JP3270168B2 - Surveying equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surveying apparatus capable of unmanning a measuring section as a surveying instrument body for automatically tracking a target such as a corner cube.

[0002]

2. Description of the Related Art Conventionally, a method of searching for a surveying point using a surveying device as a surveying instrument body for collimating a target such as a corner cube and specifying the position of the surveying point is shown in FIG. As shown, the surveying instrument main body is set at a known point P, a target such as a corner cube is set at a point C near the unknown surveying point B, and the target is set on the surveying instrument main body side. The target collimates and measures the position of the target, and the distance between the target position and the position of the survey setting point B is used as a reference, and the position of the survey setting point B is determined by the telescope of the surveying instrument main body. It is decomposed into an XY direction coordinate system in the optical axis direction O and a direction orthogonal to the optical axis direction O, and a distance Δα in the X direction and a distance Δβ in the Y direction are determined on the surveying instrument main body side, and the distance is determined as a target. Notify the worker on the side Surveying operation for specifying the position is known.

[0003]

However, this conventional surveying operation requires surveying operators on both the surveying instrument main body side and the target side, and at least two or more surveying operators are required. In addition, there is a problem in that it is necessary to move in two orthogonal directions in order to go to the position of the survey setting point with reference to the position of the target, and it is difficult to perform surveying quickly.

[0004] The present invention has been made in view of the above circumstances, and a first object of the present invention is to provide a surveying apparatus capable of unmanning a surveying instrument main body. A second object of the present invention is to provide a surveying device capable of performing surveying quickly.

[0005]

According to a first aspect of the present invention, there is provided a surveying apparatus for tracking a target for searching for a measuring point as a place to be installed, and measuring a position of the target. Unit, and a terminal unit that is disposed apart from the measuring unit. The measuring unit receives a command from the terminal unit, measures the position of the target, and transmits the measurement result to the terminal unit. The terminal unit is provided with a transmission / reception unit for transmitting / receiving information to / from the transmission / reception unit, and separates a distance between the position of the target and a measurement point based on the measurement result. The position where the target is present is taken as the extreme point,
The direction in which the measurement section exists as viewed from the target
In polar coordinates, the position of the survey setting point
Graphic by declination from line and its radial length
A display unit for displaying is provided, and the target can be guided to the measurement point.

According to a second aspect of the present invention, there is provided a surveying apparatus comprising:
The measurement unit is configured to track a target for searching for a measurement point whose position is stored in advance as a place to be installed, measure a distance and an angle to the target, and measure the position. It is characterized by having.

[0007]

According to the surveying device of the first aspect of the present invention, based on a command from the terminal unit on the target side, the measuring unit determines a target for searching for a measuring point as a place to be installed. Track and measure the position of the target. The terminal unit receives the measurement result, and the display unit displays the distance from the position where the target is placed to the junction based on the measurement result. In particular, the gap between the setting point measurement and the position of the target based on the measurement result, target
The position where the object is located is taken as the extreme point and measured from the target
The direction in which the part exists is defined as the original line, and the polar
The position is determined by the base line, the declination from the base line, and the length of the radial direction.
Since a display unit for displaying graphics is provided,
The target can be easily guided to the survey setting point.

[0008] According to the surveying device of the second aspect of the present invention, the position of the measuring section is determined in advance as a place to be installed.
Add a target to search for the memorized stake out point.
Tail. Then measure the distance and angle to the target.
And measure its position.

[0009]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an embodiment of a surveying apparatus according to the present invention.

