JP2020056615A - Surveying system, surveying instrument, and surveying method - Google Patents

Abstract

To provide a surveying system which efficiently surveys the coordinate and direction angle of a new point.SOLUTION: A surveying system 100 comprises: a target unit 10 provided with an encoder pattern; a surveying instrument 60 measuring the distance and angle of a reflection target 11, computing its coordinate, reading the encoder pattern, and computing an encoder pattern read angle; and a leveling plate 90, the offset angle of which around the center axis of each of the target unit 10 and the surveying instrument 60 is known, so as to share the vertical center axes of the target unit 10 and the surveying instrument 60. The surveying instrument 60 computer the direction angle of the leveling plate 90 on the basis of the encoder pattern read angle and the offset angle of the target unit 10, calculates the coordinate of installed point of the target unit 10 on the basis of the measured coordinate of the reflection target 11 and the direction angle of the surveying instrument 60, and calculates the direction angle of the surveying instrument 60 from the direction angle of the leveling plate 90 and the offset angle of the surveying instrument 60.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a surveying system, a surveying instrument, and a surveying method.

  Conventionally, in a survey using a surveying instrument that transmits a distance measuring light to a measurement target, receives a reflected light thereof, and measures and measures the distance to the measurement target and an angle, as a method for converting to an absolute coordinate system, Methods using the resection method and the rear-viewpoint / instrument point method are known.

  In these methods, in order to know the coordinates of the new point, it is necessary to set a reflection target at the new point and measure and measure the new point from the instrument point.To know the direction angle of the new point, Move the surveying instrument from the instrument point to the new point and prepare one back-point (in the case of the back-point / instrument point method) or two or more known points (in the case of the back intersection method) And it was necessary to measure the distance and angle of the reflection target.

JP 2018-4401A

  As described above, every time a new point is set, it is inefficient to move the surveying instrument to measure the rear view point or the known point. Therefore, a surveying method capable of efficiently performing the measurement has been required.

  The present invention has been made in view of such circumstances, and has as its object to reduce the movement of a surveying instrument and the observation of a rear viewpoint and a known point so that the coordinates and direction angle of a new point can be efficiently measured. .

  In order to solve the above-mentioned problems, a surveying system according to one aspect of the present invention includes a target unit including a reflective target and an encoder pattern indicating an angle in a circumferential direction around a central axis of the reflective target unit. A surveying unit that measures distance and angle, and an encoder pattern reading unit that optically reads the encoder pattern, calculates measurement coordinates of the reflection target based on the distance measurement angle data, and based on the encoder pattern reading result. A surveying instrument including an arithmetic control unit for calculating an encoder pattern reading angle, and the target unit and the surveying instrument, alternatively, may be detachably attached so as to share a vertical central axis. Configured around the central axis of each of the target unit and the surveying instrument. A leveling table whose offset angle is known, wherein the arithmetic control unit is configured to perform the operation based on the encoder pattern reading angle of the target unit attached to the leveling table and the offset angle of the target unit. Calculating the direction angle of the leveling table, calculating the coordinates of the installation point of the target unit based on the measured coordinates and the direction angle of the reflection target of the target unit attached and installed on the leveling table, The unit can calculate a direction angle of the surveying instrument based on the offset angle of the surveying instrument and a direction angle of a leveling stand to which the surveying instrument is attached.

  In the above aspect, a distance measuring unit that transmits the distance measuring light and receives the reflected light to measure the distance, a scanning unit that rotationally irradiates the distance measuring light to the measuring range, and detects an irradiation direction of the distance measuring light Further comprising a scanner device for obtaining point cloud data of the measurement range, the scanner device, the leveling table, the target unit and the surveying instrument, alternatively, in the vertical direction In order to share a central axis, the scanner apparatus is detachably mounted, an offset angle of the scanner apparatus around the central axis with respect to the leveling table is known, and an arithmetic control unit of the surveying instrument is provided with the scanner apparatus. It is also preferable that the direction angle of the surveying instrument is calculated based on the direction angle of the leveling table and the offset angle of the scanner device.

  In the above aspect, the surveying instrument preferably includes a tracking unit that emits tracking light, receives the tracking light reflected by the reflection target, and tracks the reflection target.

  Further, a surveying instrument according to another aspect of the present invention includes a surveying unit that performs distance measurement and angle measurement of a reflection target, and includes the reflection target, and is detachably configured to share a central axis with a leveling table. An encoder pattern reading unit that optically reads an encoder pattern indicating an angle around the center axis of the target unit, and a calculation control unit that calculates measurement coordinates of the reflection target based on distance measurement data and angle measurement data, The leveling table, alternatively with the target unit, is configured to be detachably attached to share a vertical central axis, and a surveying instrument in which an offset angle around the central axis is known. The arithmetic control unit calculates the encoder pattern reading angle, and calculates the encoder pattern reading angle and the offset of the target unit. Based on the angle, the direction angle of the leveling table is calculated, the measurement coordinates of the reflection target of the target unit mounted and installed on the leveling table, and the coordinates of the installation point of the target unit based on the direction angle boiler. The arithmetic control unit calculates the direction angle of the surveying instrument based on the offset angle of the surveying instrument and the direction angle of the leveling table to which the scanner device is attached. Features.

  In the above aspect, it is preferable that a tracking unit that emits tracking light, receives the tracking light reflected by the reflection target, and tracks the reflection target is provided.

The surveying method according to still another aspect of the present invention, (a) coordinate and direction angle surveying instrument which is attached to the installed leveling platform to P _j that is known is the of the surveying instrument Calculating a direction angle of the surveying instrument based on an offset angle θ _TS about a vertical center axis with respect to the leveling platform; and (b) setting a target unit that the surveying instrument moves to a point P _{j + 1} to be observed next. Automatic tracking; and (c) the surveying instrument measures the distance and angle of the reflection target of the target unit attached to the leveling table installed at the point Pj _{+ 1} , and measures the measurement coordinates of the reflection target. And (d) the surveying instrument reads the encoder pattern of the target unit attached to the leveling platform installed at the point P _{j + 1} , and reads the encoder pattern. Calculating the angle; and (e) leveling the point P _{j + 1} based on the encoder pattern reading angle and an offset angle θ _T about a vertical center axis of the target unit with respect to the leveling platform. repeating the steps of calculating a direction angle of the table, the (f) then if there is a point to be observed from the point _{P j,} remove the target units the point _{P j + 1, j = j} + 1 in step (a) ~ (e) The target unit includes the reflection target and the encoder pattern, the encoder pattern indicates an angle in a circumferential direction around a center axis of the target unit, and the leveling table includes the target unit. The target unit is configured to be detachable so that the surveying instrument can share a vertical central axis. Characterized in that the offset angle of the offset angle and the surveying instrument is known, respectively.

  According to the above aspect, it is possible to efficiently measure the coordinates and the direction angle of the new point by reducing the movement of the surveying instrument and the observation of the rear viewpoint and the known point.

