has a known optical path length, and the distance measuring light transmitted through the reference optical path is guided to the light receiving element as the reference distance measuring light. The light receiving element receives the distance measuring light reflected from the positioning object and the reference distance measuring light transmitted through the reference light path.

  Since the distance measurement light reflected by the positioning object and the reference distance measurement light from the reference light path have different timings of reaching the light receiving element, a phase difference occurs in the output signal (detection signal) of both light receiving elements. . The distance to the positioning object is calculated from this phase difference. The calculation of the distance is performed by an arithmetic circuit in the distance measuring unit 202.

  The tracking light transmission unit 203 emits tracking light for tracking a target (all-round reflecting prism 110) which is a positioning target. The tracking light receiving unit 204 receives the tracking light reflected from the target. The tracking light receiving unit 204 is configured of a CCD or a CMOS image sensor. The control of the horizontal angle and the elevation angle of the optical axis of the distance measuring unit 202 is performed so that the reflected light from the target of the tracking light is at the center of the field of view. The control of the horizontal angle and the elevation angle of the optical axis is performed by the horizontal rotation drive unit 207 and the vertical rotation drive 208 based on the control signal generated by the calculation control unit 212.

  The horizontal angle detection unit 205 detects the horizontal angle of the horizontal rotation unit 11 (see FIG. 1). The detection of the horizontal angle is performed by a rotary encoder. The horizontal angle detection unit 205 also detects the horizontal rotation angle of the laser scanner unit 300. The elevation angle detection unit 206 detects the elevation angle (elevation angle and depression angle) of the vertical rotation unit 13. The detection of the vertical angle is performed by a rotary encoder.

  The horizontal rotation drive unit 207 drives the horizontal rotation of the horizontal rotation unit 11. Driving is performed by a motor. The horizontal rotation unit 207 also performs horizontal rotation of the laser scanner unit 300. The vertical rotation drive unit 208 drives vertical rotation (elevation and depression) of the vertical rotation unit 13. Driving is performed by a motor.

  The displays 18 and 19 display various types of image information necessary for the operation of the surveying instrument 400 and image information of survey results. As the displays 18 and 19, a liquid crystal display or an organic EL display is adopted. The operation unit 210 is an operation interface provided with various buttons and the like for operating the surveying instrument 400. The camera 211 captures an image captured by the telescope 16.

  The arithmetic control unit 212 has a function as a computer provided with a CPU, a memory, and various interfaces, and controls the overall operation of the surveying instrument 400. A mode is also possible in which part of the operation in the operation control unit 212 is performed by a dedicated IC such as an FPGA. The same applies to the position calculation unit 217 of a specific part. The calculation control unit 212 includes a positioning calculation unit 213, a scan density setting unit 214, and a horizontal angle calculation unit 215.

  The positioning operation unit 213 performs an operation relating to the positioning of the object (for example, the all-round reflecting prism 110) measured by the distance measuring unit 202 (positioning of the object relative to the surveying instrument 400). The calculation relating to the positioning of the object in the positioning calculation unit 213 is performed as follows. In this process, based on the distance measurement data of the object obtained by the distance measurement unit 202 and the direction of the optical axis of the distance measurement light obtained by the horizontal angle detection unit 205 and the elevation angle detection unit 206, the distance measurement unit 202 measures The position of the measured object (all-round reflection target 110) is calculated. That is, the position (three-dimensional coordinates) of the object relative to the surveying instrument 400 is calculated from the distance and the direction.

  The scan density setting unit 214 sets the scan density of the laser scan by the laser scanner unit 300 with respect to the spiral target 120 according to the distance from the surveying instrument 400 to which the distance measuring unit 202 has performed distance measurement to the all-round reflecting prism 110. In this setting, the scan speed is adjusted so that the scan density does not become sparse even if the distance increases, so that a scan density higher than a specific density can be obtained. Although the specific scan density is determined by the calculation accuracy of the valley portion of the spiral target, it is preferable to obtain it experimentally in advance so as to obtain the required accuracy. As a guide, the scan density is set so that three or more scan points can be obtained on the slope forming the spiral.

