JP2875624B2 - Surveying instrument - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a surveying instrument that scans a measuring object as a reflecting member in a vertical direction and a horizontal direction, and automatically tracks a measuring instrument body on the measuring object.

(Prior Art) Conventionally, an optical distance measuring device is known as one of the surveying instruments, and this optical distance measuring device is sometimes used by being installed on a deck of a ship or the like. The lightwave distance measuring device has a distance measuring optical system, emits a lightwave toward a corner cube installed at a measuring point far from the lightwave distance measuring device, and receives a reflected lightwave from the corner cube. , And the distance to the measurement point is measured.

When a lightwave distance measuring device is installed on the deck of a ship to measure a distance, a corner cube as a measurement object may be lost due to shaking of the ship or the like. Therefore, recently, a lightwave distance measuring device capable of automatically tracking the corner cube is being developed.

(Problems to be Solved by the Invention) However, in the conventional lightwave distance measuring device, the lightwave distance measuring device itself as a metering device body having a built-in distance measuring optical system is rotated in a horizontal direction and a vertical direction to form a corner. The configuration is such that the cube is searched and scanned, and the lightwave distance measuring device is automatically tracked at the corner cube. Since the structure is a mechanical search, there is a problem that the search and scanning take time.

Also, as shown in FIG. 12, the measurement light beam emitted from the lightwave distance measuring device main body is scanned in the horizontal direction to perform a horizontal search scan, and the measurement light beam reflected from the object to be measured as a reflecting member is measured. From the number of scans until light is received,
13. Then, as shown in FIG. 13, the measurement light beam is scanned in the vertical direction, and the horizontal response position V of the measurement object T is obtained from the number of scans until the measurement light beam is received, as shown in FIG. Because of the structure, the search and inspection took time. Furthermore, if there is no corner cube in the search scanning range of the lightwave distance measuring device, there is a problem that the automatic tracking cannot be performed even if the automatic tracking is performed.

The present invention has been made in view of the above circumstances, and its purpose is to be able to search for an object to be measured in a short time,
Another object of the present invention is to provide a surveying instrument that can easily capture the measurement target even when the measurement target is lost.

(Means for Solving the Problems) In order to solve the above problems, the surveying instrument according to the present invention measures the scanning of the measurement light beam in the first direction as one scan, and measures in a second direction perpendicular to the direction. By performing the scanning a predetermined number of times while deflecting the light beam, a scanning optical system that scans the measurement light beam two-dimensionally, and a reflection member provided at the measurement point out of the measurement light beam projected by the scanning optical system A light receiving system for receiving the measured measurement light beam, and detecting the position of the measurement point in the second direction by the number of scans until the reflected light beam enters the light reception system, and the scanning start position in the first direction An arithmetic unit for detecting the position of the measurement point in the first direction by a scanning time until a reflected light flux incident on the light receiving system is obtained by scanning along the first direction from the first unit, and a surveying unit based on a signal from the arithmetic unit. Machine Control means for automatically tracking toward the measurement point, and a scan range for changing the scan range by expanding the scan range in the first scan direction and increasing the number of scans in the second direction based on the scan result. And changing means.

(Operation) According to the present invention, when a scanning optical system searches and scans a reflection member, the scanning result is input to the control means. The control means calculates the direction in which the reflection member exists based on the scanning result, and controls the surveying instrument main body to rotate in the horizontal and vertical directions so that the optical axis of the surveying instrument main body is directed to the object to be measured. Thereby, the surveying instrument automatically tracks the reflecting member.

If there is no reflective member in the search scanning range, the control means controls the scanning optical system so that the search scanning range is enlarged. The scanning optical system roughly searches and scans the reflection member, for example. When the reflection member is captured in the enlarged search scanning range, the surveying instrument main body is horizontally and vertically rotated so that the optical axis of the surveying instrument main body is directed to the reflection member based on the search scanning result. I do. Then, thereafter, the control unit controls the scanning optical system so as to scan the reflection member in the search scanning range before the enlargement.

(Embodiment) Hereinafter, an embodiment in which the surveying instrument according to the present invention is applied to a lightwave distance measuring device will be described with reference to the drawings.