1 is a schematic configuration diagram of a surveying system according to an embodiment of the present invention. It is a perspective view which shows the state which attached the target unit to the leveling table which concerns on the same form. FIG. 2A is an enlarged perspective view of an encoder pattern portion according to the target unit of the same embodiment, and FIG. 2B is a diagram in which an encoder pattern of the encoder pattern portion is cut open at a reference point and developed on a plane (partly omitted). Is). FIG. 2 is a configuration block diagram of a scanner device according to the same embodiment. FIG. 3 is a schematic diagram illustrating a mechanism of transmitting and receiving light in a distance measuring unit of the scanner device according to the same embodiment. FIG. 3 is a configuration block diagram of a surveying instrument according to the same embodiment. (A) is a perspective view of the leveling table which concerns on the same form, (b) is a top view of the leveling table. It is a figure explaining the attachment structure of the target unit and the leveling stand of the same form. (A), (b), (c), (d) is a plan view of a target unit, a leveling table, a scanner device, and a surveying instrument according to the same embodiment, and illustrates a relationship in a horizontal angle direction. It is. It is a flowchart of the survey method using the survey system of the same form. It is a flowchart of the measurement of the coordinate of a surveying instrument, and a direction angle in the surveying system of the same form. (A), (b) is a figure explaining the said survey method. It is a flowchart of the point cloud data observation by the scanner device in the survey system of the same form. It is a flowchart explaining the detail of reading of the encoder pattern in the said survey method. (A) is a landscape image around the encoder pattern section obtained by the camera of the survey system of the same form, (b) is an enlarged image of the encoder pattern section cut out from (a), and (c) is , (B) is a graph showing the result of reading linearly in the circumferential direction and converting it into pixel values.

  A preferred embodiment of the present invention will be described with reference to the drawings. In the following description of the embodiments, the same components will be denoted by the same reference symbols, without redundant description. In addition, in each figure, for convenience of explanation, constituent parts are schematically shown in an enlarged scale as appropriate, and do not reflect actual ratios.

Embodiment 1 FIG . FIG. 1 is a diagram showing a schematic configuration of a surveying system 100 for implementing a surveying method according to an embodiment of the present invention. The surveying system 100 includes a target unit 10 and a leveling table 90.

2. Configuration of Target Unit As shown in FIG. 2, the target unit 10 includes a reflective target 11, a support member 12, an encoder pattern unit 13, and a base unit 14, and is detachably attached to a leveling table 90 attached to the tripod 2. And is held vertically.

  The reflection target 11 is, for example, a so-called omnidirectional prism configured by radially combining a plurality of triangular pyramid-shaped prisms, and makes light incident from the entire circumference (360 °) in a direction opposite to the incident direction. To reflect. That is, the reflection target 11 reflects the ranging light 4 from the surveying instrument 60 toward the surveying instrument 60. The reflection target 11 is not limited to an omnidirectional prism, and may use a normal prism used for surveying.

The support member 12 is a columnar member made of, for example, metal or resin and extends upward from the base portion 14 with a certain length. The encoder pattern unit 13 and the reflection target 11 are fixedly supported so that the center axis A passes through the center O of the reflection target 11 and the center O _E (FIG. 3A) of the (base 13A) of the encoder pattern unit 13. I have. The central axis of the common base 13A and the central axis A of the support member 12 are configured to pass through the center O of the reflection target 11.

  The encoder pattern section 13 is configured by providing an encoder pattern 13B on a side peripheral surface of a short cylindrical base 13A. The base 13A is supported by, for example, a screw member (not shown) formed on the outer periphery of the support member 12 and a screw hole (not shown) formed at the center of the base 13A. It is fixed between 12 and the reflection target 11.

  The encoder pattern 13B includes an angle information section 131 and a width information section 132 adjacent above the angle information section 131.

FIG. 3 (a), (b), the angle information unit 131 is, for example, a white background, a vertical line 131a of the black narrow having a width _{w 1,} wide vertical black having a width _{w 2} The line 131b is a barcode-shaped pattern arranged at an equal pitch p so that the vertical line 131a is set to "0" and the vertical line 131b is set to "1" so as to generate an M-sequence cyclic random number code. The encoder pattern 13B has an angle (hereinafter, referred to as a “reference direction of the encoder pattern”) RD from the center of the encoder pattern unit 13 to the reference point RP of 0 °, and is an angle calculated from the pattern read by the surveying instrument 60 ( Hereinafter, it will be referred to as “encoder pattern reading angle”.) Θ _E is configured to correspond to the clockwise absolute angle around the center axis A of the support member 12 from the reference direction RD of the encoder pattern 13B. I have.

  The angle information section 131 is configured to be able to realize a desired resolution by changing the number of bits.

  The bit pattern is not limited to the M-sequence code, but may be a bit pattern such as a gray code or a pure binary code, which can be generated by a known method. However, the use of the M-sequence code is advantageous because the number of bits can be increased without increasing the number of tracks, and a high resolution can be realized with a simple configuration.

Width information unit 132 is provided with a black band 132a having a predetermined height _{h 1,} and a white band 132b of the same height. Each of the black band 132a and the white band 132b extends over the entire circumference of the encoder pattern unit 13 in the circumferential direction.

  The encoder pattern 13B can be provided on the encoder pattern unit 13 by various known methods used for forming a pattern. For example, the encoder pattern 13B may be provided by printing on white paper by a method such as general printing such as ink jet printing, and affixing this to the side peripheral surface of the base 13A. According to such a method, the encoder pattern portion 13 can be formed by an extremely inexpensive and simple method. Further, the encoder pattern 13B may be provided by directly printing on the resin base 13A. Further, the encoder pattern 13B may be provided on the metal base 13A by a method such as painting or vapor deposition.

  Note that, in the illustrated example, the width information section 132 is arranged above and adjacent to the angle information section 131. However, the positional relationship between the angle information section 131 and the width information section 132 is not limited to this, and the width information section 132 may be arranged below the angle information section 131.

  In addition, the encoder pattern unit 13 is disposed below and adjacent to the reflection target 11. However, the positional relationship between the encoder pattern portion 13 and the reflection target 11 is not limited to this, and the encoder pattern portion 13 is arranged so as to be coaxial with the central axis A of the support member 12 passing through the center O of the reflection target 11. If so, another arrangement may be used.

  That is, the encoder pattern unit 13 may be arranged above the reflection target 11. Further, the encoder pattern section 13 and the reflection target 11 may be arranged separately.

  In the illustrated example, the encoder pattern section 13 is provided below and adjacent to the reflection target 11. However, the positional relationship between the encoder pattern unit 13 and the reflection target 11 is not limited to this, and other arrangements are possible as long as the encoder pattern unit 13 is arranged so as to be coaxial with the central axis A of the support member 12. May be provided.

  That is, the encoder pattern unit 13 may be arranged above the reflection target 11. Further, the encoder pattern section 13 and the reflection target 11 may be arranged separately.

