JP2019109153A - Surveying device - Google Patents

Abstract

To provide a surveying device that can be installed with a simple, easy operation and does not require skills in an installation operation.SOLUTION: A surveying device comprises: an installation reference plate 6 installed at a reference point; and a surveying device body 4 provided on an operation handle 3. The surveying device body 4 includes a measurement direction imaging unit acquiring a first image of an object to be measured 2 along a first imaging optical axis having a predetermined relationship with a reference optical axis, a distance measuring unit measuring the distance to the object to be measured 2, a calculation control unit, a display unit, and a lower imaging unit 5 acquiring a second image of the installation reference plate 6 along a second imaging optical axis 10 extending downward at a predetermined angle with respect to the reference optical axis. The calculation control unit calculates the distance between the surveying device body 4 and installation reference plate 6 on the basis of the size of a reference marker in the second image, and calculates the inclination and the inclination direction of the installation reference plate 6 with respect to the second imaging optical axis from a change in shape of the reference marker. The calculation control unit measures the object to be measured with the reference point as a reference on the basis of a result from the distance measuring unit, the distance to the installation reference plate 6, the inclination of the second imaging optical axis, and the inclination direction.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a surveying instrument capable of measurement with a simple installation operation.

  When conducting surveying using a surveying instrument, it is first necessary to install the surveying instrument on a reference point.

  Generally, when a surveying instrument is installed on a reference point, it is installed using a tripod, but the surveying instrument is leveled horizontally on a tripod, and the machine center of the surveying instrument is on a vertical line passing the reference point. It must be positioned correctly. Furthermore, the height of the machine center wedge (the height of the measuring instrument) must also be measured from the reference point. For this reason, the installation work of the surveying instrument was complicated and required time and skill.

JP, 2016-151423, A JP, 2016-151422, A Unexamined-Japanese-Patent No. 2000-28362 JP, 2016-161411, A

  The present invention provides a surveying instrument that is simple and easy to install and does not require any skill in the installation.

  The present invention comprises an installation reference plate installed at a reference point and having a reference marker of known shape, and a surveying instrument body provided on an operation handle, the surveying instrument body having a reference optical axis, and the reference light A measurement direction imaging unit that acquires a first image including a measurement target along a first imaging optical axis having a predetermined relationship with the axis, a distance measurement unit that measures a distance of the measurement target eyebrow, an arithmetic control unit, a display unit, A lower side of the surveying instrument main body or the operation handle, which acquires a second image including the installation reference plate along a second imaging optical axis extending downward at a predetermined angle with respect to the reference optical axis. An arithmetic imaging unit, the arithmetic control unit calculates the distance between the surveying instrument main body and the installation reference plate based on the size of the reference marker in the second image, and the facing of the reference marker The second imaging of the installation reference plate from a change in shape of an image The inclination with respect to the axis and the inclination direction are calculated, and the arithmetic control unit calculates the distance between the result of the distance measurement unit and the installation reference plate, the inclination of the second imaging optical axis with respect to the installation reference plate, and the inclination direction The present invention relates to a surveying instrument configured to measure the object to be measured based on the reference point.

  Further, according to the present invention, the reference marker includes a true circle outer circle having a known diameter, and the calculation control unit is configured to measure the surveying instrument main body and the installation reference plate according to the size of the major axis of the outer circle in the image. Pertaining to a surveying instrument configured to calculate the distance between the two and calculate the inclination direction of the second imaging optical axis from the direction of the major axis or the minor axis, and calculate the inclination angle based on the ratio of the major axis to the minor axis. is there.

  Further, according to the present invention, the surveying instrument main body has a posture detection unit for detecting inclination of two axes with respect to the horizontal of the reference optical axis, and the lower imaging unit acquires the second image including the periphery of the reference marker. The arithmetic control unit determines a rotation angle from the displacement between the second images along with the rotation around the center of the reference marker, and the measurement based on the reference point based on the result of the posture detection unit. The present invention relates to a surveying instrument configured to measure three-dimensional coordinates of an object.

  Further, according to the present invention, the distance measuring unit comprises a distance measuring light source, an optical axis deflecting unit provided on the reference optical axis, and a distance measuring light which coincides with the reference optical axis without being deflected by the optical axis deflecting unit. The optical axis deflection unit has a pair of optical prisms, and the distance measurement optical axis can be two-dimensionally deflected by relative rotation of the pair of optical prisms. The emission direction detection unit detects the deflection direction of the distance measurement optical axis based on each rotational position of the optical prism, and the arithmetic control unit controls the optical axis deflection unit to measure distance light. In the dimension, and the distance measurement result measured along the scanning locus, the horizontal rotation angle of the reference optical axis, the inclination angle with respect to the horizontal of the reference optical axis, and the deflection direction of the distance measurement optical axis with respect to the reference optical axis Data of three-dimensional coordinates is acquired based on the calculation control unit, the three-dimensional seat along the scanning trajectory Association with the first image and, those of the surveying device configured as to acquire the three-dimensional coordinates with image relative to the said reference point.

  Furthermore, according to the present invention, the first image and the second image are acquired such that an overlap portion is formed, and the operation control unit combines the first image and the second image, and the reference point The present invention relates to a surveying instrument for creating an observation image including the measurement target eyebrow from the above.

  According to the present invention, it comprises an installation reference plate installed at the reference point and having a reference marker of known shape, and a surveying instrument body provided on the operation handle, the surveying instrument body having a reference optical axis, A measurement direction imaging unit that acquires a first image including a measurement target along a first imaging optical axis having a predetermined relationship with a reference optical axis, a distance measurement unit that measures the distance of the measurement target eyelid, an arithmetic control unit, and a display And a second image including the installation reference plate along a second imaging optical axis provided on the surveying instrument main body or the operation handle and extending downward at a predetermined angle with respect to the reference optical axis And the calculation control unit calculates the distance between the surveying instrument main body and the installation reference plate based on the size of the reference marker in the second image, and the calculation control unit From the shape change with respect to the facing image, the second of the installation reference plate The inclination with respect to the imaging optical axis and the inclination direction are calculated, and the arithmetic control unit determines the distance between the result of the distance measuring unit and the installation reference plate, and the inclination of the second imaging optical axis with respect to the installation reference plate Since the measurement target is measured based on the direction based on the reference point, there is no need for leveling work, and an excellent effect that measurement can be performed only by installing the installation reference plate at the reference point Demonstrate.