  The horizontal angle calculation unit 215 calculates the distance L between the valley of the spiral target 120 and the reflection center P of the all-round reflection prism 110, and the horizontal angle Dm with respect to the TS function unit 200 based on the relationship of FIG. (See reference) and further calculate Ht based on the principle of FIG. The communication unit 216 communicates with an external device such as the terminal 132 shown in FIG. The position calculation unit 217 of the specific part calculates the position of the specific part in the helical axis direction of the helical structure of the helical target 120 according to the principle of FIG. 7. In this example, the valley portion of the spiral structure is utilized as this particular portion. The method of determining the valley position is described above with reference to FIG. The laser scanner unit 300 has already been described with reference to FIG. 1, and thus the description thereof is omitted.

(An example of processing at the terminal 132)
The terminal 132 acquires data on the position of the target device 130 and data on Dm and Ht in FIG. Then, the terminal 132 creates, for example, the image of FIG. 10 and displays it on its own display. With reference to this image, the worker moves the target device 130 to the position for stakeout and the position for surveying. Hereinafter, the method of creating the image of FIG. 10 will be described.

  FIG. 10 shows an example of a screen display in which the upper direction is the front of the target device 130. First, the current position of the target device 130 in the absolute coordinate system is precisely measured by the TS function unit 200, and the data is acquired from the surveying instrument 400. Further, the target position (the position where the stake is hit) is specified in advance in the drawing, and the data is also acquired. In addition, the direction Ht (see FIG. 6) of the front in the absolute coordinate system of the target device 130 is calculated on the surveying instrument 400 side.

  Therefore, the current position of the target device 130, the target position, and the direction of the front of the target device 130 in the absolute coordinate system are dropped on the map software, and the display screen is rotated based on Ht so that the upper side becomes the front. By displaying the direction of the surveying instrument 400, the screen of FIG. 10 is obtained.

  Since Dm in FIG. 10 is not obtained from a magnetic sensor, a gyro sensor, or a GPS sensor, the problem of the accuracy reduction mentioned in the section of the problem is avoided.

  FIGS. 11A and 11B show another example of guide display on the display of the terminal 132 at the time of pile driving operation.

(Example of processing)
Hereinafter, an example of a surveying process using the surveying instrument 400 will be described. FIG. 9 is a flowchart showing the procedure of the process. The operation program according to the process of FIG. 9 is stored in the storage unit 210 and executed by the operation control unit 212 of FIG. It is also possible to store the operation program in an appropriate storage area or storage medium. It is also possible to store the operation program in an external server or the like and provide it from there.

  Here, with reference to FIG. 1, an example of the procedure of the process in the case of performing a piling work at a civil engineering construction site will be described. First, a worker arranges the target device 130 vertically at a certain position (initial position) (step S101). Here, a level is disposed in the target device 130, and the worker uses it to bring the tip of the rod-like member 131 into contact with the ground with the target device 130 in a vertical state.

  Next, the all around reflection prism 110 is tracked using the target automatic tracking function of the TS function unit 200, and the positioning of the all around reflection prism 110 by the TS function unit 200 is performed (step S102). Next, using the laser scanner unit 300, laser scanning is performed on a vertical line intersecting the optical axis of the distance measurement light of the TS function unit 200 (step S103). At this time, scan conditions are set such that a scan density greater than or equal to a specific value can be obtained along the helical axis of the helical target 120.

  Next, the position on the vertical line of the valley of the helical structure of the helical target 120 is specified according to the principle of FIG. 7 (step S104). This process is performed by the position calculation part 217 of the specific part which calculates the position of the specific part in the helical axis direction of a helical structure. Next, the difference L between the position P of the reflection center of the all-round reflecting prism 110 on the vertical line obtained in step S102 and the position of the valley obtained in step S104 is determined, and the target device 130 in the absolute coordinate system is The horizontal angle Dm with respect to the surveying instrument 400 is calculated (step S105). At this time, Ht is also calculated. The processes of steps S104 and S105 are performed by the horizontal angle calculation unit 215.