  The base portion 14 is a columnar member, for example, made of metal or resin, which is provided coaxially with the support member 12 and has a larger diameter than the support member 12, and is aligned with the base mounting hole 94 of the leveling table 90. Has dimensions. Engagement projections 15a, 15b, 15c (FIG. 8) respectively engaging with engagement holes 96a, 96b, 96c of the leveling table 90 are provided on the bottom surface of the base portion 14 as described later. A is provided at three places in the circumferential direction at equal intervals.

  A positioning protrusion 16 is provided on the side peripheral surface of the base portion 14 so as to protrude in the radial direction (FIG. 8).

3. Configuration of Scanner Device FIG. 4 is a configuration block diagram of the scanner device 30. The scanner device 30 is a so-called laser scanner, and includes a distance measuring unit 31, a vertical rotation driving unit 32, a rotating mirror 33, a vertical angle detector 34, a horizontal rotation driving unit 35, a horizontal angle detector 36, a storage unit 37, and a display. It includes a unit 38, an operation unit 39, a calculation control unit 41, and an external storage device 43.

  Further, as shown in FIG. 1, the scanner device 30 is installed via a leveling table 90 attached to the tripod 2, similarly to the target unit 10. The scanner device 30 includes a base part 6a detachably attached to the leveling table 90, a support part 6b provided on the base part 6a so as to be able to rotate 360 ° horizontally around the axis H1-H1, and a support part 6b. The concave portion 7 is provided with a telescope portion 6c provided to be rotatable vertically about the axis V1-V1.

  The base part 6a houses a horizontal rotation drive part 35 and a horizontal angle detector 36 that detects a rotation angle about an axis H1-H1 to be rotated horizontally. The horizontal rotation drive unit 35 is, for example, a motor, and the horizontal angle detector 36 is, for example, a rotary encoder. The horizontal rotation drive unit 35 rotates the mounting unit 6b about the axis H1-H1 that rotates horizontally, and the horizontal angle detector 36 detects the base unit 6a of the axis H1-H1 that rotates the mounting unit 6b horizontally. , And outputs a detection signal to the arithmetic and control unit 41.

  The bottom of the base 6a has the same configuration as the bottom of the base 14 of the target unit 10. That is, the engagement protrusion 51a is formed in a cylindrical shape that matches the base mounting hole 94 of the leveling table 90, and has a bottom surface having a shape matching the engagement holes 96a, 96b, and 96c of the leveling table 90. , 51b, 51c (FIG. 9 (c)). A positioning protrusion 52 is provided on the side peripheral surface at the bottom of the base 6a.

  The vertical support section 6b is provided with a vertical rotation drive section 32, a vertical angle detector 34, a storage section 37, and an arithmetic control section 41. The display unit 38 and the operation unit 39 are provided outside the support unit 6b.

  The vertical rotation drive unit 32 is a motor, and is provided on a shaft V1-V1 that rotates vertically. The configuration is such that the rotation of the vertical rotation drive unit 32 causes the telescope unit 6c to rotate all around the vertical direction. The vertical angle detector 34 is, for example, a rotary encoder. The vertical angle detector 34 is provided on the axis V1-V1 that rotates vertically, detects the rotation angle of the axis V1-V1, and outputs a detection signal to the arithmetic control unit 41.

  The telescope unit 6c accommodates a distance measuring unit 31. Inside the telescope unit 6c, there is provided a lens barrel (not shown) having a rotating mirror 33. The axis for rotating this lens barrel horizontally is an axis H1-for rotating the mounting unit 6b horizontally. Coaxial with H1. The lens barrel is attached to the telescope unit 6c by appropriate means.

  FIG. 5 is a schematic diagram illustrating a mechanism of transmitting and receiving the distance measuring light 3 in the distance measuring unit 31 of the present embodiment. The distance measuring section 31 includes a distance measuring light transmitting section 44, a distance measuring light receiving section 45, a beam splitter (not shown), a distance measuring mirror 46, a distance measuring light collecting lens 47, and a rotating mirror 33. And a transmission / reception optical system 48 for distance measuring light. The ranging light transmitting unit 44 includes a light emitting element (not shown).

  The light emitting element is, for example, a semiconductor laser or the like, and emits a pulse laser beam as distance measuring light. The emitted distance measuring light 3 is reflected by the distance measuring light mirror 46, further reflected by the rotating mirror 33, and irradiated to the measurement object. The rotating mirror 33 is a double-sided mirror, and is driven by the vertical rotation drive unit 32 to rotate around an axis V1-V1 that rotates vertically. Therefore, a scanning unit 49 that scans the distance measuring light 3 in the vertical direction by the rotating mirror 33 and the vertical rotation driving unit 32 is configured. The rotating mirror 33 is, for example, a rectangular or circular plate-shaped perforated double-sided mirror, but is not limited to this.

  Next, the distance measuring light 3a retroreflected by the object to be measured enters the distance measuring light receiving unit 45 via the rotating mirror 33, the distance measuring light mirror 46, and the distance measuring light focusing lens 47. The ranging light receiving section 45 is a light receiving element such as a photodiode, for example. A part of the ranging light split by the beam splitter described above is incident on the ranging light receiving section 45 as internal reference light (not shown), and the reflected ranging light 3a and the internal Based on the reference light, the arithmetic control unit 41 calculates the distance to the irradiation point.

  The distance measurement light is two-dimensionally scanned by the cooperation of the vertical rotation of the rotating mirror 33 and the horizontal rotation of the support 6b. The distance measurement unit 31 acquires distance measurement data for each pulse light, and the vertical angle detector 34 and the horizontal angle detector 36 acquire angle measurement data for each pulse light. From the distance measurement data and the angle measurement data, three-dimensional point cloud data corresponding to the measurement target is acquired.

  The storage unit 37 is, for example, a hard disk drive, and stores various programs for operating the scanner device 30. For example, a sequence program for performing distance measurement and angle measurement, a point cloud data measurement program for rotatingly irradiating pulse ranging light, and performing distance measurement and angle calculation for each point to obtain point cloud data, etc. Is stored.

  The display unit 38 is, for example, a liquid crystal display or the like, and displays work status data, measurement results, and the like obtained by the arithmetic and control unit 41.

  The operation unit 39 is a touch display, a keyboard, or the like, and inputs an operation command to the scanner device 30.

  The arithmetic control unit 41 is a microcontroller in which, for example, a CPU (Central Processing Unit), a ROM (Read Only Only Memory), a RAM (Random Access Memory) and the like are mounted on an integrated circuit. The arithmetic control unit 41 includes a distance measuring unit 31, a vertical rotation drive unit 32, a vertical angle detector 34, a horizontal rotation drive unit 35, a horizontal angle detector 36, a storage unit 37, a display unit 38, an operation unit 39, and external storage. It is electrically connected to the device 43.

  The arithmetic control unit 41 receives angle detection signals from the vertical angle detector 34 and the horizontal angle detector 36, and receives a light reception signal from the distance measurement light receiving unit 45. Also. A signal is input from the operation unit 39 by the operation of the worker,

  The arithmetic control unit 41 drives the distance measuring light transmitting unit 44, the vertical rotation driving unit 32, and the horizontal rotation driving unit 35, and controls the display unit 38 that displays work status, measurement results, and the like.