In FIG. 1, reference numeral 1 denotes a survey stand and reference numeral 2 denotes a corner cube as a measurement object set at a measurement point. The surveying stand 1 is installed, for example, on the deck of a ship. An optical distance measuring device 3 is installed on the survey stand 1. The lightwave distance measuring device 3 has a fixed base 4 and a horizontal rotating unit 5. The horizontal rotating unit 5 is rotated in the direction of arrow A with respect to the fixed base 4 as shown in FIG. The support portion 6 is provided with a vertical rotation shaft 7, and the vertical rotation shaft 7 is provided with a distance measuring device main body 8. The distance measuring device main body 8 is rotated in the horizontal direction by the rotation of the horizontal rotation unit 5 and is also rotated in the vertical direction by the rotation of the vertical rotation shaft 7 as shown by the arrow B in FIG.

The distance measuring device body 8 includes a distance measuring optical system 9 and a scanning optical system.
10 and are provided. The distance measuring optical system 9 has a light projecting unit 11 and a light receiving unit 12 as schematically shown in FIG. Emitter 11
Has a light source 13. The light receiving section 12 has a light receiving element 14. The optics 13 emits an infrared laser beam. The infrared laser beam is reflected toward the objective lens 17 by the dichroic mirror 16 of the beam splitter 15, and emitted from the distance measuring device main body 8 through the cover glass 18 as a parallel beam.

The infrared laser beam is reflected by the corner cube 2, returns to the objective lens 17 via the cover glass 18, is reflected by the dichroic mirror 19 of the beam splitter 15, and converges on the light receiving element 14. The light receiving output of the light receiving element 14 is input to a known measuring circuit (not shown), and the distance to the corner cube 2 is measured.

The distance measuring optical system 9 has an imaging lens 20 and a reticle plate 21, and the visible light is an objective lens 17, a dichroic mirror 1
After passing through 6, 19, it reaches the imaging lens 20, and the reticle plate 21
Is converged, and the measurer can visually recognize the measurement location including the corner cube 2 via the eyepiece 22.

As shown in FIG. 4, the scanning optical system 10 includes a laser diode 23, a collimator lens 24, a horizontal deflecting element 25, a vertical deflecting element 26, reflection prisms 27, 28, 29, and an objective lens.
30, a cover glass 31, a reflection prism 32, a noise light removing film 33, and a light receiving element. Laser diode
23, a collimator lens 24, a horizontal deflecting element 25, a vertical deflecting element 26, and reflecting prisms 27, 28, and 29 substantially constitute a light projecting unit. The objective lens 30, the reflecting prism 32, the filter 33 for removing noise light, and the light receiving element 34 substantially constitute a light receiving section. The horizontal deflecting element 25 and the vertical deflecting element 26 are composed of, for example, acousto-optical elements.

The laser diode 23 emits infrared laser light having a wavelength different from the wavelength of the distance measuring optical wave of the distance measuring optical system 9. The infrared laser light is converted into a parallel light beam by a collimator lens 24 and guided to a horizontal deflection element 25. The horizontal deflecting element 25 has a function of deflecting the infrared laser light in the horizontal direction H as shown in FIG. Vertical deflection element
Reference numeral 26 has a function of deflecting the infrared laser light in the vertical direction V. Control of the horizontal deflection element 25 and the vertical deflection element 26 will be described later.

The infrared laser light is deflected in the horizontal and vertical directions by the horizontal deflecting element 25 and the vertical deflecting element 26, guided to the reflecting prism 27, reflected by the reflecting prism 27, and passed through the reflecting prisms 28 and 29. And guided to the objective lens 30. The objective lens 30 has a through hole 35 formed coaxially with the optical axis of the objective lens 30. The infrared laser beam reflected by the reflecting prism 29 is emitted to the outside of the distance measuring device main body 8 through the through hole 35, and the corner cube 2 is searched and scanned by the infrared laser beam. When the corner cube 2 is within the search scanning range, the infrared laser beam is reflected by the corner cube 2 and returns to the objective lens 30. The infrared laser beam is converged by the objective lens 30, reflected by the reflecting prism 32, passes through the noise light removing filter 33, and is received by the light receiving element.
Imaged on 34. The noise light removing filter 33 has a function of transmitting light having the same wavelength as that of the infrared laser beam.

According to the scanning optical system 10, since the light projecting unit and the light receiving unit are coaxial, there is an advantage that the infrared laser beam reflected by the corner cube 2 can be reliably received. In addition, since the noise light removal filter 33 is provided, light of a wavelength other than the wavelength of the infrared laser beam can be cut,
The search scan can be performed reliably.

