JP2917261B2 - Laser surveying machine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laser surveying instrument for forming a measurement reference plane by using a laser beam.

[0002]

2. Description of the Related Art As a device for obtaining a measurement reference plane, there is a laser surveying instrument which forms a reference plane by laser light by scanning laser light on a plane or spreading laser light in a plane by a conical prism. Are known.

[0003] As such a laser surveying instrument, no matter what state the laser surveying instrument is installed, a laser projector is used to set the reference plane within a horizontal plane or to set the reference plane at a predetermined angle from the horizontal plane. Is required for tilting the laser projector in at least two directions.

As one of conventional laser projector tilting support mechanisms, there is a so-called gimbal mount in which a laser projector is supported rotatably around two orthogonal rotation axes.

[0005] As another conventional tilting support mechanism for a laser projector, there is one that supports the laser projector with a spherical bearing 1 as shown in FIG.

[0006]

However, in the above-described gimbal mount structure, the laser projector is supported so that it can be freely tilted in different directions by two axes, so that the structure is complicated and miniaturization is difficult. There is
Further, in the support structure of the spherical bearing 1, the rolling element 2 is rotatably fitted to the rolling element holding section 3 via the spherical surface, so that the contact surface between the rolling element 2 and the rolling element holding section 3 is complete. If it is not a spherical surface, stable support cannot be obtained, and it is difficult to obtain a perfect spherical surface, which is not suitable for the axis of precision position control.

The present invention has been made in view of the above circumstances, and has as its object to provide a laser surveying instrument having a laser projector tilting support mechanism which has a simple structure and is suitable for precise position control.

[0008]

According to the present invention, there is provided a laser surveying instrument having a laser projector for forming a reference plane with a laser beam, and the laser projector can be tilted in at least two directions. It is characterized by being supported at at least three points.

[0009]

Since the laser projector is supported at three or more points, it can be freely tilted, and the supporting state is reliable. Furthermore, the structure of this support is very simple.

[0010]

An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a sectional view showing an embodiment of the present invention.

A truncated conical recess 6 is formed in the center of the casing 5, and a support seat 7 is formed in the center of the recess 6. The support seat 7 is formed with a projection 9 which is smoothly raised on a cubic curved surface at a position equally divided into three on the inner periphery of the circular through hole 8.

A laser projector 10 for emitting a laser beam is dropped into the through hole 8, and a head 11 of the laser projector 10 is engaged with and supported by the support seat 7. The lower part of the head 11 has a spherical shape.
Abut. Thus, the laser projector 10 is supported so as to be freely tiltable in any direction with respect to the perpendicular. A motor seat 14 is provided on the head 11, a scanning motor 15 is provided on the motor seat 14, and a gear 16 is fitted on an output shaft of the scanning motor 15. The gear 16 is a scanning gear 1 described later.
7 is engaged.

A mirror holder 13 is rotatably provided on the head 11 of the laser projector 10 via a bearing 12 so as to match the axis of the laser projector 10. The mirror holder 1
3 is fitted with a scanning gear 17 and meshed with the gear 16 as described above.
3 is rotated about a vertical axis. The mirror holder 13 is provided with a pentaprism 18 so that the laser beam emitted from the laser projector 10 is emitted horizontally through the projection window 19.

A level sensor 20 and a level sensor 21 for detecting horizontality are provided below the laser projector 10, and an inclination detector 23 is fixed to a lower end of the laser projector 10,
The inclination detecting body 23 has an inverted cup shape and has a reflecting mirror flange 22 formed around it.

The bottom of the casing 5, at a position facing the tilt detector 23, and the same circumference around the axis of the laser projector 10 when the casing 5 and the laser projector 10 are in a vertical state. Required number above (four in this embodiment)
Sensors 24a, 24a comprising a set of light emitting elements and light receiving elements
4b, 24c and 24d are provided.