  In addition, as a functional unit, the arithmetic control unit 41 computes a result of distance measurement and angle measurement for each point by rotatingly irradiating a measurement object (range) with a distance measurement light to obtain a point group data. A data acquisition unit 57 is provided.

  Further, the arithmetic control unit 41 outputs the obtained point cloud data to the external storage device 43.

  The external storage device 43 is, for example, a memory card, a hard disk drive, a USB memory, or the like, and may be fixedly provided in the arithmetic control unit 41 or may be provided detachably. Further, the external storage device 43 stores point cloud data.

4. Configuration of Surveying Instrument Surveying instrument 60 in the present embodiment is a total station. As shown in FIG. 6, the surveying instrument 60 includes an EDM (Electro-optical / Distance / Measuring-Instrument) 61, a horizontal angle detector 62, a vertical angle detector 63, a camera 65 functioning as an encoder pattern reading unit, and a tracking unit 66. , A horizontal rotation drive unit 68, a vertical rotation drive unit 69, a storage unit 71, an input unit 72, a display unit 73, and a calculation control unit 74.

  Further, as shown in FIG. 1, the surveying instrument 60 is installed via a leveling table 90 attached to the tripod 2, similarly to the target unit 10 and the scanner device 30. The surveying instrument 60 has a base part 8a detachably attached to the leveling table 90, a mounting part 8b provided on the base part 8a so as to be able to rotate 360 ° horizontally around the axis H2-H2, and a mounting part. A telescope 8c is provided in the recess 9 of the portion 8b so as to be vertically rotatable around the axis V2-V2.

  The base section 8a houses a horizontal rotation drive section 68 and a horizontal angle detector 62 that detects a rotation angle about an axis H2-H2 that rotates horizontally.

  The mounting portion 8b accommodates a vertical angle detector 63, a vertical rotation drive unit 69, a storage unit 71, and a calculation control unit 74. An input unit 72 and a display unit 73 are provided outside the support unit 8b.

  The telescope 8c contains an EDM 61 and a tracking unit 66, and the camera 65 is attached to the upper part of the telescope 8c.

  Similarly to the target unit 10, the bottom of the base 8 a is formed in a cylindrical shape that matches the base mounting hole 94 of the leveling table 90, and the bottom surface thereof has an engagement hole 96 a of the leveling table 90. , 96b, 96c, the engaging projections 81a, 81b, 81c (see FIG. 9D) are provided with positioning projections 82 on the outer peripheral side surface.

  The EDM 61 includes a light emitting element, a distance measuring optical system, and a light receiving element. The EDM 61 emits distance measurement light from the light emitting element, receives the reflected light from the reflection target 11 with the light receiving element, and measures the distance of the reflection target 11.

  The horizontal angle detector 62 and the vertical angle detector 63 are rotary encoders, and detect rotation angles around the rotation axis of the mounting portion 8b and the telescope 8c driven by the horizontal rotation drive unit 68 and the vertical rotation drive unit 69, respectively. Then, the horizontal angle and the vertical angle of the distance measuring optical axis are obtained.

  The EDM 61, the horizontal angle detector 62, and the vertical angle detector 63 form a surveying unit 64, which is a main part of the surveying instrument 60.

  The camera 65 includes an optical system known as a camera and an image sensor. The camera 65 is mounted above the telescope 8c in parallel with the telescope 8c. Further, the camera 65 is configured to collimate the encoder pattern unit 13 whose positional relationship with the reflection target 11 is fixed while collimating the reflection target 11 with the telescope 8c.

  For this purpose, the camera 65 may be configured to be rotatable up, down, left, and right when shooting. As the imaging device, an image sensor such as a CCD sensor or a CMOS sensor is used. The camera 65 receives light through the optical system using a light receiving element and captures an image of the light.

  The tracking unit 66 includes a light-emitting element that emits tracking light, and a light-receiving element that is an image sensor such as a CCD sensor or a CMOS sensor, and includes a tracking optical system that shares an optical element with a ranging optical system. The tracking unit 66 projects an infrared laser beam having a wavelength different from the distance measurement light onto the tracking target (target), receives reflected light from the tracking target, and tracks the tracking target based on the light reception result. It is configured to perform.

  The tracking unit 66 is not essential and can be omitted when the tracking function is not required. When the tracking unit 66 is provided, the function of the camera 65 can be incorporated in the tracking unit 66, and the independent camera 65 can be omitted.

  The horizontal rotation drive unit 68 and the vertical rotation drive unit 69 are motors, and are provided on an axis H2-H2 for rotating horizontally and an axis V2-V2 for rotating vertically. Under the control of the arithmetic and control unit 74, the support unit 8b is horizontally rotated and the telescope 8c is vertically rotated.

  The storage unit 71 includes, for example, a ROM and a RAM. The storage unit 71 stores various programs for operating the surveying instrument 60. For example, it stores a sequence program for executing distance measurement and angle measurement, an operation program for calculating coordinates, a program for reading an encoder pattern, and calculating a reading angle, and the like. These programs are read out to the RAM and started to be executed by the arithmetic control unit 74 to perform various processes of the surveying instrument 60.

  The storage unit 71 includes, for example, a memory card, a hard disk drive, a USB memory, and the like. Distance measurement, angle measurement data, image data obtained by reading an encoder pattern, measurement point coordinates obtained by calculation, The reading angle data and the direction angle data are stored. The storage unit 71 may be provided fixedly or may be provided detachably.

  The input unit 72 is, for example, an operation button. The operator can input a command to be executed by the surveying instrument 60 to the input unit 72 or select a setting.

  The display unit 73 is, for example, a liquid crystal display, and displays various information such as a measurement result and a calculation result according to a command from the calculation control unit 74. In addition, the input unit 72 displays setting information for the operator to make an input and a command input by the worker.

  Note that the input unit 72 and the display unit 73 may be integrally configured to form a touch panel display.

  The arithmetic control unit 74 is a microcontroller in which a CPU, a GPU (Graphical Processing Unit), and the like are mounted on an integrated circuit. The arithmetic control unit 74 includes an EDM 61, a horizontal angle detector 62, a vertical angle detector 63, a camera 65, a tracking unit 66, a horizontal rotation driving unit 68, a vertical rotation driving unit 69, a storage unit 71, an input unit 72, and a display unit. 73 and is electrically connected.

  The arithmetic control unit 74 receives angle detection signals from the vertical angle detector 63 and the horizontal angle detector 62, and receives a light reception signal from the EDM 61. Also. A signal is input from the input unit 72 by the operation of the worker. The pixel value data output from the image sensor of the camera 65 is input.

  The arithmetic control unit 74 drives the EDM 61, the horizontal rotation drive unit 68, and the vertical rotation drive unit 69, and controls the display unit 38 that displays work status, measurement results, and the like.

  The calculation control unit 74 includes a distance angle calculation unit 75, an encoder pattern reading angle calculation unit 76, a direction angle calculation unit 77, and a coordinate calculation unit 78 as functional units.