It is the schematic which shows a 1st Example. It is a schematic block diagram showing a surveying instrument body. It is principal part explanatory drawing of an optical axis deflection part. (A)-(C) are effect | action explanatory drawings of the said optical axis deflection | deviation part. It is explanatory drawing of a reference | standard marker. It is a figure which shows the relationship between the measurement direction imaging part, the image acquired by the downward imaging part, and the scanning locus | trajectory by the surveying instrument main body.

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

  FIG. 1 is a view showing the outline of a first embodiment of the present invention. In FIG. 1, 1 indicates a surveying instrument, and 2 indicates an object to be measured.

  The surveying instrument 1 mainly includes a hand pole 3, a surveying instrument main body 4 provided at the upper end of the hand pole 3, a lower imaging unit 5 provided on the surveying instrument main body 4 or the hand pole 3, and a reference point R It has the installation reference board 6 installed in (the point used as the reference of measurement).

  The hand pole 3 is a support member for the surveying instrument main body 4 and the lower imaging unit 5 and an operation handle for performing measurement work. When the operator holds the hand pole 3 and performs the measurement operation with the surveying instrument main body 4, the handleability and stability are taken into consideration, and the length, thickness, weight and the like of the hand pole 3 are set. ing.

  The hand pole 3 is not limited to a bar-like one, and may have a hook-like or ring-like handle or any other suitable shape.

  The surveying instrument main body 4 has a measurement direction imaging unit 21 (described later) and a distance measuring unit 24 (described later), and the surveying instrument main body 4 and the lower imaging unit 5 have a known positional relationship.

  The optical system of the distance measuring unit 24 has a reference optical axis O. The optical axis (hereinafter, the first imaging optical axis 61) of the optical system of the measurement direction imaging unit 21 is inclined upward by a predetermined angle (for example, 6 °) with respect to the reference optical axis O, and the measurement direction imaging unit The distance and positional relationship between the distance measuring unit 21 and the distance measuring unit 24 are known. The distance measuring unit 24 and the measurement direction imaging unit 21 are housed inside a housing of the surveying instrument main body 4.

  A display unit 7 and an operation unit 8 (see FIG. 2) are provided on the back surface (the surface facing the worker) of the housing. The display unit 7 may be a touch panel, and the operation unit and the display unit may be combined. The following describes the case where the display unit 7 is a touch panel, and the display unit 7 doubles as an operation unit.

  The lower imaging unit 5 includes an imaging device such as a CCD and a CMOS, and an imaging device capable of acquiring a digital image is used. Further, the position of the pixel in the imaging element can be detected with reference to the optical axis of the lower imaging unit 5 (hereinafter, the second imaging optical axis 10). For example, a commercially available digital camera may be used as the lower imaging unit 5. The lower imaging unit 5 is electrically connected to the surveying instrument main body 4 by wireless, wired, or other required means, and an image signal output from the imaging element is transmitted via the imaging control unit 16 to the image processing unit 17. (See FIG. 2).

  Further, in the lower imaging unit 5, control of image acquisition is performed by the imaging control unit 16, and synchronization control of image acquisition by the lower imaging unit 5 and image acquisition by the measurement direction imaging unit 21 is performed.

  The lower imaging unit 5 is fixed to the housing of the surveying instrument main body 4, and the lower imaging unit 5 (that is, the image forming position of the lower imaging unit 5) is known with respect to the machine center of the surveying instrument main body 4. It is provided at the position. The second imaging optical axis 10 is directed downward, is set to a predetermined known angle with respect to the reference optical axis O, and the second imaging optical axis 10 and the reference optical axis O have a known relationship. It has become. The reference optical axis O, the first imaging optical axis 61, and the second imaging optical axis 10 are set in a predetermined relationship.

  The angle of view of the measurement direction imaging unit 21 is θ1, the angle of view of the lower imaging unit 5 is θ2, and θ1 and θ2 may be equal to or different from each other. The angle of view of the measurement direction imaging unit 21 and the angle of view of the lower imaging unit 5 may not overlap, but preferably overlap by a predetermined amount. The angle of view of the lower imaging unit 5 and the direction of the second imaging optical axis 10 are set so that the installation reference plate 6 is included in the image.

  The schematic configuration of the surveying instrument main body 4 will be described with reference to FIG.

  The surveying instrument main body 4 includes a distance measuring light emitting unit 11, a light receiving unit 12, a distance measuring unit 13, an arithmetic control unit 14, a storage unit 15, the imaging control unit 16, the image processing unit 17 and an optical axis deflection unit 19. An attitude detection unit 20, the measurement direction imaging unit 21, an emission direction detection unit 22, and a motor driver 23 are provided, and these are accommodated in a housing 25 and integrated. The distance measuring light emitting unit 11, the light receiving unit 12, the distance measuring unit 13, the optical axis deflecting unit 19 and the like constitute a distance measuring unit 24.

  The distance measurement light emitting unit 11 has an emission optical axis 26, and a light emitting element 27 such as a laser diode (LD) is provided on the emission optical axis 26. In addition, a light projection lens 28 is provided on the emission light axis 26. Furthermore, the first reflecting mirror 29 as a deflecting optical member provided on the emission optical axis 26 and the second reflecting mirror 32 as a deflecting optical member provided on a light receiving optical axis 31 (described later) The exit optical axis 26 is deflected to coincide with the light receiving optical axis 31. The first reflection mirror 29 and the second reflection mirror 32 constitute an emission light axis deflection unit.

  The distance measurement calculation unit 13 causes the light emitting element 27 to emit light, and the light emitting element 27 emits a laser beam. The distance measuring light emitting unit 11 emits the laser beam emitted from the light emitting element 27 as the distance measuring light 33. The distance measuring light may be continuous light, may be pulsed light, or may be intermittently modulated light shown in Patent Document 4.