A tilting arm 25 and a tilting arm 26 extend horizontally from the head 11 of the laser projector 10 in a horizontal direction, and penetrate through the conical surface of the concave portion 6 and are positioned inside the casing 5. An engaging pin 27 and an engaging pin 28 are protruded from the tips of the two tilting arms 25 and 26. The engagement pin 27 and the engagement pin 28 have a cylindrical shape, and their respective axes are orthogonal to each other, and determine a positional relationship such that they are included in a plane passing through the center of the spherical surface 11a. Further, one of the engagement pins 27 and the engagement pins 28, for example, the engagement pin 27 is restricted from moving in the horizontal direction, and can be moved only in the vertical direction. Although not specifically shown, the engaging pin 27 is slidably engaged with the vertically extending guide groove, or the engaging pin 2 is engaged with the vertically extending wall surface.
Means such as slidably pressing 7 via urging means such as a spring can be considered.

A shelf board 29 and a shelf board 30 are provided on the inner wall of the casing 5, a level adjustment motor 31 is provided on the shelf board 29, and a level adjustment motor 32 is provided on the shelf board 30. A drive gear 34 is fitted to the drive gear 33 and the level adjustment motor 32. The engagement pin 2
7, a rotatable screw shaft 35 extending between the ceiling of the casing 5 and the shelf plate 29 is provided, and a driven gear 36 is fitted on the screw shaft 35. The driven gear 36 is connected to the drive gear 33. To be engaged. A slide nut 37 is screwed onto the screw shaft 35, a pin 38 is protruded from the slide nut 37, and the pin 38 and the engaging pin 27 are slidably contacted.

Similarly, a screw shaft 39 which is orthogonal to the engaging pin 28 and extends between the ceiling of the casing 5 and the shelf 30 is rotatably provided, and a driven gear 40 is fitted to the screw shaft 39. The driven gear 40 meshes with the drive gear 34. The screw shaft 39
And a slide nut 41 is screwed into the
And a pin 42 is provided so as to protrude, and the pin 42 and the engaging pin 28 are slidably contacted with each other.

A spring receiver 43 is provided between the ceiling of the casing 5 and the screw shaft 35 and the screw shaft 39, and a spring 44 is stretched between the spring receiver 43 and the laser projector 10.
The laser projector 10 is urged clockwise about the support seat 7 in FIG.

In the figure, reference numeral 45 denotes a battery box for storing a battery for driving the laser surveying instrument. The main body 4 of the laser surveying instrument is provided on a tripod (not shown) via a screw 46 for leveling. Reference numeral 47 denotes a glass window surrounding the periphery of the mirror holder 13.

FIG. 4 shows a control device according to this embodiment.

The level sensor 20, the level sensor 21
Are input to an angle detection circuit 51 and an angle detection circuit 52, respectively. A reference angle (normally, the reference plane is horizontal and the reference angle is 0 °) 50 is input to the angle detection circuits 51 and 52. The setting has been input, and both angle detection circuits 5
1. An angle detection circuit 52 calculates an angle deviation based on the reference angle 50, and the calculated angle deviation is input to a motor controller 53 and a motor controller 54, respectively. Drives the level adjustment motor 31 and the level adjustment motor 32 such that the deviation becomes zero.

The angle deviations of the angle detection circuit 51 and the angle detection circuit 52 are input to a discriminator 55,
5 selects the larger one of the angle deviations of the angle detection circuit 51 and the angle detection circuit 52, outputs an output corresponding to a change in the selected angle deviation to the display driver 56, and drives the display driver. The device 56 causes the display 57 to display a value corresponding to the deviation value.

The leveling operation of the laser surveying instrument will be described below.

In the state where the main body 4 is installed and there is no adjustment, the axis of the laser projector 10 generally does not coincide with the vertical line.
The level sensor 20 and the level sensor 21 are not horizontal. If the reference angle 50 is 0 °, the angle detection circuit 51 and the angle detection circuit 52 output an angle deviation signal. When the angle deviation signal is output, the motor controllers 53 and 54 drive the level adjustment motor 31 and the level adjustment motor 32 in required directions so that the angle deviation signal becomes zero.

The operation relating to the two level adjustment motors will be described, for example, the level adjustment motor 31.

When the level adjusting motor 31 is driven,
The rotation of the level adjustment motor 31 is controlled by the drive gear 33,
The power is transmitted to the screw shaft 35 via the driven gear 36, and the rotation of the screw shaft 35 causes the slide nut 37 to move up and down. The vertical movement of the slide nut 37 is transmitted to the tilt arm 25 via the pin 38 and the engaging pin 27, and tilts the laser projector 10.

