JP2023000908A - Surveying device, optical axis conversion unit, surveying method, and surveying program - Google Patents

Abstract

To provide a surveying device, optical axis conversion unit, surveying method, and surveying program which allow for eliminating the influence of obstacles on survey using a simple configuration.SOLUTION: A surveying device is provided, comprising a telescope part 24 capable of sending or receiving light along a collimation axis A0, and an optical axis conversion unit 25 provided with optical members (252, 253) for offsetting an optical axis of a light path along the collimation axis A0 in a radial direction relative to the collimation axis A0 and configured to be capable of rotating the offset converted optical axis about the collimation axis A0.SELECTED DRAWING: Figure 1

Description

The present invention relates to a surveying instrument, an optical axis conversion unit, a surveying method, and a surveying program.

2. Description of the Related Art A surveying instrument such as a total station measures an angle by collimating an object to be measured, and measures the distance from the surveying instrument to the object by irradiating the object with distance measuring light. As a surveying method when there is an obstacle between the surveying device and the object to be measured, for example, Patent Document 1 discloses a method of surveying the position of the object to be measured with respect to a known point by bypassing the obstacle using a plurality of surveying devices. Techniques are disclosed.

JP 2011-247677 A

At work sites such as construction and civil engineering, mesh-like nets are sometimes installed to prevent objects from falling. When surveying through an obstacle such as a net, the surveying instrument receives an optical image that is partly blocked by the obstacle and receives the missing optical image from the object to be measured, making it difficult to determine the center of gravity of the optical image. It is not easy to obtain an accurate position (for example, horizontal angle or vertical angle) of the object to be measured. In the technique described in Patent Literature 1, the object to be measured is surveyed by avoiding obstacles, but this method complicates the overall system configuration.

The present invention has been made in order to solve such problems, and its object is to provide a surveying instrument, an optical axis conversion unit, and a surveying method that can eliminate the influence of obstacles on surveying with a simple configuration. and provides a surveying program.

In order to achieve the above object, a surveying instrument according to the present invention includes a telescope unit capable of transmitting or receiving light along a collimation axis, and collimating the optical axis of the optical path along the collimation axis. an optical axis conversion unit having an optical member radially offset with respect to an axis, the offset conversion optical axis being rotatable about the collimation axis.

Further, in the above-described surveying device, the optical member has a first aperture surface facing the telescope-side aperture surface of the telescope unit and is arranged offset with respect to the telescope unit; a second retroreflective member having a second aperture facing the first aperture and arranged offset with respect to the telescope and the first retroreflective member; and a transformation of the second retroreflective member. A rotating portion may be provided in which the first retroreflective member and the second retroreflective member are rotatable about the collimation axis while directing the optical axis toward the measurement target.

Further, the above-described surveying instrument may include an optical axis rotation driving section capable of controlling the rotation of the rotation section.

Further, the surveying apparatus described above may include a rotation detection section capable of detecting one or both of a rotation position and a rotation amount of the optical member about the collimation axis.

Further, as the surveying device described above, the optical axis conversion unit may be detachably attached to the telescope section.

Further, in the above-described surveying device, the telescope section is connected to the base section so as to be rotatable about a horizontal axis and a vertical axis, and the optical axis conversion unit converts the optical axis converted by the optical member during rotation. It may be configured to be rotatable about the horizontal axis and the vertical axis with respect to the base so that the measurement target is positioned on the optical axis.

Further, the above-described surveying apparatus may include a control unit that obtains an average center-of-gravity position of the optical image from a plurality of optical images received from the measurement object received at different rotational positions about the collimation axis of the optical member. .

Further, in the surveying device described above, the optical member may be a corner cube prism.

In order to achieve the above object, an optical axis conversion unit according to the present invention is detachably formed on a telescope section capable of transmitting or receiving light, and converts light in an optical path along a collimation axis of the telescope section. An optical member is provided for radially offsetting an axis with respect to the collimation axis, and the offset conversion optical axis is rotatably mounted about the collimation axis.

In order to achieve the above-described object, the surveying method according to the present invention is characterized in that the surveying instrument comprises a telescope unit capable of transmitting or receiving light along a collimation axis, and light on an optical path along the collimation axis. having an optical member with an axis radially offset with respect to the collimation axis, rotating the offset transformed optical axis about the collimation axis; receiving the light guided from the object to be measured by the surveying instrument in the moving position.

In order to achieve the above object, a surveying program according to the present invention includes a telescope unit capable of transmitting or receiving light along a collimation axis, and collimating the optical axis of an optical path along the collimation axis. In a surveying instrument having an optical member radially offset with respect to an axis, the steps of rotating the offset transformed optical axis about the collimation axis and rotating the optical member about the collimation axis at different rotational positions. and a step of receiving the light guided from the object to be measured by the surveying instrument.