  The light receiving unit 12 will be described. Reflected distance measuring light 34 from the measuring object 2 is incident on the light receiving unit 12. The light receiving unit 12 has the light receiving optical axis 31, and the light emitting optical axis 26 deflected by the first reflecting mirror 29 and the second reflecting mirror 32 coincides with the light receiving optical axis 31. A state in which the exit optical axis 26 and the light receiving optical axis 31 coincide with each other is referred to as a distance measurement optical axis 35.

  The optical axis deflection unit 19 is disposed on the reference optical axis O. The straight optical axis passing through the center of the optical axis deflection unit 19 is the reference optical axis O. The reference optical axis O coincides with the exit optical axis 26 or the light receiving optical axis 31 or the distance measuring optical axis 35 when not deflected by the optical axis deflection unit 19.

  The reflected distance measuring light 34 is transmitted through the optical axis deflection unit 19, and an imaging lens 38 is disposed on the light receiving optical axis 31 that has entered. A light receiving element 39 such as an avalanche photodiode (APD) is provided on the light receiving optical axis 31. The imaging lens 38 focuses the reflected distance measuring light 34 on the light receiving element 39. The light receiving element 39 receives the reflected distance measuring light 34 and generates a light receiving signal. The light reception signal is input to the distance measurement calculation unit 13, and the distance measurement calculation unit 13 calculates the reciprocation time of the distance measurement light based on the light reception signal, and performs distance measurement of the measurement target 2 '.

  The storage unit 15 stores various programs such as an imaging control program, an image processing program, a distance measurement program, a display program, a communication program, and an arithmetic program. In addition, various data such as measurement data and image data are stored.

  The optical axis deflection unit 19 will be described with reference to FIG.

  The optical axis deflection unit 19 is composed of a pair of optical prisms 41 and 42. Each of the optical prisms 41 and 42 has a disc shape having the same diameter, and is disposed concentrically on the distance measuring optical axis 35 at right angles to the distance measuring optical axis 35 and is disposed in parallel at a predetermined interval. . The optical prism 41 is formed of optical glass and has three triangular prisms 43a, 43b and 43c arranged in parallel. The optical prism 42 is formed of an optical glass and has three triangular prisms 44a, 44b and 44c arranged in parallel. The triangular prisms 43a, 43b and 43c and the triangular prisms 44a, 44b and 44c all have optical characteristics with the same deflection angle.

  The width of the triangular prisms 43a and 44a located at the center is larger than the beam diameter of the distance measuring light 33, and the distance measuring light 33 transmits only the triangular prisms 43a and 44a. ing.

  A central portion (the triangular prisms 43a and 44a) of the optical axis deflection unit 19 is a distance measurement light deflection unit which is a first optical axis deflection unit through which the distance measurement light 33 is transmitted and emitted. The reflected distance measuring light 34 is transmitted through and incident to parts excluding the central part of the optical axis deflection unit 19 (both ends of the triangular prisms 43a and 44a and the triangular prisms 43b and 43c and the triangular prisms 44b and 44c) It is a reflected distance measuring light deflecting unit which is a second optical axis deflecting unit.

  The optical prisms 41 and 42 are disposed independently and individually rotatably around the light receiving optical axis 31 respectively. The optical prisms 41 and 42 independently control the rotation direction, the rotation amount, and the rotation speed to deflect the light emission optical axis 26 of the distance measurement light 33 to be emitted in an arbitrary direction, and to receive light. The light reception optical axis 31 of the reflected distance measurement light 34 is deflected in parallel to the emission optical axis 26.

  The external shapes of the optical prisms 41 and 42 are circular around the distance measuring optical axis 35 (reference optical axis O), and a sufficient amount of light can be obtained in consideration of the spread of the reflected distance measuring light 34. The diameters of the optical prisms 41 and 42 are set.

  A ring gear 45 is fitted on the outer periphery of the optical prism 41, and a ring gear 46 is fitted on the outer periphery of the optical prism.

  A drive gear 47 meshes with the ring gear 45, and the drive gear 47 is fixed to the output shaft of a motor 48. Similarly, a drive gear 49 meshes with the ring gear 46, and the drive gear 49 is fixed to the output shaft of the motor 50. The motors 48 and 50 are electrically connected to the motor driver 23.

  As the motors 48 and 50, one capable of detecting a rotation angle or one rotating in accordance with a drive input value, for example, a pulse motor is used. Alternatively, the amount of rotation of the motors 48 and 50 may be detected using a rotation angle detector, such as an encoder, which detects the amount of rotation (rotation angle) of the motor. The amounts of rotation of the motors 48 and 50 are respectively detected, and the motors 48 and 50 are individually controlled by the motor driver 23. Alternatively, encoders may be directly attached to the ring gears 45 and 46, and the rotational angles of the ring gears 45 and 46 may be directly detected by the encoders.

  The drive gears 47 and 49 and the motors 48 and 50 are provided at positions not interfering with the distance measurement light emitting unit 11, for example, below the ring gears 45 and 46.

  The light emitting lens 28, the first reflecting mirror 29, the second reflecting mirror 32, the distance measuring light deflection unit, and the like constitute a light emitting optical system. Further, the reflection distance measurement light deflection unit, the imaging lens 38 and the like constitute a light receiving optical system.

  The distance measurement calculation unit 13 controls the light emitting element 27 to emit a laser beam as the distance measurement light 33 or emit burst light (intermittent light emission). The emission optical axis 26 (that is, the distance measurement optical axis 35) is deflected so that the distance measurement light 33 is directed to the measurement object 2 by the triangular prisms 43a and 44a (distance measurement light deflection unit). Distance measurement is performed with the distance measurement optical axis 35 collimating the measurement target 2.

  The reflected distance measuring light 34 reflected from the measurement object 2 is incident through the triangular prisms 43 b and 43 c, the triangular prisms 44 b and 44 c (reflecting distance measuring light deflection unit), and the imaging lens 38, and The light is received by the light receiving element 39. The light receiving element 39 sends a light receiving signal to the distance measuring unit 13, and the distance calculating unit 13 measures measurement points (the distance measuring light is irradiated for each distance measuring light based on the light receiving signal from the light receiving element 39). Distance measurement is performed, and the distance measurement data is stored in the storage unit 15.