In FIG. 2, reference numeral 10 denotes a survey stand installed at a known point R, reference numeral 11 denotes a corner cube as a target installed at the measurement point Q, and reference numeral 13 denotes a corner cube. Portable electronic device as terminal unit, 1
4 is a surveying instrument as a measuring unit installed on the surveying stand 10, 15 is a wireless device as a transmitting and receiving unit, and S is a survey setting point. The corner cube 11 is arranged near the measuring point S with approximate registration. The surveying instrument 14 has a fixed base 16 and a horizontal rotating unit 17. As shown in FIG.
Is rotated in the direction of arrow A, and has a support portion 18.
The support section 18 is provided with a vertical rotation shaft 19, and the vertical rotation shaft 19 is provided with a surveying instrument main body 20. The surveying instrument body 20 is rotated in the horizontal direction by the rotation of the horizontal rotation unit 17, and is also rotated in the vertical direction by the rotation of the vertical rotation shaft 19 as shown by the arrow B in FIG. 2. Here, the wireless device 15 is attached to the support portion 18.

[0011] As shown in FIG.
Collimating optical system 21, distance measuring optical system 22, automatic tracking optical system 23
Is provided. The collimating optical system 21 plays a role of collimating the corner cube 11, and includes a cover glass 24, an objective lens 25, an optical path combining prism 26, an optical path dividing prism 27, a focusing lens 28, a Porro prism 29, and a focusing mirror 3.
0, the eyepiece 31 is provided. The objective lens 25 has a through portion 32. The optical path combining prism 26 constitutes a part of the tracking light projecting system 23A of the automatic tracking optical system 23. The automatic tracking optical system 23 plays a role of scanning the corner cube 11 in the vertical and horizontal directions to perform automatic tracking. The tracking light projecting system 23A includes a laser diode 33, a collimator lens 34, a horizontal deflecting element 35, a vertical deflecting element 36,
It has reflection prisms 37 and 37 '. The laser diode 33 emits infrared laser light (wavelength 900 nanometers) as tracking light, and the collimator lens 34 converts the infrared laser light into a parallel light beam. Horizontal deflection element 3
5, an acousto-optical element is used for the vertical deflecting element 36, and the horizontal deflecting element 35 deflects the infrared laser light in the horizontal direction H, as shown in FIG.
6 deflects the infrared laser light deflected in the horizontal direction H in the vertical direction V. The optical path synthesizing prism 26 is a tracking light projecting system 2
The optical axis O1 of 3A is connected to the optical axis of the objective lens 20 (the collimating optical system 2).
1) and has a total reflection surface 26a. The infrared laser light deflected in the horizontal direction H and the vertical direction V is reflected by the reflecting prisms 37 and 37 'and the total reflection surface 26a, and is emitted to the outside of the surveying instrument main body 20 through the penetrating portion 32 of the objective lens 25. , The corner cube 11 is scanned. As shown in FIG. 6, the corner cube 11 is scanned in the horizontal direction H and then in the vertical direction V.
The reference numeral 38 indicates a beam spot of the infrared laser beam P 'in a plane including the corner cube 11 while being deflected in the horizontal direction H.

The infrared laser light P ′ reflected by the corner cube 11 is condensed by an area other than the center of the objective lens 25 and guided to the optical path splitting prism 27. The optical path splitting prism 27 has a reflecting surface 27a and a reflecting surface 27b. The reflecting surface 27a is a tracking light receiving system 2 of the automatic tracking optical system 23.
The infrared laser light P 'is reflected toward 3B. The tracking light receiving system 23B includes a noise light removing filter 39 and a light receiving element 4
The optical axis O2 of the tracking light receiving system 23B coincides with the optical axis O of the collimating optical system 21. The optical path splitting prism 27 transmits light in the visible region, and transmits the infrared laser light P ′.
Is reflected toward the tracking light receiving system 23B.