According to the surveying device, the optical axis conversion unit, the surveying method, and the surveying program according to the present invention using the above means, it is possible to eliminate the influence of obstacles on surveying with a simple configuration.

1 is an overall configuration diagram of a surveying system according to an embodiment of the present invention; FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows typically the optical-axis conversion unit which concerns on embodiment of this invention, (a) shows a side view, (b) shows a front view. It is a control block diagram of the surveying instrument according to the embodiment of the present invention. It is a flowchart which shows the measuring method in a surveying system. FIG. 10 is a diagram showing a state in which the surveying instrument rotates the optical axis conversion unit while pointing toward the object to be measured; It is a figure which shows the image which imaged the measuring object, (a) is an image which the measuring apparatus of FIG. 1 imaged, (b) is an image which the measuring apparatus of FIG. 5 imaged. It is a flowchart which shows the surveying method based on the modification of embodiment of this invention. FIG. 10 is a diagram showing images of a measurement target in a modification, where (a) shows the positional relationship of a plurality of captured light images, and (b) shows one of the plurality of captured light images that serves as a reference and the other. , and (c) shows a combined optical image.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described based on the drawings.

FIG. 1 is an overall configuration diagram of a surveying system 1 according to an embodiment of the present invention. 2 is a control block diagram of the surveying instrument 2. As shown in FIG. The overall configuration and control system of the surveying system 1 according to the embodiment will be described below with reference to FIGS. It should be noted that each device and arrangement relationship are shown schematically, and for convenience of explanation, they are shown on a scale different from the actual scale.

A surveying system 1 includes a surveying instrument 2 and a measurement object 3 (target). The surveying instrument 2 is, for example, a total station, is installed on a leg of a tripod or the like (not shown), and can measure the angle and distance to the object 3 for surveying. The surveying instrument 2 includes a leveling section 21 that is detachable from the legs and performs leveling, a base section 22 provided on the leveling section 21, and a base section 22 that rotates around a vertical axis V. and a telescope 24 rotatably provided on the main body 23 about the horizontal axis H. Therefore, the telescope part 24 is provided so as to be rotatable about the horizontal axis H and the vertical axis V with respect to the base part 22 . The leveling may be performed manually by an operator by adjusting the legs, or may be performed automatically. The surveying device 2 also includes a computer (not shown) for controlling the surveying device 2 .

FIG. 3 is a control block diagram of the surveying instrument 2. As shown in FIG. The communication unit 201 is configured to be capable of communicating with an external device, and is wireless communication means such as Bluetooth (registered trademark). Note that the communication unit 201 may function as wired communication means via a connection terminal.

The storage unit 202 stores various programs such as a tracking program and a surveying program related to a surveying method, surveying data, GPS time, the size of the surveying device 2 (height, width, depth, etc.), and the image 4 captured by the tracking light receiving unit 207. (See FIGS. 6(a) and 6(b)).

The display unit 203 can display the image 4 captured by the tracking light receiving unit 207 (light receiving unit). An operation unit 204 is an operation unit capable of inputting various operation instructions and settings. For example, the operation instruction can include power on/off switching, surveying start trigger, surveying mode switching, surveying cycle setting, and the like. Also, the operation unit 204 may include arbitrary operation devices and input devices such as switches, buttons, and dials. When the display unit 203 is a touch panel, the display unit 203 and the operation unit 204 may be formed integrally.

The distance measuring unit 205 includes a light transmitting unit that emits distance measuring light, and a light receiving unit that receives the reflected light reflected by the measurement object 3 after being irradiated with the distance measuring light from the light transmitting unit. The distance measurement unit 205 measures the distance (oblique distance) from the surveying device 2 to the measurement object 3 by emitting distance measurement light, which is, for example, a pulsed laser beam, and receiving reflected light reflected by the measurement object 3. do. Note that the distance measurement method is not limited to such a pulse method, and it is also possible to apply a well-known method such as a so-called phase difference method that measures distance based on the number of waves of laser light.

The tracking light transmitter 206 is a light source that can irradiate the measurement target 3 with tracking light. Further, the tracking light receiving unit 207 can use a light receiving element such as an image sensor (such as a CCD sensor or a CMOS sensor) that receives part of the tracking light reflected by the measurement target 3 and converts it into an electric signal. . The tracking light transmitting unit 206 emits tracking light having a spread angle. Therefore, as the distance from the surveying instrument 2 increases, the spatial area of the tracking light irradiation range expands. The control unit 215 controls the horizontal rotation driving unit 208, the vertical rotation driving unit 209, and the optical axis rotation driving unit 210 so that the tracking light receiving unit 207 continues to receive the tracking light from the tracking light transmitting unit 206. By controlling, the tracking function of the measuring object 3 can be controlled.