  The distance angle calculation unit 75 calculates the measurement coordinates of the reflection target based on the distance measurement and angle measurement data obtained by the surveying unit 64, and outputs the calculation result to the storage unit 71.

Encoder pattern reading corner computing unit 76 reads the encoder pattern 13B from the acquired encoder pattern 13 around the image by the camera 65, and calculates an encoder pattern reading angle theta _E. Details of reading the encoder pattern 13B will be described later.

The direction angle calculation unit 77 calculates the direction angle of the target unit based on the encoder pattern reading angle θ _E obtained by the encoder pattern reading angle calculation unit 76, and also calculates the direction angle based on the offset angle θ _T of the target unit 10 described later. The directional angle of the leveling table 90 is calculated, and the directional angle of the leveling table 90, the offset angle θ _S of the scanner device 30, and the offset angle θ _TS of the surveying instrument 60 are respectively attached to the leveling table 90. The direction angle of the scanner device 30 and the direction angle of the surveying instrument 60 are calculated.

  The coordinate calculation unit 78 calculates the coordinates of the scanner 30 and the surveying instrument 60 based on the measurement coordinates of the reflection target and the direction angles of the scanner 30 and the surveying instrument 60, respectively.

  Each functional unit may be configured as software or may be configured by a dedicated arithmetic circuit. Further, a functional unit configured by software and a functional unit configured by a dedicated arithmetic circuit may coexist.

5. Configuration of Leveling Table The leveling table 90 is a pedestal for selectively installing the target unit 10, the scanner device 30, and the surveying instrument 60, and has an automatic leveling function. As shown in FIG. 7A, the leveling table 90 includes a tripod mounting seat 91 for attaching a tripod, a leveling device main body 92, and a connecting portion 3 connecting the tripod mounting seat 91 and the leveling device main body 92. The leveling screw 93 is roughly configured.

  The leveling device main body 92 includes a tilt sensor (not shown), a leveling screw driving mechanism, a control unit, and the like, and automatically controls the driving mechanism so that the leveling device main body 92 is horizontal based on tilt posture information of the tilt sensor. To adjust the leveling screw 93. As the automatic control mechanism of the leveling device main body 92, a known configuration can be appropriately used, and thus a detailed description thereof is omitted. Further, the leveling device main body 92 is provided with a level 97 for checking a horizontal state.

  As shown in FIG. 7B, a base mounting hole 94 for mounting the target unit 10, the scanner device 30, or the surveying instrument 60 is opened on the upper surface of the leveling device main body 92. At the center of the base mounting hole 94, an installation location 95 for a centripetal laser device (not shown) is provided. Three engagement holes are provided at intervals of 120 ° in the circumferential direction around the installation location 95. 96a, 96b and 96c are provided. A single alignment groove 98 is formed in the outer edge of the leveling device main body 92.

  As shown in FIG. 8, the target unit 10 is positioned in the circumferential direction by the engagement holes 96a, 96b, 96c and the alignment groove 98, and attached to the leveling table 90 so as to share the vertical center axis A. Can be The target unit 10 is detachably locked to the leveling table 90 by a locking mechanism of a leaf spring (not shown) pressing one engagement projection 15a.

  The attachment structure of the scanner device 30 and the surveying instrument 60 to the leveling table 90 is the same as the attachment structure of the target unit 10.

As a result, when the target unit 10 is installed on the leveling table 90 in the state shown in FIG. 9B, the reference direction RD of the target unit 10 is changed to the reference direction D _{L of the} leveling table 90 (hereinafter referred to as “leveling table 90”). from the direction D _L "hereinafter.), the angle theta _{T (hereinafter,"} called an offset angle theta _T "of the target unit 10.) only, the direction shifted circumferentially counterclockwise (FIG. 9 (a)). 9, reference numeral _{O T, O L, O S} , O TS each target unit 10, Seijundai 90, scanner 30, indicating the center of the surveying instrument 60.

Similarly, when installing the scanner device 30 to an integer Jundai 90 in the state shown in FIG. 9 (b), the reference direction D _s of the scanner device 30 _{(hereinafter,} referred to as "direction D _S of the scanner device 30".) Is an integer from the direction _{D L} of Jundai 90, the angle theta _S (hereinafter, referred to as "offset angle theta _S of the scanner device 30".) the only direction deviated circumferentially counterclockwise (FIG. 9 (c)).

Similarly, when installing the surveying instrument 60 to an integer Jundai 90 in the state shown in FIG. 9 (b), the reference direction D _TS surveying instrument 60 (hereinafter, referred to as "direction D _TS surveying instrument 60".) Is an integer from the direction D _L of Jundai 90, the angle theta _TS (hereinafter, referred to as. "offset angle theta _TS surveying instrument 60") a direction deviated only circumferentially counterclockwise (FIG. 9 (d)).

Here, the reference direction RD of the target unit 10, the direction _{D S} of the scanner device 30, the direction _{D TS} surveying instrument 60, the clockwise angle with respect to the north direction _{D L} of Seijundai 90, the direction of the target unit 10, respectively Angle, the direction angle of the scanner device 30, the direction angle of the surveying instrument 90, and the direction angle of the leveling table 70.

The offset angle θ _T of the target unit 10, the offset angle θ _S of _the scanner device 30, and the offset angle θ _TS of the surveying instrument 60 are known by being measured or set in advance, and are stored in the storage unit 37. The surveying instrument 60, and installed at a known point, when reading the encoder pattern reading angle theta _E in a state where the direction angles and the known value alpha, the encoder pattern reading angle theta _E is expressed by a function of alpha. Therefore, it is possible to determine the direction angle of the leveling table 70 on the basis of the offset angle theta _T of the encoder pattern reading angle theta _E and the target unit 10. Further, if the direction angle of the leveling table 70 is obtained, the direction angle of the scanner device 30 attached to the leveling table 70 can be obtained based on the offset angle θ _S of the scanner device 30.

The setting of the direction D _{L of the} leveling table 90, the direction Ds of the scanner device 30, and the direction D _TS of the surveying instrument 60 are examples in the present embodiment, and can be arbitrarily set.

As described above, the positioning is performed in the circumferential direction by the alignment grooves 98 and the engagement holes 96a, 96b, and 96c of the leveling table 90, and the horizontal angle around the central axis A is set to a predetermined angle. reference direction RD, direction _{D L} of Seijundai _90, the direction _{D S} of the scanner device _30, the direction D _TS surveying instrument 60 can be a constant relationship.

  The central coordinates of the reflection target 11 of the target unit 10, the coordinates of the leveling table 90, the coordinates of the scanner device 30, and the coordinates of the surveying instrument 60 are fixed in the mounted state, and the vertical positional relationship is fixed. It is already known. Therefore, by obtaining the center coordinates of the reflection target 11, the coordinates of the leveling table 90, the scanner device 30, and the surveying instrument 60 can be obtained.