The distance measuring optical system 22 includes a light projecting system 41 and a light receiving system 42.
The light projecting system 41 has a laser light source 43, and the light receiving system 42 has a light receiving element 44. The light projecting system 41 and the light receiving system 42 have a triangular prism 45. Laser light source 43
Emits an infrared laser light wave. Its wavelength is 800 nanometers, which is different from the wavelength of the tracking infrared laser light P. The infrared laser light wave is reflected by the reflection surface 45a of the triangular prism 45 and guided to the reflection surface 27b of the optical path splitting prism 27. The reflection surface 27b transmits light in the visible region and reflects light in the infrared region including light having a wavelength of 800 nanometers. The infrared laser light wave guided to the reflection surface 27b passes through the reflection surface 27a, passes through the lower half area 25a of the objective lens 25 as shown in FIG. Is done. The infrared laser light wave is reflected by the corner cube 11,
The light returns to the objective lens 25 through the cover glass 24, is condensed by the upper half region 25b of the objective lens 25, passes through the reflection surface 27a of the optical path splitting prism 27, and is guided to the reflection surface 27b. The light is guided to the reflection surface 45b of the triangular prism 45 by the light receiving element 27b and converged on the light receiving element 44.

The surveying instrument body 20 is provided with an electronic circuit 46 as shown in FIG. The electronic circuit 46 includes a control operation unit 47, a collimating optical system scanning unit 48, and a tracking light beam scanning unit 4
9, a tracking light beam receiving unit 50, a distance measuring unit (EDM) 51, an encoder 52, a collimation amount calculating unit 53, and a measurement mode display lamp 54. Here, the measurement mode display lamp 54 is provided at the top of the surveying instrument main body 20 as shown in FIGS. The control arithmetic unit 47 includes the encoder 5
2, a horizontal rotation angle and a vertical rotation angle from the reference position of the surveying instrument main body 20 are detected. The control calculation unit 47 is connected to the wireless device 15 and starts measurement upon receiving a measurement start command described later. When the corner cube 11 is not in the field of view of the collimating optical system 21, the collimating optical system scanning unit 48 controls the survey instrument main body 20 to rotate so that the corner cube 11 enters the field of view based on a command from the control calculation unit 47. I do. The tracking light beam scanning unit 49 drives and controls the laser diode 33, the horizontal deflecting element 35, and the vertical deflecting element 36 based on a command from the control calculation unit 47. The tracking light beam receiving unit 50 includes the light receiving element 40, and the output of the light receiving element 40 is input to the collimation shift amount calculation circuit 53. The collimation shift amount calculation circuit 53 obtains a shift between the optical axis O of the collimation optical system 21 and the corner cube 11 in the horizontal and vertical directions. The calculation output of the collimation shift amount calculation circuit 53 is input to the calculation control circuit 47 and the collimation optical system scanning unit 48. Details of the control based on the collimation shift amount calculation circuit 53 will be described together with the operation. The distance measuring unit 51 includes a laser light source 43 and a light receiving element 44. The laser light source 43 is driven based on a command from the control operation unit 47, and an output of the light receiving element 44 is input to the operation control unit 47.
The arithmetic control unit 47 calculates the distance from the surveying instrument main body 20 to the corner cube 11. The distance to the corner cube 11 is transmitted to the portable electronic device 13 via the wireless device 15. The mode display lamp 54 allows the surveyor to confirm which of the search mode state, the tracking mode state, and the measurement mode state of the surveying instrument body 20 from the installation side of the corner cube 11. In the search mode, in which the corner cube 11 is not in the field of view of the collimating optical system 21, the light is always on, and the corner cube 11 is in the field of view of the collimating optical system 21. Blinks when the corner cube 11 is being tracked and the corner cube 11 is within the field of view of the collimating optical system 21 and tracking of the corner cube 11 is completed, and the surveying instrument body 20 is set to the measurement mode. When the vehicle enters, the control calculation unit 47 controls the flashing state to have a shorter period than the blinking state during tracking.

The portable electronic device 13 includes a calculation unit 55 and an operation unit 5
6, a portable electronic device main body 13A including a data memory 57 and a display unit 58, and a wireless device 13B. For details of the functions of the portable electronic instrument 13, see FIGS.
This will be described with reference to the flowchart of the surveying procedure shown in FIG.