The horizontal rotation driving section 208 controls the main body section 23 to be horizontally rotatable about the vertical axis V with respect to the base section 22 . The vertical rotation driving section 209 controls the telescope section 24 to be vertically rotatable about the horizontal axis H with respect to the main body section 23 .

The optical axis rotation driving section 210 can control the rotation of the optical axis conversion unit 25 around the collimation axis A0 of the telescope section 24, and can be configured by a motor or a gear.

Further, inside the main body 23, a horizontal angle detector 211 (horizontal encoder) for detecting the horizontal rotation angle of the main body 23 (that is, the rotation angle about the vertical axis V) and the vertical direction of the telescope 24 are provided. A vertical angle detection unit 212 (vertical encoder) is provided for detecting the rotation angle of (that is, the rotation angle about the horizontal axis H). The telescope unit 24 has therein a telescope 24a including an optical system capable of collimating the object 3 to be measured. The telescope unit 24 incorporates a distance measurement unit 205 including a distance measurement optical system, and part of the optical path of the distance measurement optical system of this distance measurement unit 205 is shared with part of the optical system of the telescope 24a. . The light emitted from the distance measuring unit 205 or the tracking light transmitting unit 206 is guided from the object side of the telescope 24a coaxially with the collimation axis A0 and emitted. Light received from the outside via the optical axis conversion unit 25 is guided onto the collimation axis A0 and received by the distance measuring section 205 or the tracking light receiving section 207 .

The rotation detection unit 213 detects one or both of a rotation position (for example, a rotation angle) and a rotation amount of the first retroreflection member 252 and the second retroreflection member 253 provided in the optical axis conversion unit 25 about the collimation axis A0. Configured to be detectable. The rotation detection unit 213 can be formed by a one-rotation detection sensor, an encoder, an acceleration sensor, or the like. The rotation reference sensor 214 is formed by a light projecting/receiving sensor or the like that detects that the rotating portion 251 has made one rotation.

Also, the control unit 215 is provided in the main unit 23 of the surveying instrument 2, for example. The control unit 215 controls the angles (horizontal angle and vertical angle) detected by the horizontal angle detection unit 211 and the vertical angle detection unit 212, the distance (oblique distance) measured by the distance measuring unit 205, and the tracking light receiving unit 207 to capture an image. Acquisition, storage, and calculation of various information such as the obtained image 4 are performed, and the acquisition result and calculation result are displayed on the display unit 203, for example. Further, the control unit 215 performs drive control and the like of each unit according to the operation on the operation unit 204 or according to the calculation result.

As shown in FIG. 2 , the optical axis conversion unit 25 includes a rotating portion 251 that can rotate about the sighting axis A0 of the telescope portion 24 . The optical axis conversion unit 25 is formed detachably with respect to the telescope section 24 . The rotating portion 251 also includes a first retroreflective member 252 and a second retroreflective member 253 . The first retroreflective member 252 and the second retroreflective member 253 of the present embodiment are corner cube prisms, and their shapes are schematically shown in FIG. 2(a) and the like. The first retroreflective member 252 and the second retroreflective member 253 have aperture surfaces (first aperture surface 252a and second aperture surface 253a), which are light entrance and exit surfaces, respectively, and a reflective portion capable of reflecting light. 252b and 253b. In the first retroreflective member 252 and the second retroreflective member 253, each of the reflective portion 252b and the reflective portion 253b has three orthogonal reflecting surfaces and is formed in an internal corner shape surrounded in three directions ( details not shown).

The first retroreflecting member 252 has a first aperture surface 252a facing the telescope-side aperture surface 241 of the telescope unit 24, and is offset in the direction orthogonal to the sighting axis A0 of the telescope unit 24. As shown in FIG. Therefore, the collimation axis A0 and the optical axis B1 that is the central axis of the reflecting portion 252b (the axis that passes through the apex where the three reflecting surfaces connect and is orthogonal to the first aperture surface 252a) are perpendicular to the collimating axis A0. offset in the direction. In addition, the second retroreflective member 253 has a second opening surface 253a facing the first opening surface 252a of the first retroreflective member 252, and is offset with respect to the telescope section 24 and the first retroreflective member 252. placed. Therefore, the optical axis B1 and the optical axis B2 of the second retroreflective member 253 (the axis passing through the top where the three reflecting surfaces are connected and orthogonal to the second aperture surface 253a) are orthogonal to the collimation axis A0. , and are offset in substantially the same direction as the offset direction of the first retroreflective member 252 .