5. Surveying of Observation Point With reference to FIGS. 10, 11, and 12, a surveying method by the surveying system 100 according to the present embodiment will be described. For convenience of explanation, a case where measurement is performed at seven points shown in FIG. 12 will be described as an example, but an arbitrary number of observation points can be measured. The points P ₁ , P ₂ , and P ₃ are points having a line of sight from the point P ₀ , and the points P ₁₁ , P ₁₂ , and P ₁₃ have no line of sight from the point P ₀ and line of sight from the point P _1. There is a point.

At each observation point, a leveling table 90 is previously installed via a tripod. Further, "coordinate and the direction angle of the point P _n" in the following description means the coordinates and direction angles of leveling table 90 installed in each point P _n.

  In FIG. 12, ○ indicates a new point, ▲ indicates a known point or a point at which the coordinates and the direction angle are known by measurement. The alphabetic characters in parentheses attached to each point indicate that any of the target unit 10 (T), the scanner device 30 (S), and the surveying instrument 60 (TS) is attached to the leveling table 90 installed at each point. To indicate Further, a straight arrow indicates that the reflection target 11 at the end point at the start point is measured by distance measurement and the encoder pattern 13B is read.

When starting the observation, first, in step S101, mounting the surveying instrument 60 in leveling stand 90 is set to the first observation point _{P 0} (Fig. 12 (a)).

Next, in step S102, the surveying instrument 60, for example, by the method of resection such known technique, carries out the calculation of direction angles of the surveying instrument 60 in the coordinate and the point P ₀ of the map coordinates of the point P _0.

Specifically, as shown in FIG. 12A, known points A and B with visibility are prepared from the point P ₀ , and the target unit 10 is set at the known points A and B. The surveying instrument 60 performs distance measurement and angle measurement known points A, B, and calculates the direction angles of the coordinate and the point P ₀ surveying instrument 60 of the point P ₀ on the basis of the measurement results. Incidentally, at the point P _0, the acquisition of the coordinates and the measurement machine direction angles may be calculated by the rear-view-instrument point method.

Next, in step S104, the surveying instrument 60 a worker placed at the point _{P 0,} the measurement of new points _{P 1, P 2, P 3} .

  Specifically, the operation shown in the flowchart of FIG. 11 is performed for each point. That is, when the measurement is started, in step S201, the operator inputs an instruction to execute automatic tracking, and the arithmetic control unit 74 of the surveying instrument 60 drives the tracking unit 64 to start automatic tracking.

Next, the operator holds the target unit 10 and moves to the point P ₁ to be next observed while tracking the surveying instrument 60, and moves the target unit 10 to the leveling table 90 installed at the point P _1. Attach.

Next, in step S203, the survey instrument 60 is collimated and reflected target 11 of the point _{P 1,} and drives the surveying unit 64, the reflective targets 11 of the observation point _{P 1} ranging and measuring hide, distance angle The calculation unit 75 calculates the measurement coordinates of the reflection target.

Next, in step S204, the coordinate calculation unit 78, based on the direction angles of the surveying instrument 60 in the coordinate and the point _{P 0} of the reflective targets 11, calculating map coordinates of the coordinates of the point _{P 1} (surveying instrument 60) I do.

Next, in step S205, the surveying instrument 60 drives the camera 65 reads the encoder pattern 13B, the encoder pattern reading corner calculation unit 76 calculates the reading angle theta _E encoder pattern 13B. Reading of the encoder pattern 13B will be described later in detail.

Next, in step S206, the direction angle calculating section 77, based on the offset angle theta _T of the encoder pattern reading angle theta _E and target unit 10 of the observation point P _1, the direction angle integer Jundai 90 observation point P ₁ Is calculated.

Next, in step S207, the calculation control unit 74 determines whether the observation of all points has been completed to measure the measurement point P _0.

In step S207, if the measurement of all the points has been completed (Yes), at step S208, the surveying device 60, the display unit 73 performs display indicating that the measurement at the observation point _{P 0} has been completed, the step S105 Transition.

In step S207, if the measurement of all points has not been completed (No), the process returns to step S201, the operator removes the target unit 10 attached to the point P _1, integer placed the following points P ₂ The target unit 10 is moved to the pedestal 90.

Thereafter, until the measurement of all the points to be measured at the point _{P 0} is completed, it repeats the processes of steps S201 to S207.

When the surveying instrument 60 does not include the tracking unit 64, instead of steps S201 and S202, the observation after step S203 is performed by collimating each time the target unit 10 is moved. In this case, the first step S202, the mounting target unit 10 to an integer Jundai 90 of all points to be measured from the point _{P 0,} the process returns to step S203 if No in step S207, may be repeated operation.

  Next, in step S104, the surveying instrument 60 determines whether or not the measurement of all points in the entire measurement has been completed.

  When the measurement of all points is completed (Yes), the surveying instrument 60 ends the measurement.

If not completed (No), at step S105, the operator removes the surveying instrument 60 from integer Jundai 90 of the point _{P 0,} attached to integer Jundai 90 the following points _{P 1} (FIG. 12 (b) ).

  When the movement of the surveying instrument 60 and the installation of the target unit 10 are completed, the operator inputs the completion of the installation from the input unit 72.

In step S106, the direction angle calculating section 77 of the surveying instrument 60 calculates the direction angles of the surveying instrument 60 of the observation point P ₁ on the basis of the offset angle theta _TS direction angle and the surveying instrument 60 Seijundai 90 .

In step S106, the surveying instrument 60, similarly to step S104, observing the coordinates and direction angles of the point _{P 11, P 12, P 13} .

  Next, in step S107, the surveying instrument 60 determines whether or not the measurement of all points in the entire measurement has been completed. If there is no measurement (No), the measurement is completed. Note that, in the illustrated example, the surveying of all points is completed as described above.

  If there is a next observation point (Yes), the process returns to step S105, and repeats steps S105 to S106 until the surveying of all points is completed.

  The distance measurement / angle measurement data, the encoder pattern reading angle data, and the direction angle and coordinate data calculated by the calculation at each observation point are stored in the storage unit 71 in association with the observation point.

  As described above, according to the present embodiment, when measuring a new point, the surveying instrument is moved to a new point, and the direction angle of the new point is measured without observing a known point or a rear viewpoint. Therefore, the surveying work can be performed efficiently.

  In particular, if there is a line of sight from the instrument point, the directional angles of the plurality of measurement points can be measured without moving the surveying instrument, so that the surveying work becomes more efficient. . For example, if all the measurement points are visible from the first instrument point, all the measurement points can be set to the measurement points measured from the first instrument point.

Also, as shown in FIG. 12, even when some of the measurement points P ₁₁ , P ₁₂ , and P ₁₃ have no line of sight from the first instrument point P ₀ , there is no line of sight with the first instrument point P _0. If the point where the line of sight can be taken from both of the measurement points P ₁₁ , P ₁₂ , and P ₁₃ is set as the measurement point P ₁ to be measured from the first instrument point P ₀ , the movement of the surveying instrument 60 is minimized. Can be.

  As described above, according to the present embodiment, since the direction angles and coordinates of a plurality of measurement points can be obtained without moving the surveying instrument, the surveying instrument necessary for measuring all the measuring points can be obtained. The number of movements can be reduced. For this reason, it is possible to reduce the cumulative error of the directional angle and the coordinate caused by moving the surveying instrument.

