JP3387961B2 - Automatic tracking surveying instrument - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention illuminates an object with scanning light, receives the scanning light reflected by the object, and detects the position of the object. In addition, the present invention relates to an improvement of an automatic tracking type surveying instrument that calculates tracking data by performing an operation based on the detection result and automatically tracks the surveying instrument body to the object. 2. Description of the Related Art Conventionally, an object such as a prism is irradiated with scanning light, the scanning light reflected by the object is received, the position of the object is detected, and the position of the object is detected. 2. Description of the Related Art There is known an automatic tracking type surveying instrument that obtains tracking data by performing an arithmetic operation and automatically tracks a surveying instrument body on an object. This automatic tracking type surveying instrument comprises a base part, a mounting part mounted on the base part and rotated in the horizontal direction, and a surveying equipment mounted on the mounting part and rotated about a horizontal axis. A lens barrel as a main body. In a conventional automatic tracking type surveying instrument, as shown in FIG. 1, since the scanning ranges α and β of scanning light are constant, the automatic tracking type surveying instrument is used. When the distance between the surveying instrument main body 100 and the tracking target 200 is small, the search area S1 is smaller than the search area S2 when the distance between the surveying instrument main body 100 and the target 200 is long, On the other hand, the reflection area S ′ of the scanning light of the object 200 is the same regardless of the distance between the surveying instrument main body 100 and the object 200. Therefore, the surveying instrument body 10
If the distance between the object 0 and the object 200 is small, the object 2
Although the ratio of the reflection area S ′ of 00 to the search area S1 and the amount of light reflected from the object 200 are larger than the amount of light reflected from the object 300 other than the object 200, the surveying instrument body 100 and the object When the distance from the object 200 is large, the ratio of the reflection area of the object 200 occupying the search area S2 decreases, and the amount of reflected light from the object 200 also decreases. In addition to this, there are many opportunities for reflected light having an amount of light approximately equal to or greater than that of the object 200 from the object 300 other than the object 200 to enter the surveying instrument main body 100. Therefore, when the distance between the surveying instrument main body 100 and the object 200 is small, the object 30 other than the object 200
There is not much possibility to track 0, but the surveying instrument body 100
When the distance between the object 20 and the object 200 is large,
Although the ratio of the reflection area S ′ of 0 occupying the search area S2 is relatively small and the amount of reflected light is weak, the amount of reflected light from the object 300 other than the object 200 is substantially equal to the amount of light reflected from the object 200. Or, since the chance of receiving the reflected light having the light quantity more than that increases, the possibility that the object 300 other than the target object 200 is tracked increases, and the tracking accuracy may decrease. The present invention has been made in view of the above circumstances, and an object of the present invention is to reduce tracking accuracy when the distance between a tracking target and a surveying instrument body becomes relatively large. It is an object of the present invention to provide an automatic tracking type surveying instrument that can prevent such a situation. SUMMARY OF THE INVENTION An automatic tracking type surveying instrument according to the present invention irradiates a predetermined scanning range with a scanning light, and places the scanning light on the predetermined scanning range.
From the reflection object within the search area formed in the fixed scanning range
Detecting the position of the reflection target based on the reflected scanning light
And automatic tracking based on the detection result.
A reflection area of the reflection object and the search surface.
Based on the ratio with the product, the search area changes according to the distance
Search at a short distance where the ratio of the reflection area increases
At a long distance where the area is enlarged and the ratio of the reflection area becomes small
Control to control the scanning range to reduce the search area
It is characterized by having means. According to the present invention, the control means operates in a predetermined scanning range.
The reflection area and search surface of the reflection object within the formed search area
Based on the ratio with the product, the search area changes according to the distance
Search at a short distance where the ratio of the reflection area increases
At a long distance where the area is enlarged and the ratio of the reflection area becomes small
In, the scanning range is controlled so as to reduce the search area. An embodiment of an automatic tracking type surveying instrument according to the present invention will be described below with reference to the drawings. In FIG. 2, reference numeral 1 denotes a survey stand, and 2 denotes a corner cube as an object to be installed at a measuring point. The surveying table 1 is provided with an automatic tracking type surveying instrument 3. The automatic tracking type surveying instrument 3 has a base 4, a gantry 5, and a gantry 6, as shown in FIG. The gantry 5 is rotated with respect to the base 4 in a horizontal direction indicated by an arrow A as shown in FIG. The gantry section 5 has a support section 6. The mounting part 6 is provided with a vertical rotation shaft 7, and the vertical rotation shaft 7 is provided with a lens barrel 8 as a surveying instrument main body. The lens barrel 8 is rotated in the horizontal direction by the rotation of the gantry 5, and is also rotated in the vertical direction by an arrow B in FIG. The lens barrel 8 includes a distance measuring optical system 9 and a scanning optical system 1.
0 is provided. The distance measuring optical system 9 has a light projecting unit 11 and a light receiving unit 12 as schematically shown in FIG. Light emitting unit 11
Has a light source 13. The light receiving section 12 has a light receiving element 14. The light source 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 is emitted from the lens barrel 8 through the cover glass 18 as a parallel beam. The infrared laser beam is reflected by the corner cube 2 and passes through the cover glass 18 through the objective lens 17.
The light is reflected by the dichroic mirror 19 of the beam splitter 15 and converged on the light receiving element 14. The light receiving output of the light receiving element 14 is controlled by a control circuit CPU shown in FIG.