When the light L1 such as the tracking light or the ranging light is emitted from the telescope 24, the light L1 is guided toward the first retroreflection member 252 with the collimation axis A0 of the telescope 24 as the optical axis. The light L1 guided from the telescope section 24 side enters the first aperture surface 252a and is internally reflected by the reflection section 252b of the first retroreflection member 252 . The light L1 reflected by the reflecting portion 252b is guided along the first optical axis A1, which is the optical axis of the symmetrical optical path with respect to the light L1 on the collimation axis A0, and passes through the first opening surface 252a to the second retroreflecting member. 253 side. Light L1 guided from the first retroreflective member 252 side enters the second opening surface 253a and is internally reflected by the reflecting portion 253b of the second retroreflective member 253 . The light L1 reflected by the reflecting portion 253b is guided along the second optical axis A2, which is the optical axis of the symmetrical optical path with respect to the light L1 on the first optical axis A1, and is emitted from the second aperture surface 253a. The light L1 emitted from the second opening surface 253a is emitted to the measurement object 3 side through the opening 251a provided with a through hole or a translucent member.

A second optical axis A2 is formed parallel to the first optical axis A1 and the collimation axis A0. Therefore, the light L1 emitted from the second aperture surface 253a is parallel to and in the same direction as the light L1 emitted from the telescope section 24, and is emitted offset from the collimation axis A0. When the telescope section 24 of FIG. 2(b) is viewed from the output side, the collimation axis A0, the first optical axis A1 and the second optical axis A2 are arranged on a straight line orthogonal to the collimation axis A0. When the optical axis conversion unit 25 is rotated toward 12 o'clock as shown in FIG. there is

The object 3 to be measured in this embodiment is a prism, which is a retroreflective member provided on a pin pole or the like. In addition, the object 3 to be measured can be configured by combining a plurality of retroreflective prisms so as to enable measurement from various directions. In addition, the measurement target 3 is not limited to a retroreflective member, and may be any other reflecting member capable of reflecting the light emitted from the surveying instrument 2 with an intensity that allows the surveying instrument 2 to detect the reflected light. (eg, reflective sheets, target plates, walls, etc.) may be placed.

FIG. 1 also shows an example in which an obstacle 5 is positioned between the surveying instrument 2 and the object 3 to be measured. The obstacle 5 is, for example, a net used for preventing falling at a construction site or the like, and is formed in a mesh shape of about 10 to 15 mm square. The diameter of the mesh cords forming the net is, for example, about 2 mm to 3 mm.

The measuring object 3 irradiated with the light L1 is reflected in the direction opposite to the incident direction. The light L2 reflected by the object 3 to be measured is incident on the second opening surface 253a of the second retroreflective member 253 and internally reflected by the reflecting portion 252b. The light L2 reflected by the reflecting portion 253b is guided along the first optical axis A1 and emitted from the second opening surface 253a toward the first retroreflecting member 252 side. Light L2 guided from the side of the second retroreflective member 253 enters the first opening surface 252a and is internally reflected by the reflecting portion 252b. The light L<b>1 reflected by the reflecting portion 252 b is guided along the collimation axis A<b>0 and enters the telescope portion 24 . The distance measuring unit 205 or the tracking light receiving unit 207 receives the light L2 that has entered the telescope unit 24 .

Here, each process related to the surveying method of the surveying device 2 will be described with reference to FIG. 4 and the like. First, as step S01, the object to be measured 3 is collimated by the telescope 24a. When the measurement target 3 is positioned substantially in the center of the field of view of the telescope 24a, the measurement target 3 is positioned substantially on the second optical axis A2. The control unit 215 acquires the image 4 (see FIG. 6A) including the optical image 41 of the measurement object 3 and obtains the barycentric position 411 of the optical image 41 . The control unit 215 automatically tracks the angle of the telescope unit 24 so that the center-of-gravity position 411 and the collimation center position 43 match. Specifically, the rotating portion 251 connected to the telescope portion 24 rotates the first retroreflecting member 252 and the second retroreflecting member 253 while the first retroreflecting member 252 and the second retroreflecting member 253 rotate. It is configured to be rotatable about the horizontal axis H and the vertical axis V with respect to the base portion 22 so that the measurement object 3 is positioned on the second optical axis A2 that is the converted converted optical axis. Therefore, the optical axis conversion unit 25 is directed so that the second optical axis A2 always faces the surveying direction axis O side, and the intersection of the second optical axis A2 and the surveying direction axis O is positioned near the object 3 to be measured. to control. Since the center-of-gravity position 411 is obtained from the optical image 41 , it may differ from the actual center position of the measurement object 3 if there is an influence of the shadow 42 of the obstacle 5 .