  Although not essential, if the surveying instrument 60 has the automatic tracking function as described above, while the operator moves the target unit 10, the distance measuring and angle measuring of a plurality of points and the encoder are continuously performed. Since the pattern can be read, the measurement can be performed more efficiently.

6. Observation of Point Cloud Data In the present embodiment, the point cloud data can be observed by attaching the scanner device 30 to the leveling table 90 installed at the observation point measured as described above. FIG. 13 is a flowchart of the point cloud data observation by the scanner device 30. An example of measuring the site in FIG. 12 will be described.

When starting the acquisition of the point group data, first, in step S301, the operator attaches the scanner device 30 to the quasi-base integer of point P _0.

  Next, in step S302, the scanner device 30 acquires point cloud data (full dome scan), and stores the acquired point cloud data in the storage unit 37 in association with the observation point or in the external storage device 43. Is output. When the acquisition of the point cloud data is completed, the scanner device 30 displays a message indicating the completion on the display unit, and displays a message urging the operator to move the scanner device.

At STEP S303, and moves the worker scanner device 30 next observation point, for example, _{P 1,} repeat steps S301~S302 to complete the observation of the point cloud data at all observation points.

When acquiring the point cloud data, the surveying instrument 60 stores the offset angle θ _S of the scanner device 30 in the storage unit 71, and in the calculation of the direction angle in step S206, Based on the direction angle, the reading angle θ _E of the encoder pattern, and the offset angle θ _S of the scanner device 30, the direction angle of the scanner device 30 attached to the leveling table 90 is calculated and stored in the storage unit 71.

  The coordinates of each measurement point and the scanner directional angle acquired by the surveying instrument 60 and the point cloud data acquired by the scanner device 30 are output to a data processing device such as a personal computer. The point cloud data is converted into a map coordinate system and integrated based on the coordinates of each measurement point (observation point) and the direction angle of the scanner device.

  In the above example, the surveying system 100 acquires the point cloud data by attaching the scanner device 30 to the leveling table 90 after acquiring the coordinates and the directional angle. However, the scanner installed at each observation point (measurement point) After attaching the device 30 and acquiring the point cloud data, the scanner device 30 may be replaced with the target unit 10 and the surveying instrument 60 may acquire the coordinates and the direction angle of each point.

  Conventionally, a scanner device performs a target scan of a new point to obtain coordinates, moves to the new point and performs a target scan of a known point or a rear viewpoint, obtains coordinates and a direction angle of an observation point, After acquiring the point cloud data at the same position, it was necessary to repeat moving to the next new point.

  Since a target scan is a work that takes about two minutes and takes a long time, it takes a long time to perform observation with a conventional scanner system. In addition, since the target scanner and the acquisition of the point cloud data are performed by the same scanner device, it is necessary to wait for each measurement and then perform the next measurement, resulting in poor observation efficiency.

  However, according to the present embodiment, instead of the time-consuming target scan, coordinates are acquired using a surveying instrument, so that the time required for the entire observation can be significantly reduced.

  Further, since the acquisition of the point cloud data is performed by a scanner device independent of the surveying instrument for acquiring the coordinates and the directional angles, the acquisition of the coordinates and the directional angles and the acquisition of the point cloud data can be made independent. it can. In addition, since the measurements can be performed at the same time if they do not interfere with each other, the observation can be performed more efficiently.

7. Reading of Encoder Pattern Finally, reading of the encoder pattern 13B in step S204 will be described with reference to FIGS.

  An example of the reading operation of the encoder pattern 13B will be described. When the reading of the encoder pattern is started in step S203, the surveying instrument 60 executes the following operation shown in FIG.

  When the surveying instrument 60 starts reading the encoder pattern 13B, in step S401, the camera 65 acquires a landscape image 85 around the encoder pattern unit 13 including the encoder pattern unit 13 (FIG. 14A).

  Next, in step S402, the encoder pattern reading angle calculation unit 76 determines the distance measurement data of the reflection target 11 acquired in step S102 and the known dimensions of the encoder pattern unit 13 stored in the storage unit 71. Then, the range 86 of the encoder pattern 13B in the image is specified and cut out into a rectangle (FIGS. 14A and 14B).

Next, in step S403, the encoder pattern reading angle calculation unit 76 converts the image of the range 86 of the encoder pattern 13B cut out in step S402 into the height h ₁ of the black band 132a and the white band 132b of the width information unit 132 (FIG. 3 and shorter than (b)), a vertical line 131a, each short interval _{h 3} than half _{h 2/2} of the height of 131b _{h 2} (FIG. 3 (b)), read horizontally linearly, Convert to pixel values. For example, as shown in FIG. 14B, linear reading is performed at positions I to V. The pixel value decreases when the pixel value is dark (black), and increases when the pixel value is bright (white). The result of reading at each of the positions I to V (hereinafter, referred to as “pixel columns I to V”) is as follows. For example, it can be represented as shown in FIG.

  Next, in step S404, the reading result of the width information section 132 is extracted from the reading result of step S403. Specifically, at least one of the black portion having a pixel value smaller than the predetermined threshold value and the white portion having a pixel value larger than the predetermined threshold value is determined by the distance measurement of the reflection target 11 acquired in step S102. If the length corresponding to the diameter L of the encoder pattern unit 13 calculated from the data and the dimensions of the known encoder pattern unit 13 is continuous, it is determined that the pixel row corresponds to the width information unit 132.

  Therefore, in FIG. 14C, it can be seen that the pixel columns I and II correspond to the width information section 132. Then, the center position of the encoder pattern 13B that matches the center axis A of the support member 12 is specified from the detected width L of the encoder pattern 13B (diameter of the encoder pattern portion 13). Although the width information section 132 is not essential, if the width information section 132 including the two color bands of the black band 132a and the white band 132b is provided, even if the background is black or white, either Advantageously, the band is detectable.

  Next, in step S405, a correlation between pixel rows is calculated from the linear reading result in step S403, and a pixel having a higher correlation than a predetermined value is extracted as a reading result of the angle information unit 131.

  In the example of FIG. 14C, the pixel rows III to V have high correlation in the pattern of the pixel values. Therefore, it can be understood that the pixel rows III to V are the read results of the angle information unit 131. .

  Then, an average value is calculated by adding the extracted pixel values of the pixel rows III to V in the vertical direction. A case where the result is smaller than a predetermined threshold value is determined as a black region, and the width of the black region is obtained. Next, it is determined whether the obtained width value corresponds to the narrow width or the wide width, and the narrow width is determined to be bit “0”, that is, the vertical line 131a, and the wide width is determined to be bit “1”, that is, the vertical line 131b. Read as As described above, when a pixel value is calculated as an average value from a plurality of pixel rows, even if a pixel row whose position is shifted as in the pixel row IV, for example, the influence of the position shift is reduced, and the reading accuracy is reduced. Can be improved.