  The injection direction detection unit 22 detects the rotation angle of the motors 48 and 50 by counting drive pulses input to the motors 48 and 50. Alternatively, the rotation angle of the motors 48 and 50 is detected based on the signal from the encoder. Further, the emission direction detection unit 22 calculates the rotational position of the optical prisms 41 and 42 based on the rotational angles of the motors 48 and 50.

  Furthermore, the emission direction detection unit 22 is based on the refractive index of the optical prisms 41 and 42, the rotational position when the optical prisms 41 and 42 are integrated, and the relative rotational angle between the two optical prisms 41 and 42. The deflection angle and the emission direction of the distance measurement light 33 for each distance measurement light are calculated. The calculation result (angle measurement result) is associated with the distance measurement result and input to the calculation control unit 14. When the distance measurement light 33 emits light in burst, distance measurement is performed for each intermittent distance measurement light.

  The arithmetic control unit 14 controls relative rotation and overall rotation of the optical prisms 41 and 42 by controlling the rotational direction and rotational speed of the motors 48 and 50 and the rotational ratio between the motors 48 and 50, The deflection operation by the optical axis deflection unit 19 is controlled. Further, the horizontal angle and the vertical angle of the measurement point with respect to the distance measurement optical axis 35 are calculated from the deflection angle and the emission direction of the distance measurement light 33. Furthermore, three-dimensional data of the measurement object 2 can be obtained by associating the horizontal angle and the vertical angle of the measurement point with the distance measurement data. Thus, the surveying device 1 functions as a total station.

  Next, the posture detection unit 20 will be described. As the posture detection unit 20, the posture detection unit disclosed in Patent Document 1 can be used.

  The posture detection unit 20 will be briefly described with reference to FIG. The posture detection unit 20 has a frame 54. The frame 54 is fixed to the housing 25 or fixed to a structural member, and is integrated with the surveying instrument main body 4.

  A sensor block 55 is attached to the frame 54 via a gimbal. The sensor block 55 is rotatable 360 degrees in two directions around two orthogonal axes.

  A first inclination sensor 56 and a second inclination sensor 57 are attached to the sensor block 55. The first inclination sensor 56 detects the horizontal with high accuracy, for example, an inclination detector that detects light incident on the horizontal liquid surface and detects the horizontal by a change in the reflection angle of the reflected light, or an enclosed air bubble It is a bubble tube which detects inclination by position change. The second inclination sensor 57 detects inclination change with high responsiveness, and is, for example, an acceleration sensor.

  The relative rotational angles of the sensor block 55 with respect to the two axes with respect to the frame 54 are detected by encoders 58 and 59, respectively.

  Further, motors (not shown) for rotating and keeping the sensor block 55 horizontal are respectively provided for the two axes. The motor is controlled by the arithmetic control unit 14 so as to maintain the sensor block 55 horizontally based on the detection results from the first inclination sensor 56 and the second inclination sensor 57.

  When the sensor block 55 is inclined (when the surveying instrument main body 4 is inclined), the relative rotational angles of the axial direction of the frame 54 with respect to the sensor block 55 (horizontal) are determined by the encoders 58 and 59. Each is detected. Based on the detection results of the encoders 58 and 59, the inclination direction is detected by combining the inclination angles of the two axes of the surveying instrument body 4 and the inclinations of the two axes.

  The sensor block 55 is rotatable by 360 ° with respect to two axes. Therefore, regardless of the posture of the posture detection unit 20, for example, even when the posture of the posture detection unit 20 is reversed, all directions Posture detection (inclination angle with respect to horizontal, inclination direction) is possible.

  In the attitude detection, when high response is required, attitude detection and attitude control are performed based on the detection result of the second inclination sensor 57, and the second inclination sensor 57 uses the first inclination sensor 56. In general, the detection accuracy is worse.

  The attitude detection unit 20 includes the first inclination sensor 56 with high accuracy and the second inclination sensor 57 with high responsiveness to perform attitude control based on the detection result of the second inclination sensor 57, and further, The first inclination sensor 56 enables highly accurate attitude detection.

  The detection result of the second inclination sensor 57 can be calibrated by the detection result of the first inclination sensor 56. That is, if a deviation occurs between the values of the encoders 58 and 59 when the first inclination sensor 56 detects horizontal, that is, the actual inclination angle and the inclination angle detected by the second inclination sensor 57, The inclination angle of the second inclination sensor 57 can be calibrated based on the deviation.

  Therefore, if the relationship between the detected tilt angle of the second tilt sensor 57 and the tilt angle obtained based on the horizontal detection by the first tilt sensor 56 and the detection result of the encoders 58 and 59 is obtained in advance, The inclination angle detected by the second inclination sensor 57 can be calibrated (calibrated), and the accuracy of attitude detection with high responsiveness by the second inclination sensor 57 can be improved. In a state where the environmental change (temperature, etc.) is small, inclination detection may be obtained from the detection result of the second inclination sensor 57 and the correction value.

  The arithmetic control unit 14 controls the motor on the basis of the signal from the second inclination sensor 57 when the inclination change is large when the inclination change is large. Further, when the variation of the inclination is small, when the variation of the inclination is moderate, that is, when the first inclination sensor 56 can follow, the arithmetic control unit 14 is based on the signal from the first inclination sensor 56, The motor is controlled. The posture detection unit 20 may perform posture detection based on the detection result from the second tilt sensor 57 by constantly calibrating the tilt angle detected by the second tilt sensor 57.

  The storage unit 15 stores comparison data indicating the comparison result of the detection result of the first inclination sensor 56 and the detection result of the second inclination sensor 57. Based on the signal from the first tilt sensor 56, the detection result by the second tilt sensor 57 is calibrated. By this calibration, the detection result by the second tilt sensor 57 can be increased to the detection accuracy of the first tilt sensor 56. Therefore, in the attitude detection by the attitude detection unit 20, high responsiveness can be realized while maintaining high accuracy.