As step S02, the control section 215 causes the optical axis rotation drive section 210 to rotate the rotation section 251 of the optical axis conversion unit 25 around the collimation axis A0. FIG. 5 shows a state in which the optical axis conversion unit 25 of the surveying instrument 2 shown in FIG. 1 is rotated by 180 degrees and positioned in the 6 o'clock direction in front view, which is below the collimation axis A0. In the surveying instrument 2 of FIG. 5, similarly to the state of FIG. It is controlled to face the O side. Therefore, the intersection of the second optical axis A2 and the survey direction axis O can be positioned near the object 3 to be measured.

In step S03, a plurality of images 4 including the optical images 41 of the object 3 to be measured are obtained, and the barycenter positions 411 of the respective optical images 41 are continuously determined at arbitrarily set intervals. In addition, the control unit 215 performs distance measurement and angle measurement corresponding to the rotation angle of the optical axis conversion unit 25 when each image 4 is acquired, and each acquired image 4, distance, angle (horizontal angle and vertical angle ) are stored in the storage unit 202 correspondingly.

Specifically, the control unit 215 obtains the survey value assuming that the measurement target 3 is collimated from the virtually offset telescope unit 24' indicated by the two-dot chain line in FIG. First, the control unit 215 detects the horizontal angle and vertical angle of the measurement object 3 using the horizontal angle detection unit 211 and the vertical angle detection unit 212 . The detected horizontal angle and vertical angle can be obtained as a value (angle θ ₁₁ ) obtained when the measurement object 3 is sighted from the offset telescope section 24' and the angle is measured. Also, the control unit 215 obtains the distance from the surveying device 2 to the measurement object 3 by the distance measurement unit 205 . Since the offset amount of the instrument point 26' is known and the position of the opening 251a with respect to the instrument point 26 is also known, the distance from the instrument point 26' to the opening 251a can be obtained in advance. Also, the distance (optical path length) from the instrument point 26 to the aperture 251a is known. Therefore, the control unit 215 subtracts the distance from the instrument point 26 to the opening 251a from the value measured by the distance measuring unit 205, and adds the distance from the instrument point 26' to the opening 251a. A distance X11 from the instrument point 26' to the measurement object ₃ can be determined. Further, since the positions of the instrument point 26 and the instrument point 26' are known, and the distance X ₁₁ and the angle θ ₁₁ (horizontal angle and vertical angle) of the measurement object 3 viewed from the instrument point 26' can be obtained, The control unit 215 can also obtain the distance X ₁₂ and the angle θ ₁₂ (angle with respect to the surveying direction axis O) of the measurement object 3 viewed from the instrument point 26 . Therefore, the surveying instrument 2 can obtain the position (horizontal angle, vertical angle, and oblique distance) from the instrument point 26 to the measurement object 3 using the optical axis conversion unit 25 .

It should be noted that the measurement by angle measurement and distance measurement and the acquisition of the image 4 can be performed, for example, at intervals of 50 msec while the optical axis conversion unit 25 rotates once in about one second.

Regarding acquisition of the image 4, for example, when the optical axis conversion unit 25 is positioned above as shown in FIG. 1, the tracking light receiving section 207 acquires the image 4 shown in FIG. 6(a). The image 4 includes a light image 41A (41) corresponding to the light reflected by the object 3 to be measured. Although the optical image 41A is formed in a substantially circular shape, since the obstacle 5 is arranged in the vicinity of the lower part of the second optical axis A2 in FIG. A center-of-gravity position 411 of the optical image 41A is positioned slightly above the entire optical image 41A.

On the other hand, as shown in FIG. 5, when the optical axis conversion unit 25 is positioned downward, the tracking light receiving section 207 acquires the image 4 shown in FIG. 6(b). The image 4 includes a light image 41B (41) corresponding to the light reflected by the object 3 to be measured. In FIG. 5, since the obstacle 5 is placed near the upper side of the second optical axis A2, the upper portion of the optical image 41B is partially blocked by the shadow 42, and the center of gravity 411 of the optical image 41B is located on the entire optical image 41B. located slightly below.

In this manner, while the optical axis conversion unit 25 is rotating, the tracking light transmitter 206 emits the tracking light, and the tracking light receiver 207 receives the reflected tracking light. are collimated at a plurality of different angular positions (rotational positions), a plurality of optical images 41 having different positions and ranges of the shadow 42 of the obstacle 5 can be acquired and stored in the storage unit 202 .

Note that the control unit 215 acquires the plurality of optical images 41 while the optical axis conversion unit 25 rotates in a rotation angle range of less than one rotation or while it rotates in a rotation angle range of one rotation or more. can be done. Further, the control unit 215 may acquire the plurality of optical images 41 while rotating a plurality of times, two or more times.