Since the encoder pattern portion 13 has a columnar shape, the vertical line widths w ₁ and w ₂ and the pitch p are observed to be narrower than the actual width as the distance from the center increases. For example, in FIG. 3 (a), vertical lines 131b ₁ of the wide near the center has a width _{w 2a} is, the width (actual width) of the wide vertical line 131b in developed view shown in FIG. 3 (b) _{w 2} Is observed with the same width as. On the other hand, the vertical line 131b ₂ farthest wide from the center portion has a width _{w 2b} is observed narrower than the actual width _{w 2.} The same applies to the width w ₁ and a pitch p. Thus, the width w ₁ and w ₂ are preferably the range of variation of the width w ₁ and a width w ₂ in consideration of the influence of the width observed by the arrangement is changed is set so as not to overlap.

Next, in step S405, the encoder pattern reading angle calculation unit 76 sets the bit pattern included in the predetermined width R extending right and left around the center position A of the encoder pattern 13B obtained in step S403, that is, in the region of the predetermined width R. Correlation between the bit pattern indicated by a vertical line of a predetermined number of bits included (for example, 10 bits, which indicates a bit pattern of “11010010100” in the illustrated example), the bit pattern stored in the storage unit 71, and the angle by comparing the preparative calculates the reading angle theta _T encoder pattern. Next, the process proceeds to step S308.

8. Modifications The following modifications can be made to the above embodiment.
For example, instead of the camera 65 as an encoder pattern reading unit, a scanner including a reading light transmitting unit that transmits reading light toward the encoder pattern as scanning light and a reading light receiving unit that receives light reflected by the encoder pattern May be configured to read the bit pattern of the encoder pattern based on the received light amount distribution.

  Further, the encoder pattern 13B is not limited to black and white, and may be configured by a combination of colors having a clear contrast. The encoder pattern is not limited to visible light, and may be configured as an encoder pattern that can be identified by polarization.

  The embodiments of the present invention have been described above with reference to the embodiments. However, the above embodiments are merely examples, and these can be combined based on the knowledge of those skilled in the art. Further, the above-described embodiment can be variously modified and implemented without departing from the gist. Needless to say, the scope of rights of the present invention is not limited to the above embodiment.

Reference Signs List 10 Target unit 11 Reflective target 13B Encoder pattern 30 Scanner device 31 Distance measuring unit 34 Vertical angle detector (angle measuring unit)
36 Horizontal angle detector (angle measuring unit)
49 Scanning unit 60 Surveying instrument 64 Surveying unit 65 Camera (encoder pattern reading unit)
66 Tracking unit 90 Leveling table 100 Surveying system θ _E Encoder pattern reading angle θ _S scanner device offset angle θ _T Target unit offset angle θ _TS surveying device offset angle

Claims (6)

A target unit having an encoder pattern indicating a circumferential angle around the central axis of the reflective target and the target unit,
A surveying unit that measures the distance and angle of the reflection target, and an encoder pattern reading unit that optically reads the encoder pattern, and calculates measurement coordinates of the reflection target based on the distance measurement angle measurement data; A surveying instrument including an arithmetic control unit that calculates an encoder pattern reading angle based on the reading result,
The target unit and the surveying instrument, alternatively, are configured to be detachably attached so as to share a vertical center axis, and around the respective central axes of the target unit and the surveying instrument. And a leveling table whose offset angle is known,
The arithmetic control unit calculates a direction angle of the leveling table based on the encoder pattern reading angle of the target unit mounted and installed on the leveling table and the offset angle of the target unit. Calculate the coordinates of the installation point of the target unit based on the measurement coordinates and the direction angle of the reflection target of the target unit attached and installed,
The surveying system, wherein the arithmetic control unit is configured to calculate a direction angle of the surveying instrument based on the offset angle of the surveying instrument and a direction angle of a leveling stand to which the surveying instrument is attached. . A distance measuring unit that transmits distance measuring light and receives the reflected light to measure a distance, a scanning unit that rotates and emits the distance measuring light to a measuring range, and an angle measuring unit that detects an irradiation direction of the distance measuring light Further comprising a scanner device for acquiring point cloud data of the measurement range,
The scanner device is removably attached to the leveling table so that the target unit and the surveying instrument can share a central axis in a vertical direction. An offset angle around the central axis with respect to
The arithmetic control unit of the surveying instrument calculates a direction angle of the surveying instrument based on a direction angle of a leveling table to which the scanner apparatus is attached and an offset angle of the scanner apparatus. Surveying system according to.   The surveying system according to claim 1, wherein the surveying instrument includes a tracking unit that emits tracking light, receives the tracking light reflected by the reflection target, and tracks the reflection target. A surveying unit that measures the distance and angle of the reflective target;
With the reflective target, an encoder pattern reading unit that optically reads an encoder pattern indicating an angle around the center axis of a target unit detachably configured to share the center axis with the leveling table,
An arithmetic control unit that calculates measurement coordinates of the reflection target based on the distance measurement data and the angle measurement data,
The leveling table, alternatively with the target unit, is configured to be detachably attached to share a vertical central axis, and a surveying instrument in which an offset angle around the central axis is known. So,
The arithmetic control unit calculates the encoder pattern reading angle, calculates a direction angle of the leveling table based on the encoder pattern reading angle and the offset angle of the target unit, and attaches the encoder to the leveling table. Calculating the coordinates of the installation point of the target unit based on the measurement coordinates of the reflection target of the installed target unit and the direction angle cooking,
The arithmetic control unit is configured to calculate a directional angle of the surveying instrument based on the offset angle of the surveying instrument and a directional angle of a leveling table to which the scanner device is attached. Machine.   The surveying instrument according to claim 4, further comprising: a tracking unit that emits tracking light, receives the tracking light reflected by the reflection target, and tracks the reflection target. (A) coordinates and direction angles is attached to the installed leveling platform to P _j that is known surveying machine, based on the offset angle theta _TS about the vertical central axis with respect to the leveling table of the surveying instrument Calculating a direction angle of the surveying instrument;
(B) the surveying instrument automatically tracking the target unit moving to the next observation point P _{j + 1} ;
(C) calculating the measurement coordinates of the reflection target by measuring and measuring the reflection target of the target unit attached to the leveling table installed at the point P _{j + 1} by the surveying instrument;
(D) the surveying instrument reads an encoder pattern of the target unit attached to a leveling table installed at the point P _{j + 1} and calculates an encoder pattern reading angle;
(E) The surveying instrument calculates the direction angle of the leveling platform at the point P _{j + 1} based on the encoder pattern reading angle and the offset angle θ _T about the vertical center axis of the target unit with respect to the leveling platform. Steps and
(F) removing the target unit at point P _{j + 1} when there is a point to be observed from point P _j, and repeating steps (a) to (e) with j = j + 1;
The target unit includes the reflection target and the encoder pattern, the encoder pattern indicates a circumferential angle around a center axis of the target unit,
The leveling platform is configured to be detachable so that the target unit and the surveying instrument can alternatively share a vertical central axis,
A surveying method, wherein the offset angle of the target unit and the offset angle of the surveying instrument are each known.