First, the operation unit 56 is operated to input coordinate data of the reference point R and the measurement setting point S (S.1). In this embodiment, the reference point R is provided directly below the surveying instrument main body 20. However, a known point at a position distant from the surveying instrument main body 20 can be used as the reference point R. The calculation unit 55 stores the coordinate data of the reference point R and the survey setting point S in the data memory 5.
7 and the data memory 57 stores the coordinate data of the reference point R and the survey setting point S. Next, when the transmission start command is input by operating the operation unit 56, the calculation unit 55 outputs a search start signal and collimation data as the reference point R to the wireless device 13B. The wireless device 13B transmits a search start signal and collimation data to the wireless device 15 (S.2). The wireless device 15 receives the search start signal and the collimation data. The control calculation unit 47 starts measurement based on the reception (S. 3).
The control calculation unit 47 outputs a scan command to the tracking light beam scanning unit 49, whereby tracking tracking of the corner cube 11 is performed (S.4). Further, the control calculation section 47 outputs a continuous lighting signal to the mode display lamp 54, and the mode display lamp 54 is continuously lit (S.5). When the corner cube 11 is not within the measurement field of view, the light receiving element 40 does not receive the infrared laser light P ′ as the tracking light beam, and the light receiving output of the tracking light beam receiving unit 57 remains “0”. The control calculation unit 47 determines whether or not the tracking light beam has been received based on the received light output (S.6). Control operation unit 47
Is the collimating optical system 21 when no tracking light beam is received.
The collimating optical system scanning unit 48 is controlled so that a so-called telescope is rotated (S.7). This collimating optical system scanning unit 4
The control of 8 is repeated until the corner cube 11 is located within the field of view of the collimating optical system 21, whereby it is searched whether or not the corner cube 11 is within the field of view of the collimating optical system 21. . When the corner cube 11 enters the visual field of the collimating optical system 21, the light receiving output of the tracking light beam receiving unit 57 changes. Thereby, the control calculation unit 47 determines whether or not the corner cube 11 has entered the visual field of the collimating optical system 21. The collimation shift amount calculating unit 53 detects whether the received light output is received in a horizontal direction or a vertical direction in the measurement visual field, and based on the detection result, the corner cube 11 and the collimation optical system 21 are detected. Horizontal direction with the optical axis O,
The shift amount in the vertical direction is calculated (S.8).

The collimation deviation amount calculation circuit 53 determines whether the collimation deviation amount is within a predetermined range (S.9), and when the collimation deviation amount is not within the predetermined range (the collimation optical system). 21) (when the corner cube 11 is not on the optical axis O), a collimation shift amount fine adjustment signal is output toward the collimation optical system scanning unit 48,
Fine adjustment of the collimation shift is performed (S.10). 5, S.I.
6, S.I. 8, S.I. Step 9 is repeated. When the corner cube 11 is positioned on the optical axis O of the collimating optical system 21, the collimation amount calculating unit 53 outputs a signal indicating that there is no collimation amount to the control operation unit 47. The control calculation unit 47 outputs a long-period blinking signal to the mode display lamp 54 based on this, and changes the mode display lamp 54 to a blinking state (S.11). By observing the mode display lamp 54 from the corner cube 11 side, the surveying operator can know that the surveying instrument body 20 is in the tracking mode. Next, the control calculation unit 47 determines whether a measurement command has been received (S.12). When a measurement command is not input, S.P. 9, S.P. 11, S.I. 1
Step 2 is repeated.