As step S04, the control section 215 causes the optical axis rotation drive section 210 to rotate the optical axis conversion unit 25 one to a plurality of times, and then stops the rotation. In step S05, the control unit 215 averages the positions obtained by multiple surveys (the position obtained from the distance from the known point where the instrument point 26 or the surveying device 2 is installed, the horizontal angle, and the vertical angle), An average center-of-gravity position 412 is obtained as the center position of the object 3 to be measured. As described above, in this embodiment, the offset conversion optical axis (second optical axis A2) is configured to be rotatable around the collimation axis A0. It is possible to obtain a suitable survey value.

Next, a modified example of this embodiment will be described. FIG. 7 shows each step of the surveying method of the surveying device 2 in this modified example. First, as step S11, the telescope 24a collimates the object 3 to be measured. As in step S<b>01 described above, the control unit 215 automatically tracks the angle of the telescope unit 24 so that the center-of-gravity position 411 and the collimation center position 43 match. In step S12, the control section 215 causes the optical axis rotation drive section 210 to rotate the rotation section 251 of the optical axis conversion unit 25 around the collimation axis A0. At this time, the rotating portion 251 connected to the telescope portion 24 is transformed by the first retroreflective member 252 and the second retroreflective member 253 while the first retroreflective member 252 and the second retroreflective member 253 are rotating. Rotation control is performed about the horizontal axis H and the vertical axis V with respect to the base portion 22 so that the measurement object 3 is positioned on the second optical axis A2, which is the converted optical axis.

In step S<b>13 , the control unit 215 causes the tracking light transmitting unit 206 to emit the light L<b>1 that is the tracking light, and irradiates the measurement object 3 with the light L<b>1 . The light L2 reflected by the object 3 to be measured is received by the tracking light receiving section 207 within the telescope section 24 . The control unit 215 includes the light L2 received by the tracking light receiving unit 207 as the optical image 41 in the image 4 and causes the storage unit 202 to store the data of the image 4 . In addition, the control unit 215 performs distance measurement and angle measurement corresponding to the rotation angle of the optical axis conversion unit 25 when each image 4 is acquired, and measures the acquired image 4 and the measurement target for the instrument point 26'. 3, the distance X ₁₁ and the angle θ ₁₁ (including the horizontal angle and the vertical angle) are stored in the storage unit 202 correspondingly.

As step S14, the control unit 215 converts the distance _X11 and the angle _θ11 to the instrument point 26′ into the distance X12 and the angle _θ12 to the actual instrument point ₂₆ of the surveying instrument 2 . Then, in step S15, the control unit 215 corresponds the center position of the image 4 acquired in step S13 (more specifically, the collimation center position 43) as the position of the angle θ ₁₂ viewed from the instrument point 26. and stored in the storage unit 202 .

_In step S16, the control unit 215 _changes the rotational position about the collimation axis A0 (for example, , the position of the optical axis conversion unit 25 in FIG. 5), the light from the measurement object 3 is received, and the same processing as the processing from step S13 to step S15 is performed. The control unit 215 continuously acquires a plurality of images 4 including the optical image 41 of the measurement object 3 at arbitrarily set intervals. For example, when the optical axis _{conversion unit} 25 is in the state of FIG. 21 and the angle θ 21. Therefore, the controller 215 determines the distance X ₂₁ and the angle θ ₂₁ from the offset instrument point 26″ (or the instrument point 26′) from offset viewpoints at a plurality of different positions while keeping the instrument point 26 common. Distance X ₂₁ and angle θ ₂₁ can be measured and image 4 including light image 41 and distance X ₂₂ and angle θ ₂₂ from instrument point 26 can be determined. The control unit 215 stores the acquired image 4 and the distance X ₂₂ and the angle θ ₂₂ from the instrument point 26 in the storage unit 202 in association with each other.

In step S17, the control unit 215 lightens the optical image 41 based on the image 4 acquired at the reference offset viewpoint. As an example, FIG. 8A shows an optical image 41A (indicated by a solid line) acquired by the surveying instrument 2 when the optical axis conversion unit 25 is positioned above the collimation axis A0 in FIG. The optical image 41B (indicated by the dashed line) obtained by the surveying instrument 2 when the optical axis conversion unit 25 is positioned below the collimation axis A0 is shown in FIG. The center-of-gravity position 411b is shown aligned. The optical images 41A and 41B in FIGS. 8A to 8C and the optical images 41A and 41B in FIGS. 6A and 6B respectively show the same image of the measurement object 3. However, in FIGS. 8A to 8C, for the sake of simplification, the hatching indicating the high brightness area is omitted.