Is input to the calculation unit. The control circuit CPU calculates the distance to the corner cube 2 based on the light receiving output of the light receiving element 14. The distance measuring optical system 9 has an imaging lens 20 and a reticle plate 21, and the visible light passes through the objective lens 17,
The light passes through the dichroic mirrors 16 and 19 to reach the imaging lens 20, is converged on the reticle plate 21, and allows the measurer to visually recognize the measurement point including the corner cube 2 via the eyepiece 22. As shown in FIG. 7, the scanning optical system 10 includes a laser diode 23, a collimator lens 24, a horizontal deflecting element 25, a vertical deflecting element 26, reflecting prisms 27, 28, 29, an objective lens 30, and a cover glass 1.
8, reflection prism 32, noise light removal filter 33,
It has a light receiving element 34. The laser diode 23, the collimator lens 24, the horizontal deflecting element 25, the vertical deflecting element 26, and the reflecting prisms 27, 28 and 29 substantially constitute a light projecting unit. Objective lens 30, reflective prism 3
2. The noise light removing filter 33 and the light receiving element 34 generally 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 light of the distance measuring optical system 9. The infrared laser light is converted into a parallel light flux by the collimator lens 24 and guided to the 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. 8, and the vertical deflecting element 26 has a function of deflecting the infrared laser light in the vertical direction V. The infrared laser light is deflected in the horizontal direction and the vertical direction by the horizontal deflection element 25 and the vertical deflection element 26 and guided to the reflection prism 27, reflected by the reflection prism 27, and reflected by the reflection prisms 28 and 2.
The light is guided to the objective lens 30 via the line 9. Objective lens 3
At 0, a through hole 35 is 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 surveying instrument 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 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 forms an image on the light receiving element 34. Has the function of transmitting light of the same wavelength as The control circuit CPU has a function of calculating the ratio between the search area and the reflection area of the corner cube 2.
Here, the term “reflection area” refers to the area area where the reflected light of the infrared laser beam returns from the corner cube 2. Now, as shown in FIG. 9, the angle α is set in the horizontal direction.
', The infrared laser beam as the scanning light is oscillated, and the infrared laser beam as the scanning light is oscillated in the vertical direction at an angle β', the distance between the corner cube 2 and the surveying instrument body 8 is small. The search area in the case (distance L1) is TH, and the search area in the case where the distance between the corner cube 2 'and the surveying instrument body 8 is large (distance L2) is TH'. The reflection area of each of the corner cubes 2 and 2 'is HM. The control circuit CPU calculates the reflection area HM / (search area TH or TH '), controls the scanning range of the infrared laser beam, and reduces the distance between the surveying instrument body 8 and the corner cube 2 ( Surveying instrument body 8 compared to distance L1)
When the distance between the corner cube 2 and the corner cube 2 is large (distance L2), the search area TH 'is set so that the reflected light from the object 300 other than the corner cube 2 does not enter the surveying instrument main body 8.
Is reduced to THS, and when the distance between the object 2 and the surveying instrument body 8 is small, the search area TH is increased. Thereby, when the distance between the surveying instrument main body 8 and the corner cube 2 is large (distance L2), the object 300 other than the target object 2 is prevented from being captured as a tracking target, and the tracking accuracy is prevented from deteriorating. it can. Further, the CPU stores a minimum search area THL determined in proportion to the distance, and the CPU stores the search areas TH and TH 'obtained by calculation in the minimum search area predetermined according to the distance. When it becomes smaller than THL, the minimum search area THL is preferentially adopted to prevent the corner cube 2 from being lost. The automatic tracking type surveying instrument according to the present invention is constructed as described above. Therefore, when the distance between the object to be tracked and the surveying instrument main body becomes relatively large, the tracking accuracy is improved. Is prevented from being reduced.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram for explaining deterioration of tracking accuracy when a distance between a surveying instrument main body and an object increases. FIG. 2 is a side view showing a schematic configuration of an automatic tracking type surveying instrument according to the present invention. FIG. 3 is a perspective view showing a schematic configuration of an automatic tracking type surveying instrument according to the present invention. FIG. 4 is a plan view showing a schematic configuration of an automatic tracking type surveying instrument according to the present invention. FIG. 5 is an optical diagram showing a schematic configuration of a distance measuring optical system according to the present invention. FIG. 6 shows a distance measuring optical system, a scanning optical system, and a CP according to the present invention.
FIG. 4 is a block diagram showing a relationship with U. FIG. 7 is an optical diagram showing a schematic configuration of a scanning optical system according to the present invention. FIG. 8 is a diagram showing a deflection state of a laser beam. FIG. 9 is a diagram for explaining the operation of the automatic tracking type surveying instrument according to the present invention. [Explanation of Signs] 2 ... Corner cube (object) 8 ... Barrel (Surveying instrument body) CPU ... Calculation means, control means TH ... Search area HM ... Reflection area

──────────────────────────────────────────────────続 き Continuation of front page (72) Inventor Masahiro Saito 75-1, Hasunuma-cho, Itabashi-ku, Tokyo Topcon Co., Ltd. (56) References JP-A-5-94064 (JP, A) (58) Field (Int.Cl. ⁷ , DB name) G01C 1/00 G01C 5/00 G01C 15/00 G01S 17/00

Claims (1)

(57) [Claims] [Claim 1] A predetermined scanning range is irradiated with scanning light, and
From the reflection object within the search area formed in the fixed scanning range
Detecting the position of the reflection target based on the reflected scanning light
And automatic tracking based on the detection result.
In the mass spectrometer, based on the ratio between the reflection area of the reflection target object and the search area,
The reflection area so that the search area changes according to the distance
When the ratio is short, the search area is increased,
When the distance is small, the search area
An automatic tracking type surveying instrument having control means for narrowing .