Next, when the measurement command is input by operating the operation unit 56, the measurement command is transmitted from the wireless device 13B, and the control calculation unit 47 outputs a short-period blinking signal to the mode display lamp 54 (S.13). ), The mode display lamp 54 blinks in a shorter cycle than the blinking state in the tracking mode. Thus, the surveying operator can confirm that the measurement is being performed from the corner cube 11 side. Next, the control calculation unit 47 outputs a distance measurement command signal to the light wave distance measurement unit 51, and the light wave distance measurement unit 51 measures the distance and angle to the corner cube 11 based on the distance measurement command (S). .14). Then, the control calculation unit 47 determines whether or not the distance measurement is completed (S.15), and keeps the mode display lamp 54 blinking until the distance measurement is completed. When the distance measurement is completed, the control calculation unit 47 outputs a long-period blinking signal to the mode display lamp 54, and the mode display lamp 54 enters a blinking state with a longer period than the blinking state in the measurement mode ( S.16). Thereby, the surveying worker can confirm the completion of the measurement. Then, the control calculation unit 47 transfers the distance measurement result to the wireless device 15, and the wireless device 15 transmits the distance measurement result to the wireless device 13B (S.17). The result of the distance measurement is
3B, the calculation unit 55 calculates the distance between the measurement setting point S and the measurement point Q (S.18). The calculation unit 55 outputs the calculation result to the display unit 58, and the display unit 58 displays the calculation result in, for example, polar coordinates (S.19).

The display example is shown below.

When the measuring point Q, the measuring point S, and the optical axis O of the surveying instrument main body 20 are in the positional relationship shown in FIG.
As shown in FIG. 12B, the display surface 58a of the display unit 58
The measurement point Q and the measurement point S are displayed, and the measurement point Q is used as an extreme point, and the distance from the extreme point to the measurement point S is used as a reference to the radial radius r and the original line W corresponding to the optical axis O. The direction (deviation angle θ from the original line W) in which the survey setting point S exists is displayed in polar coordinates. When the measuring point Q and the measuring point S are on the optical axis O as shown in FIG. 13A, the directions coincide with the original line W as shown in FIG. Is displayed.

When the specification of the surveying point S has been completed in this way, the surveying operator issues an instruction to complete the specification of the surveying point S, and the control calculation unit 47 determines the completion of the specification of the surveying point S. (S.20), it is determined whether or not all the measurements are completed (S.2).
1). If all the measurements have not been completed, the operation proceeds to the search for the next measurement point (S.22). The process moves to 3 and the measurement operation is repeated.

Note that the light beam in the visible region is
5. The focusing lens 28 is guided to the focusing mirror 30 via the optical path splitting prism 27, the focusing lens 28, and the Porro prism 29.
Is adjusted, the surveying operator can collimate the outside world by looking through the visible image formed on the focusing mirror 30 through the eyepiece 31.

Although the embodiment has been described above, the present invention is not limited to this, but includes the following.

(A) In the embodiment, the distance between the survey setting point S and the position of the corner cube (measurement point Q) is calculated by the calculation unit 55 on the terminal side. The arithmetic unit 47 may calculate the distance.

(B) In the embodiment, the measurement command is inputted every time. However, as shown in FIG. 12, a predetermined time is counted (S.12 '), and it is determined whether the predetermined time has elapsed. (S. 13 '), and until the predetermined time has elapsed. 9, S.P. 11, S12 ', S.I. Repeat 13 '
It is also possible to adopt a configuration in which after a predetermined time has elapsed, the process proceeds to S13 to execute the measurement. In this case, the measurement of the measurement point Q can be performed without inputting the measurement command every time.

(C) When the measuring point Q approaches the measuring point S, for example, 1 cm or 1 mm from the unit of 1 m.
When the unit is separated, the display scale of the display unit 58 may be changed from the m display to the display scale in cm or mm. With such a configuration, even when the measurement point Q and the measurement setting point S are very close to each other, the moving direction can be easily displayed.

(D) When the measurement point Q is largely separated from the measurement setting point S, the display unit 58 may be configured to display an overflow.

In this embodiment, the target has been described as a corner cube provided on a surveying pole. However, if this corner cube is mounted on a construction machine (bulldozer or the like), an instruction for guiding the construction machine is given. The present invention can also be applied to this.