The optical image 41A and the optical image 41B show the light reflected from the same measurement object 3, but the distance X ₁₂ and the angle θ ₁₂ obtained by measuring the gravity center position 411a of the optical image 41A and the gravity center position 411b of the optical image 41B are The measured distance X ₂₂ and angle θ ₂₂ are different. In this modification, the optical image 41B is corrected by moving the position of the optical image 41B by the number of pixels corresponding to the difference Δθ between the angle θ ₂₂ and the angle θ ₁₂ (see FIG. 8B). The amount of movement of the optical image 41B with respect to the difference Δθ may be obtained by previously associating the image 4 with a solid angle that can be captured. As a result, the outline of the optical image 41B can be substantially matched with the optical image 41A as a reference regardless of the presence or absence of the shadow 42 and the position thereof.

After that, the control unit 215 performs lighten composition on the overlapping optical images 41A and 41B. Lighter synthesis is an image synthesis method that compares pixels at the same position in a plurality of images, adopts the brighter pixels, and generates a synthesized image. Therefore, when the optical image 41 and the optical image 41B are subjected to comparatively bright synthesis, the optical image 41C (see FIG. 8(c)) in which the influence of the shadow 42 caused by the obstacle 5 is removed can be obtained. Then, the control unit 215 can obtain the center-of-gravity position 413 of the optical image 41</b>C and obtain the angle corresponding to the center-of-gravity position 413 as the accurate angle to the object 3 to be measured.

The distance of the optical image 41C may be calculated by averaging the distance X12 of the center of gravity position _411a and the distance _X22 of the center of gravity position 411b. The angle (horizontal angle, vertical angle) and distance of the optical image 41C may be obtained by any other calculation method, not limited to the calculation method shown in this modified example.

After that, in step S18, the control section 215 stops the rotation of the optical axis conversion unit 25, and ends the surveying of the object 3 to be measured.

As described above, in this embodiment, the surveying instrument 2 includes the telescope unit 24 capable of transmitting or receiving light along the collimation axis A0, and the optical axis of the optical path along the collimation axis A0. An optical axis conversion unit 25 that has optical members (the first retroreflective member 252 and the second retroreflective member 253) offset in the radial direction with respect to A0, and is capable of rotating the offset conversion optical axis around the collimation axis A0. and the configuration provided with. With such a configuration, the surveying device 2 can collimate the object 3 to be measured at different angles. , a surveying method and a surveying program.

In addition, the first retroreflective member 252 and the second retroreflective member 253 can reflect the light incident on the first opening surface 252a and the second opening surface 253a, respectively, in a direction parallel to and opposite to the incident light. , high mounting accuracy is not required when mounting the first retroreflective member 252 and the second retroreflective member 253 to the telescope section 24 . Therefore, the surveying instrument 2 can easily change the optical axis.

In addition, since the optical axis conversion unit 25 is detachable from the telescope section 24, when performing surveying in an environment without obstacles 5, the optical axis conversion unit 25 can be removed and a normal surveying method can be used. A measurement object 3 can be surveyed. The surveying instrument 2 can switch between a mode in which the optical axis is converted for surveying and a mode for normal surveying without converting the optical axis, depending on whether the optical axis conversion unit 25 is attached or detached.

Although the description of the embodiment of the present invention is finished above, the aspect of the present invention is not limited to this embodiment.

For example, in the above embodiment, the controller 215 stops the rotation of the optical axis conversion unit 25 in step S04 and then determines the average center of gravity position 412 in step S05, but the survey method is not limited to these. For example, the control unit 215 obtains an average center-of-gravity position 412 from a preset number of optical images 41, and converts the optical axis so that the average center-of-gravity position 412 coincides with the center position of the light receiving element (collimation center position 43). By correcting the angle and synchronization between the turning motion of the unit 25 and the turning motion of the telescope part 24 around the horizontal axis H and the vertical axis V, the mean center of gravity position 412 is aligned with the center position of the light receiving element (collimation center position 43). The rotation of the optical axis conversion unit 25 may be stopped when it is determined that they are stably matched.

In addition, the first retroreflective member 252 and the second retroreflective member 253 may be provided integrally so that the first opening surface 252a and the second opening surface 253a are in contact with each other, or may be separated and provided separately. . Also, the first retroreflecting member 252 and the second retroreflecting member 253 are not limited to the corner cube prism, and may be configured by other optical members having retroreflecting properties.

In addition, the optical member that offsets the optical axis of the optical path along the collimation axis A0 in the radial direction with respect to the collimation axis A0 is not limited to a retroreflective member, and any optical member capable of offsetting the optical axis by combining multiple reflections may be used. It may consist of one or more reflecting members. For example, the reflecting member may be a prism having a plurality of reflecting surfaces, or may be configured by combining a plurality of mirrors. As a configuration in which the optical axis can be offset, two or more reflecting surfaces may be combined to form a periscope.