  The measurement direction imaging unit 21 includes the first imaging optical axis 61 parallel to the reference optical axis O of the surveying instrument main body 4 and an imaging lens 62 disposed on the first imaging optical axis 61. There is. The measurement direction imaging unit 21 is a camera having an angle of view of, for example, 50 ° to 60 °, which is substantially equal to the maximum deflection angle θ / 2 (for example, ± 30 °) by the optical prisms 41 and 42. The relationship between the first imaging optical axis 61, the exit optical axis 26, and the reference optical axis O is known, and the first imaging optical axis 61, the exit optical axis 26, and the reference optical axis O are parallel. Also, the distance between each optical axis is a known value.

  Further, the measurement direction imaging unit 21 can acquire a still image or a continuous image or a moving image. The image acquired by the measurement direction imaging unit 21 is displayed on the display unit 7, and the operator can observe the image displayed on the display unit 7 to execute the measurement operation.

  The imaging control unit 16 controls imaging of the measurement direction imaging unit 21 and performs synchronization control of the measurement direction imaging unit 21 and the lower imaging unit 5. In addition, when the measurement direction imaging unit 21 captures the moving image or a continuous image, the imaging control unit 16 acquires a timing of acquiring a frame image forming the moving image or the continuous image, and the surveying apparatus main body It synchronizes with the timing to scan at 4. The calculation control unit 14 also associates an image with measurement data (ranging data, angle measurement data).

  The imaging device 63 of the measurement direction imaging unit 21 is a CCD or a CMOS sensor which is a group of pixels, and each pixel can be specified on the image device. For example, each pixel has pixel coordinates in a coordinate system having the first imaging optical axis 61 as an origin, and the position on the image element is specified by the pixel coordinates. Further, since the relationship between the first imaging optical axis 61 and the reference optical axis O is known, the measurement position by the distance measuring unit 24 and the position on the imaging element 63 can be correlated with each other. The image signal output from the imaging element 63 is input to the image processing unit 17 via the imaging control unit 16.

  The deflection action and the scan action of the optical axis deflection unit 19 will be described with reference to FIGS. 4 (A) to 4 (C).

  In FIG. 4A, the triangular prisms 43a and 44a and the triangular prisms 43b, 43c, 44b and 44c of the optical prisms 41 and 42 are shown separately to simplify the description. . FIG. 4A shows a state in which the triangular prisms 43a and 44a and the triangular prisms 43b, 43c, 44b and 44c are positioned in the same direction, and in this state, the maximum deflection angle (for example, ± 30 °) is obtained. Further, the smallest deflection angle is a position where one of the optical prisms 41 and 42 is rotated 180 °, the mutual optical action of the optical prisms 41 and 42 is canceled out, and the deflection angle becomes 0 °. Therefore, the optical axis (the distance measuring optical axis 35) of the laser beam emitted and received through the optical prisms 41 and 42 coincides with the reference optical axis O.

  The distance measuring light 33 is emitted from the light emitting element 27, and the distance measuring light 33 is collimated by the light projecting lens 28 and transmitted through the distance measuring light deflecting portion (the triangular prisms 43a and 44a) for measurement. It is injected toward the target 2. Here, the distance measuring light 33 is deflected in a predetermined direction by the triangular prisms 43a and 44a and emitted by being transmitted through the distance measuring light deflection section (FIG. 4A).

  The reflected distance measurement light 34 reflected by the measurement object 2 is transmitted through the reflected distance measurement light deflection unit and is incident thereon, and is condensed on the light receiving element 39 by the imaging lens 38.

  When the reflected distance measuring light 34 passes through the reflected distance measuring light deflection section, the optical axis of the reflected distance measuring light 34 coincides with the light receiving optical axis 31 so that the triangular prisms 43 b and 43 c and the triangular light It is deflected by the prisms 44b and 44c (FIG. 4A).

  By combining the rotational positions of the optical prism 41 and the optical prism 42, it is possible to arbitrarily change the deflection direction and the deflection angle of the distance measurement light 33 to be emitted.

  Further, with the positional relationship between the optical prism 41 and the optical prism 42 fixed (with the declination obtained by the optical prism 41 and the optical prism 42 fixed), the motors 48 and 50 When the optical prism 41 and the optical prism 42 are integrally rotated, the locus drawn by the distance measurement light 33 transmitted through the distance measurement light deflection unit is a circle centered on the reference optical axis O (see FIG. 2) Become.

  Therefore, when the light axis deflection unit 19 is rotated while emitting a laser beam from the light emitting element 27, the distance measuring light 33 can be scanned along the locus of a circle. The reflected distance measuring light deflection unit can not be said to rotate integrally with the distance measuring light deflection unit.

  FIG. 4B shows a case where the optical prism 41 and the optical prism 42 are relatively rotated. Assuming that the deflection direction of the optical axis deflected by the optical prism 41 is deflection A, and the deflection direction of the optical axis deflected by the optical prism 42 is deflection B, the deflection of the optical axis by the optical prisms 41 and 42 is A combined deflection C is obtained as the angle difference θ between the optical prisms 41 and 42.

  Therefore, when the optical prism 41 and the optical prism 42 are reciprocally rotated in reverse at the same speed synchronously, the distance measuring light 33 transmitted through the optical prisms 41 and 42 is linearly scanned. Therefore, by reciprocally rotating the optical prism 41 and the optical prism 42 in opposite directions at the same speed, as shown in FIG. 4B, a locus of a straight line in the combined deflection C direction of the distance measuring light 33. A round trip scan can be made at 64.

  Furthermore, as shown in FIG. 4C, when the optical prism 42 is rotated at a rotational speed slower than the rotational speed of the optical prism 41, the distance difference light 33 gradually increases while the angle difference θ gradually increases. Is rotated. Therefore, the scanning trajectory of the distance measurement light 33 is spiral.

  Also, by controlling the rotational direction and rotational speed of the optical prism 41 and the optical prism 42 individually, various two-dimensional scan patterns with the scan trajectory of the distance measurement light 33 centered on the reference optical axis O Is obtained.

  For example, by rotating the one optical prism 41 of the optical prism 41 and the optical prism 42 by 25 and rotating the other optical prism 5 by 5 in the reverse direction, a petal-like two-dimensional shape as shown in FIG. Closed loop scan pattern (petal pattern 74 (inner trochoid curve)) is obtained.

  The lower imaging unit 5 will be described.