FIG. 6 is a block circuit diagram of the control means. In FIG. 6, reference numeral 36 denotes a microcomputer constituting a part of the control means, and 37 denotes a horizontal direction and a vertical direction (HV).
Scan controller, 38 is reference pulse generator, 39 is H
Direction D / A converter, 40 is V direction D / A converter, 41, 42
Is a sweep oscillator, 47 is an adder, 44 is a driver,
45 is a motor. The rotation of the motor 45 is transmitted to the horizontal rotation unit 5 or the vertical rotation shaft 7 via a reduction mechanism (not shown) including a gear train or the like.

The drive of the laser diode 23 is controlled by a microcomputer 36. The microcomputer 36 outputs a start pulse TS for horizontal (H) and vertical (V) search scanning toward the horizontal / vertical (HV) scan controller 37. The horizontal / vertical (HV) scan controller 37 generates a clock pulse CL of a reference pulse generator 38 based on the start pulse TS.
And outputs the count value HCT to the H-direction D / A converter 39. The H-direction D / A converter 39 periodically generates a triangular wave voltage TR based on the count value HCT as shown in FIG. One cycle of the triangular wave voltage TR corresponds to one horizontal search scan. This triangular wave voltage TR is input to the sweep oscillator 41. The sweep oscillator 41 converts the frequency of the triangular wave voltage TR and drives the horizontal deflection element 25. The horizontal deflecting element 25 deflects the infrared laser beam to a horizontal angle corresponding to the voltage value of the triangular wave voltage TR.

Horizontal / Vertical (HV) Scan Controller 37
Outputs a scan synchronization signal SC to the microcomputer 36 every time one horizontal scan is completed. The HV scan controller 37 counts the scan synchronization signal SC and outputs the count value VCT to the V-direction D / A converter 40. The V-direction D / A converter 40 generates a staircase voltage WV whose voltage increases every horizontal scanning based on the control. The staircase voltage WV is input to the sweep oscillator 42. The sweep oscillator 42 converts the frequency of the staircase voltage WV and drives the vertical deflection element 26. The vertical deflection element 26 deflects the infrared laser beam to a vertical angle corresponding to the staircase voltage WV.

Now, it is assumed that the search scanning range instructed by the microcomputer 36 is as shown by the symbol K in FIG. 8, and the corner cube 2 is within the search scanning range. In the scanning from the horizontal scanning of the scanning line number 1 to the scanning line number n-2, the infrared laser beam is not reflected by the corner cube 2 because the corner cube 2 is not within the search scanning range, and therefore, the light receiving element The reflected light of the infrared laser beam does not return to 34. In the scanning from the scanning line number n-1 to the scanning line number n + 1, the corner cube 2 exists within the search scanning range. Therefore,
The reflected light flux of the infrared laser beam returns to the light receiving element. Therefore, a light receiving pulse RP as shown in FIG. 9 is generated during scanning from the scanning line number n-1 to the scanning line number n + 1.

The light receiving pulse RP is input to the adder 43. Adder 43
The clock pulse CL of the horizontal / vertical (HV) scan controller 37 is input to
The number of counts of the clock pulse CL at the rise of the light-receiving pulse RP and the number of clock pulses CL at the fall of the light-receiving pulse RP are set to one horizontal scan, assuming that the count number at the time of generation of the scan synchronization signal SC is "0". Add each time. The microcomputer 36 has a scan synchronization signal SC.
Each time is input, the output value of the adder 43 is read. Then, the output value is arithmetically averaged for each horizontal scan. Thereby, the horizontal position of the corner cube 2 is obtained.

For example, in the scanning from the scanning line number n-1 to the scanning line number n + 1, the count value HCT at the rising of the light receiving pulse RP is H _n−1 , H _n , H _{n + 1} , and the counting at the falling of the light receiving pulse RP. If the values HCT are H ′ _n−1 , H ′ _n , and H ′ _{n + 1} , the corner cube 2 by scanning the scanning line number n−1
Horizontal position H _{n-1 of, Hn -1 = (H n-} 1 + H 'n-1) / 2 Similarly, the scanning line number n, the horizontal direction in the horizontal direction the corner cube 2 by the scanning of the scanning line number n + 1 Position Hn, Hn ₊₁
Are each obtained as _{Hn = (H n + H '} n) / 2 Hn +1 = (H n + 1 + H' n + 1) / 2.