Further, when obtaining the average center-of-gravity position 412, the control section 215 detects the rotational position of the optical axis conversion unit 25 using the rotational detection section 213, and causes the plurality of optical images 41 to correspond to the predetermined rotational position. Alternatively, a plurality of optical images 41 may be acquired regardless of the rotational position of the optical axis conversion unit 25 by omitting the rotation detector 213 . In a configuration in which the rotation detection section 213 is omitted, a stepping motor may be used as the motor of the optical axis rotation drive section 210 .

1 surveying system 2 surveying device 3 measurement object 4 image 5 obstacle 21 leveling unit 22 base unit 23 main unit 24, 24′, 24″ telescope unit 24a telescope 25 optical axis conversion unit 26, 26′, 26″ instrument point 41 (41A, 41B) Optical image 42 Shadow 43 Center position 201 Communication unit 202 Storage unit 203 Display unit 204 Operation unit 205 Distance measuring unit 206 Tracking light transmitting unit 207 Tracking light receiving unit 208 Horizontal rotation driving unit 209 Vertical rotation driving Unit 210 Optical axis rotation drive unit 211 Horizontal angle detection unit 212 Vertical angle detection unit 213 Rotation detection unit 214 Rotation reference sensor 215 Control unit 241 Telescope side opening surface 251 Rotation unit 251a Opening 252 First retroreflection member 252a First opening surface 252b Reflecting portion 253 Second retroreflecting member 253a Second opening surface 253b Reflecting portions 411, 411a, 411b Center of gravity position 412 Average center of gravity position 413 Center of gravity position A0 Collimation axis A1 First optical axis A2 Second optical axis B1 Optical axis B2 Optical axis H Horizontal axis L1 Light L2 Light O Survey direction axis V Vertical axes _X11 , _X12 , _X21 , _X22 Distance _θ11 , _θ12 , _θ21 , _θ22 Angle

Claims (11)

a telescope unit capable of transmitting or receiving light along a collimation axis;
An optical axis conversion unit having an optical member for offsetting an optical axis of an optical path along the collimation axis in a radial direction with respect to the collimation axis, and capable of rotating the offset conversion optical axis around the collimation axis. When,
A surveying instrument with a a first retroreflective member, wherein the optical member has a first aperture surface facing a telescope-side aperture surface of the telescope unit and is arranged offset with respect to the telescope unit;
a second retroreflective member having a second aperture facing the first aperture and arranged offset with respect to the telescope section and the first retroreflective member;
a rotating portion provided so as to rotate the first retroreflective member and the second retroreflective member about the collimation axis while directing the converted optical axis of the second retroreflective member toward the measurement target;
A surveying instrument according to claim 1, comprising: 3. A surveying instrument according to claim 2, further comprising an optical axis rotation driving section capable of controlling rotation of said rotating section. The surveying instrument according to any one of claims 1 to 3, further comprising a rotation detector capable of detecting one or both of a rotation position and a rotation amount of the optical member about the collimation axis. The surveying instrument according to any one of claims 1 to 4, wherein the optical axis conversion unit is formed detachably with respect to the telescope section. the telescope unit is rotatably connected to the base unit about a horizontal axis and a vertical axis;
The optical axis conversion unit is rotatable about the horizontal axis and the vertical axis with respect to the base so that the measurement target is positioned on the converted optical axis converted by the optical member during rotation. A surveying instrument according to any one of claims 1 to 5, comprising: 7. The surveying instrument according to claim 6, further comprising a control unit for calculating an average center-of-gravity position of said optical image from a plurality of optical images received from said object to be measured at different rotational positions about said collimation axis of said optical member. The surveying instrument according to any one of claims 1 to 7, wherein the optical member is a corner cube prism. an optical member that is detachably attached to a telescope unit capable of transmitting or receiving light and offsets an optical axis of an optical path along a collimation axis of the telescope unit in a radial direction with respect to the collimation axis;
wherein the offset conversion optical axis is rotatable around the collimation axis,
Optical axis conversion unit. A surveying method for a surveying instrument,
The surveying instrument has a telescope unit capable of transmitting or receiving light along a collimation axis, and an optical member for offsetting an optical axis of an optical path along the collimation axis in a radial direction with respect to the collimation axis. ,
rotating the offset transform optical axis about the collimation axis;
a step of receiving light guided from a measurement target by the surveying instrument at different rotational positions of the optical member about the collimation axis;
surveying methods, including A surveying program,
A surveying instrument comprising a telescope unit capable of transmitting or receiving light along a collimation axis, and an optical member for offsetting an optical axis of an optical path along the collimation axis in a radial direction with respect to the collimation axis, wherein the offset rotating the transformed optical axis around the collimation axis;
a step of receiving light guided from a measurement target by the surveying instrument at different rotational positions of the optical member about the collimation axis;
A surveying program that allows a computer to execute

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