  The lower imaging unit 5 is electrically connected to the surveying instrument main body 4, the acquisition of an image is controlled by the imaging control unit 16, the imaging timing by the lower imaging unit 5 and the measurement direction imaging unit 21. At the imaging timing, synchronous control is executed by the imaging control unit 16. The image data acquired by the lower imaging unit 5 is input to the image processing unit 17 via the imaging control unit 16 of the surveying instrument body 4.

  The lower imaging unit 5 is provided at a known position with respect to the machine center of the surveying instrument body 4, and the distance between the lower imaging unit 5 and the lower end of the hand pole 3 is also known.

  Furthermore, the second imaging optical axis 10 of the lower imaging unit 5 has a known relationship with the reference optical axis O, and the image data acquired by the lower imaging unit 5 is imaged by the arithmetic control unit 14 in the measurement direction The image acquired by the unit 21 and the distance measurement data measured by the distance measurement unit 24 are stored in the storage unit 15 in association with each other.

  The display unit 7 displays the measurement state of the surveying instrument main body 4, measurement results and the like, and displays the images acquired by the lower imaging unit 5 and the measurement direction imaging unit 21. Various commands such as commands related to measurement work can be input from the display unit 7 to the surveying instrument body 4.

  The installation reference plate 6 will be described with reference to FIG.

  The shape of the installation reference plate 6 itself may be a disk, a rectangular plate, or any other shape. A reference marker 66 is formed on the upper surface of the installation reference plate 6.

  The reference marker 66 has a shape that indicates the center and the horizontal direction. The fiducial marker 66 is concentric with the center of the fiducial marker 66, and a true circle outer circle 67 having a known diameter, and a circle inner circle concentric with the outer circle 67 and having a known diameter A line 68 further extends radially from the center of the fiducial marker 66 and is comprised of radiation formed between the outer circle 67 and the inner circle 68. The radiation is formed at equally divided positions on the circumference. For example, the radiation is provided at positions where the circumference is equally divided by 16 (at 22.5 ° intervals). One of the radiations is the direction reference line 69a, and the radiation at a position equally divided by 4 around the direction reference line 69a is the sub-direction reference line 69b, and the remaining radiation is the direction auxiliary line 69c. ing. Further, the direction reference line 69a is a thick line, the sub direction reference line 69b is a medium thick line, and the direction auxiliary line so that the direction reference line 69a, the sub direction reference line 69b, and the direction auxiliary line 69c are distinguishable. 69c is a thin line.

  As a method of identification, when the image acquired by the lower imaging unit 5 has a color, the direction reference line 69a, the sub direction reference line 69b, and the direction auxiliary line 69c may be color-coded. Further, in the case of identifying by the shape, it is possible to use an isosceles triangle whose narrow angle is a direction reference instead of the direction line (69a, 69b, 69c).

  The installation reference plate 6 is installed such that the center of the installation reference plate 6 coincides with the reference point R. Therefore, the installation reference plate 6 is a transparent plate, or the inside of the inner circular line 68 is penetrated so that the center of the installation reference plate 6 and the reference point R can be easily aligned.

  The measuring action of the surveying instrument 1 will be described with reference to FIGS. 1 to 6.

  The following measurement operation is performed by the operation control unit 14 executing the program stored in the storage unit 15.

  In preparation for starting measurement, the center of the installation reference plate 6 is positioned at the reference point R, and the direction reference line 69a is oriented in a predetermined or arbitrary direction.

  The operator holds the hand pole 3 substantially vertical. The lower imaging unit 5 and the measurement direction imaging unit 21 are installed in the operating state, the installation of the surveying device 1 is performed, and the second image acquired by the lower imaging unit 5 and the second image acquired by the measurement direction imaging unit 21 One image is displayed on the display unit 7. When a predetermined measurement point is measured, the deflection by the optical axis deflection unit 19 is halted, and the distance measurement optical axis 35 and the reference optical axis O are made to coincide with each other.

  The operator observes the image displayed on the display unit 7 and confirms that the installation reference plate 6 is included in the second image, while using the measurement direction imaging unit 21 for the measurement target 2 Capture at the center of the acquired first image.

  When the operator confirms that the reference optical axis O (that is, the distance measuring optical axis 35) matches the measurement target 2, the operator may input a measurement command from the display unit 7. Alternatively, while the distance measurement is continued at predetermined time intervals and the operator is working to direct the surveying instrument main body 4 to the measurement object 2, the measurement object 2 and the reference optical axis O coincide with each other. This may be confirmed by image processing, and a ranging value at the time when the measurement object 2 and the reference optical axis O coincide may be acquired. The state of the optical axis deflection unit 19 is detected by the emission direction detection unit 22, and the directions of the reference optical axis O and the distance measuring light 33 are related based on the state of the optical axis deflection unit 19, and Since the reference optical axis O and the first imaging optical axis 61 have a known relationship, the direction of the distance measuring light 33 is displayed, for example, with a cross in the first image, and the measurement object 2 is captured in the cross. You may

  An image is acquired by the lower imaging unit 5 at the time of acquiring the distance measurement value, and an oblique distance to the reference point R of the lower imaging unit 5 (that is, the surveying instrument main body 4) based on the reference marker 66 by image processing The inclination angle and the inclination direction with respect to the surface of the installation reference plate 6 are calculated.

  As shown in FIG. 1, the second imaging optical axis 10 of the lower imaging unit 5 is inclined, and the image acquired by the lower imaging unit 5 is elliptical. Since the major axis of the ellipse is equal to the diameter of the original circle, for example, if the major axis of the image of the outer circular line 67 is determined, the diameter of the outer circular line 67 on the second image can be determined. The oblique distance between the reference marker 66 and the lower imaging unit 5 is obtained by previously determining the relationship between the size of the outer circular line 67 on the second image and the distance between the reference marker 66 and the lower imaging unit 5 Can be calculated.

  Furthermore, the inclination angle of the second imaging optical axis 10 with respect to the surface of the installation reference plate 6 can be calculated by calculating the ratio of the major axis to the minor axis of the outer circular line 67, and further, the outer circular line It is possible to calculate in which direction the second imaging optical axis 10 is inclined with respect to the measurement target 2 by finding at which position of the reference marker 66 the major axis or the minor axis of the 67 appears. .