[0029]

The surveying device according to the first aspect of the present invention is configured as described above, so that the surveying instrument main body can be unmanned. In particular, target
The position where the target is located is taken as the extreme point and measured from the target side.
The direction where the fixed part exists is defined as the original line, and the measurement point is
The position of the base line, the declination from the base line and the length of the radial direction.
A display unit that displays more graphics must be provided.
Allows the surveying instrument and the
The direction of the original line connecting the fixed points can be
To get a grasp of the direction of the surveying instrument from the get
This display is easy and is suitable for setting surveying points.
This facilitates work on the target side. According to the surveying device of the second aspect of the present invention, surveying can be performed quickly.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram showing an example of a conventional surveying operation.

FIG. 2 is a side view showing an installation state of a surveying instrument according to the present invention.

FIG. 3 is a plan view showing an installation state of a surveying instrument according to the present invention.

FIG. 4 is a diagram showing an optical system of a surveying instrument according to the present invention.

FIG. 5 is a diagram for schematically explaining deflection by an automatic tracking optical system.

FIG. 6 is a schematic diagram illustrating an example of scanning by an automatic tracking optical system.

FIG. 7 is a plan view of the objective lens shown in FIG. 3;

FIG. 8 is a block circuit diagram of a surveying device according to the present invention.

FIG. 9 is a flowchart for explaining the first part of the work procedure of the surveying device according to the present invention.

FIG. 10 is a flowchart for explaining the middle part of the work procedure of the surveying device according to the present invention.

FIG. 11 is a flowchart for explaining the latter part of the work procedure of the surveying device according to the present invention.

FIG. 12 is an explanatory diagram showing an example of a measurement setting point, a measurement point, positions of three persons of a surveying instrument main body, and a display state thereof.

FIG. 13 is an explanatory diagram showing another example of the measurement setting points, the measurement points, the positions of the three persons of the surveying instrument main body, and the display states thereof.

FIG. 14 is a partial flowchart illustrating another example of the operation procedure of the surveying apparatus according to the present invention.

[Explanation of symbols]

 11: Corner Cube (Target) 13: Portable Electronic Equipment (Terminal) 13B: Radio (Transceiver) 15: Radio (Transceiver) 20 ... Surveyor (Measurement) 58 ... Display S: Measurement Point 54 … Mode display lamp

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Tsutomu Horiguchi 75-1 Hasunuma-cho, Itabashi-ku, Tokyo Topcon Co., Ltd. (56) References JP-A-6-174466 (JP, A) JP-A-1- 206213 (JP, A) JP-A-1-156689 (JP, A) JP-A-62-282218 (JP, A) JP-A-60-93308 (JP, A) JP-A-59-214704 (JP, A) JP-A-57-172266 (JP, A) JP-A-4-93713 (JP, A) JP-A-3-2513 (JP, A) JP-A-2-140614 (JP, A) JP-A-2-12085 (JP, A) JP-A-62-288514 (JP, A) JP-A-62-281012 (JP, A) JP-A-62-19712 (JP, A) JP-A-62-51479 (JP, A) JP-A-60-123788 (JP, A) JP-A-58-66075 (JP, A) JP-A-55-75610 (JP, A) JP-A-55-40 916 (JP, A) Table 6-506297 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) G01C 15/00 G01C 3/00

Claims (2)

(57) [Claims] A measuring section for tracking a target for searching for a measuring point as a place to be set up and measuring a position of the target; and a terminal section disposed apart from the measuring section. The measuring unit is provided with a transmitting / receiving unit that receives a command from a terminal unit, measures the position of the target, and transmits the measurement result to the terminal unit, and the terminal unit communicates with the transmitting / receiving unit. A transmission / reception unit for transmitting and receiving information is provided, and based on the measurement result, a distance between the position of the target and a measurement point is determined, and a position where the target exists is defined as an extreme point.
The direction in which the measurement section exists as viewed from the target
In polar coordinates, the position of the stake out point
Graphic display by declination from the beam and its radial length
The surveying device is provided with a display unit that is capable of guiding the target to the survey setting point. 2. The measuring section is provided as a place to be installed.
Search for a stake out point whose position is stored in advance.
Track the get and measure the distance and angle to that target
2. The surveying device according to claim 1, wherein the surveying device is configured to measure the position .