As described above, since the engagement pin 27 is restricted in horizontal movement and can move only in the vertical direction, the tilting direction of the laser projector 10 is restricted and passes through the spherical center of the spherical portion 11a. The engagement pin 28 is tilted about its axis. Next, when the level adjustment motor 31 is driven,
The screw shaft 39 rotates and the engaging pin 28 moves up and down via the pin 42.

The horizontal movement of the engagement pin 27 is regulated by a groove (not shown), and the vertical movement is regulated by the pin 38 and the spring 44. Only a rotation about the axis of the engagement pin 27 passing through the center of the spherical portion 11a is allowed. When the pin 42 is moved up and down, the pin 42 and the engagement pin 28 are slid in the axial direction, and the engagement pin 28 is vertically changed. Is tilted about the axis of the engagement pin 27.
Here, as described above, since the cross section of the engagement pin 27 is a circle, the rotation of the engagement pin 27 does not change the inclination of the axis of the engagement pin 27. That is, the tilting movement by the level adjusting motors 31 and 32 does not affect the tilting of the other tilting shaft, that is, the axis of the engaging pin 27 and the engaging pin 28. Therefore, the tilt adjustment work of one axis can be performed independently of the tilt adjustment work of the other axis, and the tilt adjustment work and the control sequence related to the tilt adjustment work are significantly simplified.

The laser projector 10 has a spring 4
4, the laser projector 10 accurately follows the movement of the slide nut 37.

With respect to the tilting operation of the laser projector 10,
As described above, since the spherical portion 11a of the laser projector 10 is supported at three points by the protrusions 9, the laser projector 1
0 is stable and stable, and the spherical portion 11a
The laser projector 10 can smoothly and freely move in any tilting direction, and the posture of the laser projector 10 can be easily adjusted.

As the laser projector 10 tilts and leveling proceeds, the detection values from the level sensors 20 and 21 also approach horizontal, and finally the motor controller 53
And the angle deviation output from the motor controller 54 becomes 0,
Leveling operation is completed.

The detection range of the level sensor 20 and the level sensor 21 is narrow. When the level exceeds a predetermined range, the level sensor 20 is saturated, and the inclination direction can be detected but the value of the inclination angle cannot be detected. Therefore, the level adjustment motors 31 and 32 and the drive gears 33 and 3 exceed the mechanical adjustment range.
4, driven gears 36 and 40, screw shaft 3
5, 39, slide nuts 37, 41, tilting arm 2
The optical sensors 24a, 24b, 24c, 24d are provided so that the adjusting mechanism composed of 5, 26 and the like does not operate. That is, when the limit of the mechanical adjustment range is reached, the optical sensor 2
Light emitted from any one of 4a, 24b, 24c and 24d is reflected by the reflecting mirror flange 22 and received again by the optical sensor, and it is detected that the limit of the mechanical adjustment range has been reached. , 32 are stopped, or the display device indicates that the mechanical adjustment range is at the limit, or an alarm such as a buzzer is issued.

In such a case, coarse adjustment is performed using the leveling bolt 46 so as to be within the adjustment range.
Start leveling operation again.

When the leveling operation is completed, a laser beam is emitted from the laser projector 10, and the scanning motor 15 is driven to rotate the laser projector 10 about a vertical axis. By emitting light in the horizontal direction and further rotating it, a horizontal reference plane is formed by laser light.

In this leveling operation, it takes some time from the start of leveling to the completion of leveling. During this time, the progress of the leveling operation is displayed to the operator to inform the operator that the leveling operation is being performed properly, thereby eliminating the worker's anxiety.

The discriminator 55 judges the magnitude of the angle deviation outputted from the angle detection circuits 51 and 52, selects the larger angle deviation, and displays the state of change of the selected angle deviation. Output to the device driver 56, and further changes the display content in accordance with the change in the angle deviation.
Display.

The reason for selecting the larger angle deviation is as follows.
This is because more time is required for adjusting the angle with the larger angle deviation. Instead of selecting the magnitude of the angle deviation, the sum of the angle deviations output from the angle detection circuit 51 and the angle detection circuit 52 may be obtained, and the display content may be changed according to the value of the sum of the angle deviations.