  Although the said description demonstrated the case where the said reference | standard marker 66 has a perfect circle, even if it is not a perfect circle, it should just be a reference marker which has a known shape. If a change in the shape (image) when the reference marker is inclined with respect to the shape (image) of the reference marker when facing the front is obtained, the inclination angle and the inclination direction can be obtained. The reference marker to be used is preferably symmetrical horizontally and vertically.

  The oblique distance between the lower imaging unit 5 (that is, the surveying instrument main body 4) and the reference point R, the inclination angle with respect to the surface of the installation reference plate 6, the inclination direction, and the 2. Based on the tilt direction of the imaging optical axis 10 with respect to the measurement object 2, the distance measurement result for the measurement object 2 acquired by the surveying instrument main body 4 can be corrected. By correcting the distance measurement result, it is possible to measure coordinates based on the reference point R.

  Next, the inclination angle and the inclination direction of the surveying instrument main body 4 were calculated in the image processing of the reference marker 66. However, the surveying instrument main body based on the vertical and horizontal based on the attitude detection result by the attitude detection unit 20 The inclination angle of 4 and the inclination direction can be detected.

  Since the inclination with respect to the horizontal of the surveying instrument 1 is detected in real time by the attitude detection unit 20, it is possible to measure the vertical coordinates of the measurement object 2 based on the reference point R in real time.

  Next, detection of a horizontal rotation angle about a vertical line passing through the center of the reference point R will be described with reference to FIG.

  In FIG. 6, 71 denotes a first image acquisition range of the measurement direction imaging unit 21, 72 denotes a second image acquisition range of the lower imaging unit 5, and 73 denotes the distance measurement optical axis 35 by the optical axis deflection unit 19. The deflection range 74 of FIG. 6 indicates a locus when scanning is performed with the petal pattern by the optical axis deflection unit 19 while irradiating the distance measurement light. The dots shown in the petal pattern 74 indicate irradiation points of a plurality of distance measurement lights. Reference numeral 75 denotes the image center of the first image acquisition range 71 (the image center 75 coincides with the reference optical axis O), and 76 denotes the image center of the second image acquisition range 72 (the image center 76 (Which coincides with the second imaging optical axis 10).

  Further, in FIG. 1, θ1 indicates the angle of view of the measurement direction imaging unit 21, θ2 indicates the angle of view of the lower imaging unit 5, and θ3 indicates the scan range of the surveying instrument main body 4.

  Further, in FIG. 6, the angle between the reference optical axis O and the second imaging optical axis 10 is set to θ4, and the distance measuring optical axis 35 is inclined downward by 6 ° with respect to the reference optical axis O Is shown.

  The second imaging optical axis 10 is directed downward, and the direction of the lower imaging unit 5 is set such that the second image acquisition range 72 includes the reference marker 66. Therefore, the image acquired by the lower imaging unit 5 includes the reference point R, and further includes an image of a range on the measurer side (approximately 80 ° in the figure).

  An image of a predetermined radius centered on the reference point R is set as a horizontal angle detection image 77 for horizontal angle detection, and acquired in real time.

  The horizontal angle detection image 77 at the start of measurement is acquired, and the horizontal angle detection image 77 is set as the horizontal reference image 77a.

  When detecting the horizontal angle after the start of measurement, the displacement of the horizontal angle detection image 77 with respect to the horizontal reference image 77a is detected, and the horizontal rotation angle is calculated based on the displacement.

  For calculation of the horizontal rotation angle, first, the reference point R of the horizontal reference image 77a (image center of the reference marker 66) and the reference point R of the horizontal angle detection image 77 (image center of the reference marker 66) are used. Then, the deviation between the horizontal angle detection image 77 and the horizontal reference image 77a is obtained.

  The deviation between the horizontal angle detection image 77 and the horizontal reference image 77 a includes the horizontal rotation angle and the tilt angle of the second imaging optical axis 10. Of the deviations, a deviation component in the circumferential direction about the reference point R corresponds to a change in horizontal rotation angle, and a deviation component in the radial direction about the reference point R is the second imaging optical axis Corresponds to a change of 10 tilt angles.

  The change of the tilt angle of the second imaging optical axis 10 can be detected by the change of the image of the reference marker 66 and the posture detection unit 20, and the distance between the reference point R and the lower imaging unit 5 is the reference marker 66 Therefore, the influence of the tilt angle of the second imaging optical axis 10 is removed from the deviation component in the circumferential direction based on the operation distance and the detection result of the tilt angle of the second imaging optical axis 10 it can.

  Thus, the horizontal rotation angle can be detected with high accuracy and in real time in pixel units of the image pickup element of the lower imaging unit 5.

  Next, as shown in FIG. 1, when the measuring object 2 is measured by the surveying instrument main body 4, the oblique distance of the measuring object 2 is measured, and the reference optical axis with respect to the first imaging optical axis 61 is further measured. The angle of inclination of O (6 ° in FIG. 6) and the angle of deviation of the distance measuring optical axis 35 with respect to the reference optical axis O are detected by the emission direction detection unit 22, and the inclination angle with respect to the horizontal of the surveying instrument main body 4 is The inclination angle of the distance measurement optical axis 35 with respect to the horizontal is calculated from the figure of the reference marker 66 or by the posture detection unit 20, and the horizontal rotation change of the surveying instrument main body 4 is the horizontal angle detection image 77 Is detected from the image of

  The oblique distance is corrected to a horizontal rotation angle based on the inclination angle to the horizontal of the distance measurement optical axis 35, the inclination angle to the horizontal of the distance measurement optical axis 35 is calculated, and the direction angle is calculated based on the detected horizontal rotation angle. Is calculated, the oblique distance between the reference point R and the surveying instrument main body 4 is calculated, the tilt angle of the second imaging optical axis 10 is calculated, and 3 of the measurement object 2 with respect to the reference point R is calculated. Dimension coordinates are determined.

  In the above description, although the distance measuring optical axis 35 is fixed, that is, the light axis deflection unit 19 is measured in the resting state, the surveying instrument main body 4 can also be measured as a laser scanner.