Therefore, the average horizontal position H of the corner cube 2 may be obtained by averaging these.

The vertical position V of the corner cube 2 is
Is obtained by dividing the sum of the scanning line numbers when receiving the infrared laser beam by the number of times of reception.

For example, in the case of the example shown in FIG. 8, the total sum of the scanning line numbers is 3n, and the number of light receptions is 3, so that the vertical position V of the corner cube 2 can be obtained as n. The horizontal position H and the vertical position V are used as drive data for the distance measuring device main body 8, and the microcomputer 36 controls the driver 44 based on the drive data. That is, the motor 45 is driven, and the distance measuring device main body 8 is rotated in the horizontal and vertical directions so that the optical axis of the distance measuring optical system 9 faces the direction of the corner cube 2. Automatic tracking is performed.

When the microcomputer 36 determines that there is no corner cube 2 in the search scanning range K as shown in FIG. 10, the microcomputer 36 performs the search scanning so as to enlarge the search scanning range as shown by the reference numeral K 'in FIG. Change the range. here,
The microcomputer 36 is roughly scanned in the vertical direction. By this, corner cube 2
Is captured in the search scanning range K '. Similarly, the microcomputer 36 obtains the drive data, controls the driver 44, and automatically tracks the corner cube 2.
After the capture of the corner cube 2 is completed, the microcomputer 36 changes the search scanning range to the search scanning range K before enlargement shown in FIG.

That is, as shown in FIG. 1, the vertical search scanning range is changed between the range shown by arrow C and the range shown by arrow D, and the horizontal search scanning range is changed to the range shown by arrow E in FIG. It is changed between the range indicated by the arrow F.

As a result, even if the search scan target is lost,
The search scan target can be quickly and reliably captured.

(Effect) Since the surveying instrument according to the present invention is configured as described above, it is possible to search for the reflecting member in a short time without rotating the surveying instrument itself for search scanning, and to search for the reflecting member. There is an effect that the measurement target can be easily captured even if the user loses the eye.

[Brief description of the drawings]

FIG. 1 is a side view showing a schematic configuration of a lightwave distance measuring device according to the present invention, FIG. 2 is a plan view showing a schematic structure of the lightwave distance measuring device according to the present invention, and FIG. FIG. 4 is an optical diagram showing a schematic configuration of a scanning optical system shown in FIG. 1, and FIG. 5 is a schematic diagram showing a deflection state of the scanning optical system shown in FIG. FIG. 6 is a block diagram of the control means of the lightwave distance measuring device according to the present invention, FIG. 7 is a timing chart of the control means shown in FIG. 6, and FIG. 8 is a lightwave signal according to the present invention. FIG. 9 is a diagram showing an example of a search scanning range by the distance measuring device, FIG. 9 is a diagram showing an example of a light receiving pulse of the light receiving element shown in FIG. 6, and FIG. FIG. 11 is an explanatory diagram of an enlarged search scanning range. FIGS. 12 and 13 are diagrams of a conventional automatic tracking search scanning. FIG. 2. Corner cube (measurement object) 3. Lightwave distance measuring device 8. Distance measuring device main body 9. Distance measuring optical system 10. Scanning optical system 25. Horizontal deflecting element 26. Vertical deflection. Element 36: microcomputer

Claims (1)

(57) [Claims] 1. A two-dimensional measurement light beam is obtained by performing a predetermined number of scans while deflecting the measurement light beam in a second direction perpendicular to the scanning direction of the measurement light beam as one scan. A scanning optical system for scanning, a light receiving system for receiving a measurement light beam reflected by a reflecting member provided at a measurement point among the measurement light beams projected by the scanning optical system, and the reflected light beam to the light receiving system. The position of the measurement point in the second direction is detected by the number of scans until the light is incident, and the reflected light flux incident from the light receiving system is obtained by scanning along the first direction from the scan start position in the first direction. A calculation unit for detecting the position of the measurement point in the first direction based on the scanning time until the measurement is performed, control means for automatically tracking the surveying instrument body toward the measurement point by a signal from the calculation unit, and Before A surveying instrument comprising: a scanning range changing unit that expands a scanning range in the first scanning direction and changes the scanning range by increasing the number of scans in the second direction.