  When Dm and Ht are obtained, they are transmitted to the terminal 132. The terminal 132 that has received the information of Dm and Ht creates, for example, the display content of FIG. 10 and displays it on the display of the terminal 132 (step S106). The operator sees the display of FIG. 10 and moves the target device 130 to the target position.

2. Second Embodiment FIG. 12 shows an example in which the present invention is applied to a technology for projecting an image from a projector to a positioning position (for example, Japanese Patent No. 6130078). In this case, in order to make the size and the orientation of the image to be projected appropriate, information of the height from the projection surface (for example, the floor surface) of the projector and the orientation of the projector in the horizontal direction is required.

  In the case of FIG. 12, the three-dimensional position (horizontal position and height) of the projector 520 provided with a communicator by positioning of the all-round reflection prism 110 by the surveying instrument 400 installed at a known position and further having a reference orientation fixed. Is identified. On the other hand, from the relationship between the position of the all-round reflecting prism 110 measured by the TS function unit 200 and the position of the valley of the spiral obtained by laser scanning the spiral target 120 from the laser scanner unit 300, Orientation in the direction is identified.

  Information on the three-dimensional position of the projector 520 and the orientation in the horizontal direction is calculated by the surveying instrument 520 and sent to the projector 520. Receiving this information, the projector 520 adjusts the image to be projected, its projection position, and the scale and orientation of the projected image.

3. Third Embodiment For example, the present invention can be applied to a technique for specifying the horizontal direction of a mobile unit. In this case, a target in which the all-round reflection prism 110 and the spiral target 120 are coupled in the vertical direction is fixed to the moving body. At this time, the target is fixed to the moving body so that the spiral axis is vertical. For example, a gimbal mechanism is used so that the spiral axis of the target is always vertical even if the moving body is inclined. In the case where the target is configured to tilt with the movable body, the rotation of the movable body about the yaw axis is detected.

  In FIG. 13, a UAV (Unmanned Aerial Vehicle) 500 is mounted via a gimbal mechanism 501 with a target device 510 in which an all-circumferential reflecting prism 110 and a helical target 120 are coupled, and tracked by a surveying instrument 400. The case of detecting the orientation in the horizontal direction is shown.

  In this case, the surveying instrument 400 is horizontally installed at a position whose coordinates are known in the absolute coordinate system, and the horizontal direction in the absolute coordinate system is determined. Then, the TS function unit 200 tracks and positions the all around reflection prism 110 in the flying UAV 500. Further, by the laser scanning in the spiral axis direction of the spiral target 120 by the laser scanner unit 300, the horizontal angle (corresponding to Dm in FIG. 6) of the UAV 500 according to the principle described in the first embodiment can be obtained. Further, according to the principle of FIG. 6, the horizontal angle Ht of the UAV 500 in the absolute coordinate system can be obtained.

4. Fourth Embodiment Direction detection using a helical target is not limited to that in the horizontal direction. For example, the surveying instrument 400 of FIG. In this case, the target device 130 is also turned horizontally by 90 ° and used. In this case, the angle (height angle) about the horizontal axis of the target device 130 can be measured.

5. Fifth Embodiment A mode is also possible in which the rotational angle is detected only by a helical target without using a reflecting prism. The spiral target 120 is shown in FIG. In this case, by performing laser scanning in the elevation direction aiming at the helical axis of the helical target 120, point cloud data of the peak and valley of the helix and the flat portion (portion of the cylinder or cylinder) is obtained according to the principle of FIG. get.

  Then, L (L1) in FIG. 16 is acquired based on the point cloud data. The origin of L is identified as BTM, and selects a structural portion whose position on the helical axis does not change even if the helical target 120 is rotated. In the example of FIG. 16, the starting point of L is a portion of the boundary between the spiral structure and the non-helical structure, and the distance from the position of the valley (BTM) of the spiral structure to that is the measurement value of L.

  Since L depends on the rotation angle Dm of the helical target 120, Dm can be obtained by finding L. This example can be considered as the case where the reference for quantitatively evaluating the position of the valley of the spiral structure is the lower end portion of the spiral target 120.