  As shown in FIG. 6, the optical axis deflection unit 19 can freely deflect the distance measurement optical axis 35 within the range of the deflection range 73. By controlling the rotation of the optical prism 41 and the optical prism 42, it is possible to scan the locus of the petal pattern 74. By irradiating the distance measurement light in the scanning process, distance measurement data (having three-dimensional coordinates) along the trajectory of the petal pattern 74 can be acquired. In order to increase the distance measurement data density, the petal pattern 74 may be rotated in the circumferential direction by a predetermined angle each time the petal pattern 74 is scanned for one pattern. Also, the first image and the second image are acquired in synchronization with the scan.

  When the scan center is to be changed (when the scan range is to be changed), the hand pole 3 is rotated about its axis or the tilt angle of the hand pole 3 is changed. Thus, it is possible to easily acquire point cloud data in a desired range in a desired direction.

  When the first image acquired by the measurement direction imaging unit 21 and the second image acquired by the lower imaging unit 5 are combined, the overlap can be performed using both images. Alternatively, as shown in FIG. 6, scanning is performed so that a part of the petal pattern 74 is included in the second image acquisition range 72, and distance measurement data along a locus in the first image, It is possible to immediately combine the first image and the second image using distance measurement data along a trajectory in the second image.

  The data along the locus used for composition may be data along the locus commonly included in the first image and the second image, or in the first image and the second image. The first image and the second image may be combined using coordinate values of data along a locus individually included.

  By combining the first image and the second image, a wide-range observation image including the measurement target 2 含 む can be acquired from the reference point R, and the measurement range and the measurement position can be easily confirmed, which improves the workability. Do. Further, an image with three-dimensional data can be acquired by associating the first image or the composite image with data along a trajectory obtained by the two-dimensional scan.

  In the above embodiment, although the surveying instrument body 4 includes the optical axis deflection unit 19 and the surveying instrument body 4 capable of two-dimensional scanning is used, a surveying instrument body having only a distance measuring function may be provided. In this case, although point cloud data can not be acquired, installation work such as leveling work of the surveying instrument 1 is unnecessary and can be easily installed, and three-dimensional coordinates of desired measurement points can be measured.

  Furthermore, in this case, a commercially available laser range finder can be used as the surveying instrument main body 4, and the surveying instrument 1 can be configured inexpensively.

DESCRIPTION OF SYMBOLS 1 surveying instrument 2 measurement object 3 hand pole 4 surveying instrument main body 5 lower imaging section 6 installation reference plate 7 display section 8 operation section 10 second imaging optical axis 11 distance measurement light emitting section 12 light receiving section 13 distance measurement calculation section 14 arithmetic control Unit 15 Storage unit 19 Optical axis deflection unit 20 Posture detection unit 21 Measurement direction imaging unit 22 Ejection direction detection unit 24 Distance measurement unit 27 Light emitting element 33 Distance measurement light 34 Reflected distance measurement light 35 Distance measurement light axis 41, 42 Optical prism 61 First imaging optical axis 66 reference marker 67 outer circle line 71 first image acquisition range 72 second image acquisition range 73 deflection range

Claims (5)

  An installation reference plate installed at a reference point and having a reference marker of known shape, and a surveying instrument main body provided on an operation handle, the surveying instrument main body has a reference optical axis, and a predetermined relationship with the reference optical axis A measurement direction imaging unit for acquiring a first image including a measurement object along the first imaging optical axis, a distance measuring unit for measuring a distance of the measurement object eyebrow, an arithmetic control unit, a display unit, and the surveying apparatus A lower imaging unit configured to acquire a second image including the installation reference plate along a second imaging optical axis provided on the main body or the operation handle and extending downward at a predetermined angle with respect to the reference optical axis; The calculation control unit calculates the distance between the surveying instrument main body and the installation reference plate based on the size of the reference marker in the second image, and the shape change of the reference marker with respect to the facing image of the reference marker To the second imaging optical axis of the installation reference plate The inclination and the inclination direction are calculated, and the arithmetic control unit is based on the distance from the result of the distance measurement unit, the installation reference plate, and the inclination direction of the second imaging optical axis with respect to the installation reference plate. A surveying instrument configured to measure the measurement object with reference to the reference point.   The reference marker includes a true circle outer circle having a known diameter, and the calculation control unit calculates the distance between the surveying instrument main body and the installation reference plate from the size of the major axis of the outer circle in the image. The surveying device according to claim 1, wherein the inclination direction of the second imaging optical axis is calculated from the direction of the major axis or the minor axis, and the inclination angle is calculated based on the ratio of the major axis to the minor axis.   The surveying instrument main body has an attitude detection unit that detects inclination of two axes with respect to the horizontal of the reference optical axis, the lower imaging unit acquires the second image including the periphery of the reference marker, and the arithmetic control The unit obtains a rotation angle from the displacement between the second images along with the rotation around the center of the reference marker, and the three-dimensional coordinates of the measurement target based on the reference point based on the result of the posture detection unit. The surveying instrument according to claim 1 configured to measure.   The distance measuring unit includes a distance measuring light source, an optical axis deflecting unit provided on the reference optical axis, a distance measuring optical axis which coincides with the reference optical axis without being deflected by the optical axis deflecting unit, and an emitting direction A detection unit, the optical axis deflection unit having a pair of optical prisms, wherein the distance measurement optical axis can be two-dimensionally deflected by relative rotation of the pair of optical prisms; The unit detects the deflection direction of the distance measurement optical axis based on each rotational position of the optical prism, and the arithmetic control unit controls the optical axis deflection unit to two-dimensionally scan the distance measurement light. Three-dimensional coordinates based on distance measurement results measured along a scanning locus, a horizontal rotation angle of the reference optical axis, an inclination angle to the horizontal of the reference optical axis, and a deflection direction of the distance measurement optical axis to the reference optical axis Data is obtained, and the calculation control unit is configured to calculate the three-dimensional coordinates and the first Associating the image, surveying apparatus according to claim 3 configured as to acquire the three-dimensional coordinates with image relative to the said reference point.   The first image and the second image are acquired such that an overlap portion is formed, and the arithmetic control unit combines the first image and the second image, and the measurement target eyebrows from the reference point. The surveying instrument according to claim 1, wherein an observation image is generated.