FIG. 5 shows the relationship between the angle deviation and the time. A position for changing the display content is set in advance based on the relationship, and the display is switched when the angle deviation reaches the set position.

As the display contents, those shown in FIGS. 6 to 8 are exemplified.

In FIG. 6, a plurality of arrows 59 arranged horizontally are displayed on a display panel 58 of a display device 57, and the illuminated arrow 59 moves to the left as the leveling operation progresses. When the leveling operation is completed, [S
TART] is lit, and the operation proceeds to the next operation.

In FIG. 7, the remaining time required for leveling is indicated by a display 60 or the like.

In FIG. 8, the indicator light 61 is made to blink, and the speed of the blinking time is changed in accordance with the remaining time required for leveling.

In the above-described embodiment, the spherical portion 11a is
Although it is supported by the projections 9 of points, it may be supported by projections of four or more points. In addition, although the projection 9 is raised from the inner peripheral surface of the support seat 7, another component such as a steel ball may be embedded. Alternatively, the embedded steel ball may be freely rotated. In the above description, the reference plane is a horizontal plane. However, it goes without saying that a plane inclined at a predetermined angle with respect to the horizontal plane can be used as the reference plane. Further, in the above-described embodiment, the reference plane is formed by scanning the laser light. However, the laser light is applied to the conical prism, and the laser light is spread over the entire circumference by the reflection surface of the conical prism, and the reference plane is formed. It may be formed. Further, in the above embodiment, the laser beam is projected upward, but may be projected downward.

[0046]

As described above, according to the present invention, the laser projector is supported at at least three points and can be freely tilted, so that the tilt support mechanism of the laser projector is significantly simplified and the supporting state is improved. And an excellent effect that stable support can be obtained.

[Brief description of the drawings]

FIG. 1 is a sectional view showing an embodiment of the present invention.

FIG. 2 is a view as viewed in the direction of arrows AA in FIG. 1;

FIG. 3 is a view taken in the direction of arrows BB in FIG. 1;

FIG. 4 is a control block diagram of the present embodiment.

FIG. 5 is a diagram showing a relationship between an angle deviation and a leveling time.

FIG. 6 is an explanatory diagram showing an example of a display example for displaying a transition of a leveling state.

FIG. 7 is an explanatory diagram illustrating an example of a display example for displaying a transition of a leveling state.

FIG. 8 is an explanatory diagram showing an example of a display example for displaying a transition of a leveling state.

FIG. 9 is an explanatory diagram showing a conventional example.

[Description of Signs] 9 Projection 10 Laser projector 11 Head 11a Spherical part 20 Level sensor 21 Level sensor 23 Tilt detector 25 Tilt arm 26 Tilt arm 31 Level adjustment motor 32 Level adjustment motor 35 Screw shaft 37 Slide nut 39 Screw shaft 41 Slide nut

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Claims (6)

(57) [Claims] 1. A laser projector for forming a reference plane by a laser beam has a spherical portion and has arms extending in two directions orthogonal to each other, and the laser projector is slidably supported on the spherical portion. And the two arms are 2
A laser surveying instrument which can be vertically displaced independently by a pair of tilting means. 2. The laser surveying system according to claim 1, wherein said tilting means comprises a rotatable screw shaft arranged in a direction intersecting said arm, and a slide nut screwed to said screw shaft and engaged with said arm. Machine. 3. The laser surveying device according to claim 2, wherein an engagement pin projects from the arm, a pin projects from the slide nut, and the engagement pin and the pin abut on a point contact. 4. The engagement pin has a cylindrical shape, and the axes of the two engagement pins pass through the center of the spherical portion.
Laser surveying equipment. 5. The laser surveying instrument according to claim 2, wherein a level sensor for detecting inclination in two horizontal directions is provided in the laser projector, and a rotation amount of the screw shaft is controlled based on a detection result of the level sensor. 6. The laser surveying instrument according to claim 1, wherein a ring-shaped reflecting plate is provided at a lower end of the laser projector, and a plurality of optical sensors are arranged around required points below the reflecting plate.