  It is also possible to obtain the distance La in the helical axis direction of the flat part from the laser scan data of the flat part that can be distinguished from the peak and valley part of the helical structure, not the peak and valley part. Since La and Dm have a proportional relationship as shown in FIG. 5, Dm can be obtained by obtaining La.

  FIG. 17 shows the case where an annular protrusion 121 is provided at the end of the spiral target 120. The annular protrusion 121 is not a helical structure, and its position in the direction of the helical axis of its peak does not change even if the helical target 120 is rotated. Further, the height of the ridge of the annular protrusion 121 is set to a value different from the height of the ridge of the spiral structure, and can be distinguished from the spiral structure portion by laser scanning.

  Here, when the spiral target 120 rotates, the distance L between the top of the peak of the annular protrusion 121 and the bottom position BTM of the bottom of the spiral structure changes. As in this case and in the case of FIG. 5, the rotation angles Dm and L of the helical target 120 have a specific relationship (also in this case, a proportional relationship). Therefore, Dm can be measured by the following procedure. First, the relationship between Dm and L is obtained in advance. In the measurement, laser scanning is performed in the elevation direction aiming at the helical axis of the helical target 120, and according to the principle shown in FIG. 7, the peak position of the annular protrusion 121 and the position BTM of the valley bottom of the helical structure Ask. Then, the distance L (in this case, the distance in the vertical direction) between the peak position of the peak of the annular protrusion 121 and the position BTM of the bottom of the valley of the helical structure (in this case, the distance in the vertical direction) is calculated. Get

(Other 1)
The waveform shown in FIG. 14 can be given as the waveform indicated by the cross-sectional structure of the spiral target (the structure of the cross-section cut along a plane including the spiral axis). In any case, the relationship between the waveform phase state and the rotation angle about the spiral axis needs to be obtained in advance and known. As a waveform, a sine waveform, a sawtooth waveform, a rectangular waveform, etc. other than the triangular waveform as in the case of the example of FIG. 4 can be mentioned.

  It is also possible that the periodicity of the helical structure has a specific frequency structure, and the distribution of laser scan points is determined by frequency analysis. For example, it is possible to employ a case where the helical structure has a waveform in which a plurality of different frequencies are combined. In this case, there is a specific relationship between the result of the frequency analysis and the rotation angle of the helical structure, which is obtained in advance. And, the horizontal angle of the spiral target can be obtained from the result of the frequency analysis.

  Although FIG. 5 shows the case where the relationship between L and the horizontal angle of the spiral target is linear, it is also possible that this relationship is not linear but nonlinear. Importantly, the relationship between L and the horizontal angle of the spiral target is specified in advance and is known information.

(Other 2)
Although FIG. 4 shows an example focusing on the position of the valley of the spiral structure, a form focusing on the top of the mountain is also possible. In this case, the distance L between the position of the mountain top of the helical target 120 and the position of the reflection center of the all-round reflecting prism 110 is used.

(Other 3)
As the laser scanner unit 300, it is also possible to use one having a form in which a plurality of scan beam beams are irradiated simultaneously in a fan-like manner in the horizontal direction (lateral direction). In this case, one of the laser scanning lights is irradiated in a vertical plane including the optical axis of the telescope 16 (the optical axis of the distance measuring light).

  In this example, laser scanning along the vertical plane (laser scanning in the height direction) is performed simultaneously in the left and right oblique directions instead of one.

  For example, consider laser scanning light (laser scanning light at a high and low angle of 0 °) horizontally emitted from the survey instrument 400 at a certain timing. Here, it is assumed that the horizontal angle viewed from the surveying instrument 400 is measured with the right direction as + and the left direction as − with the front as a reference (0 °). Further, it is assumed that seven laser scanning lights are simultaneously irradiated at an interval of 2 ° at the same time. In this case, seven laser scanning lights are simultaneously irradiated in the direction of a fan-like range of horizontal angles -6 °, -4 °, -2 °, 0 °, + 2 °, + 4 °, + 6 °. This is an example, and the number of laser scanning lights simultaneously irradiated and their angular relationship are not limited to the above case.

(Other 4)
An embodiment that does not use the TS function unit 200 is also possible. In this case, the laser scanner unit 300 measures the position of the all-round reflection prism 110. Hereinafter, positioning of the all-round reflection prism 110 by the laser scanner unit 300 will be described.

  In this case, first, laser scanning is performed on a region including the all-round reflection prism 110. Since the reflected light from the all around reflection prism 110 is relatively strong, the scan point at which the relatively strongest reflected light is obtained is extracted from the obtained scan points, and the all around reflection prism is extracted from the scan point. Identify as 110 reflection centers.

  In the case of laser scanning, when the reflected light from the all-round reflecting prism 110 is too strong and the input resistance of the light receiving element of the laser scanner unit is exceeded, the emission intensity of the laser scan or scanning light through the light reduction filter It corresponds by dropping it.

(Other 5)
A separation distance of P and BTM on a three-dimensional space can also be adopted as L in FIG. In this case, assuming that the coordinates of BTM are (x ₁ , y ₁ , z ₁ ) and the coordinates of P are (x ₂ , y ₂ , z ₂ ), L = ((x ₁ −x ₂ ) ² + (y ₁ −) ^{_{y 2) 2 + (z 1}} -z 2) 2) to calculate the L ^1/2.

(Other 6)
The helical target 120 is a cylindrical or cylindrical shape having a helical structure on its outer periphery, but the cross-sectional shape cut in the direction perpendicular to the helical axis is not limited to a circle and is an ellipse, a polygon, or a polygon with rounded corners. It is also possible to make etc.

  The present invention is applicable to a technique for measuring the posture of an object.

11: Horizontal rotation unit 12: pedestal 13: vertical rotation unit 14a: horizontal rotation angle control dial, 14b: elevation control dial, 15a: aiming device, 15b: aiming device 15b, 16: telescope, 17: eyepiece Unit 18, 19, Display 110, All around reflection prism 120, Spiral target 130, Target device 131, Rod member 132, Terminal 200, TS function unit 300, Laser scanner unit 301, No. 1 tower section 302 second tower section 303 coupling section 304 protective case 305 rotating section 306 diagonal mirror 400 surveying instrument 500 UAV 501 gimbal mechanism 510 target device.

Claims (9)

A target device having a helical uneven structure on its surface,
A target device in which detection of a rotational position of the target device about the helical axis is performed based on a position on a helical axis of a specific part of the helical uneven structure when measured from a specific direction.   The target device according to claim 1, wherein a triangular waveform, a sine waveform, a sawtooth waveform, a rectangular waveform, or a waveform obtained by combining a plurality of frequencies is adopted as a cross-sectional shape of the uneven structure.   The position of the specific part is defined by the distance between the position and another part that is distinguishable from the helical uneven structure and is at a distance from the helical axis in the extension direction. Target device described.   The target device according to claim 3, wherein the other part is a reflecting prism. The distance between the specific part and the other part is L,
When the angle of the rotational position with respect to the reference rotational position is θ,
The L and the θ have a specific relationship,
The target device according to claim 3, wherein the θ is obtained by measuring the L.   The target device according to claim 5, wherein the L and the θ are in direct proportion. A method of measuring an angular position about a helical axis of a target device according to any one of claims 1 to 6,
Performing a laser scan in a helical axis direction on the helical uneven structure;
Calculating the position of the specific part on the helical axis based on the result of the laser scan;
Determining an angular position about the helical axis of the target device based on the position of the specific part on the helical axis. A surveying instrument for surveying an angular position about a helical axis of the target device according to any one of claims 1 to 6,
Laser scanning means for performing laser scanning in the helical axis direction with respect to the helical uneven structure;
Position calculation means for calculating the position of the specific part on the helical axis based on the result of the laser scan;
An angular position calculation means for obtaining an angular position about the helical axis of the target device based on the position of the specific part on the helical axis. It is a program for surveys for making a computer perform calculation of the angle position about a helical axis of the target device according to any one of claims 1 to 6,
Calculating the position of the specific part on the helical axis based on the result of laser scanning in the helical axial direction with respect to the helical uneven structure on a computer;
Determining an angular position of the target device about a helical axis based on the position of the specific part on the helical axis.

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