JP3647608B2 - Surveyor automatic tracking device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic tracking device for a surveying instrument in which the optical axis of a telescope is made to coincide with a surveying object that is moving or stationary, and in particular, it receives characteristic light for position detection emitted from the surveying object, It belongs to the technical field of optical position detection in which the position of the surveying object is accurately detected based on the light receiving position.
[0002]
[Prior art]
Conventionally, in this type of automatic tracking device for a surveying instrument, a characteristic light for position detection is projected onto a surveying object and reflected by a reflecting prism disposed on the surveying object, and this reflected light is reflected on a photoelectric conversion panel or the like. The position of the surveying instrument main body including the telescope is changed so that the center point of the received light image coincides with the optical axis of the telescope. Also, there is a type in which a light projecting unit is attached to a surveying object and feature light projected from the light projecting unit is received.
[0003]
In order to make the center point of the received light image coincide with the optical axis of the telescope, for example, as disclosed in JP-A-6-347270, a light receiving element having a light receiving surface divided into four parts vertically and horizontally is used. A device using a CCD area sensor or the like as disclosed in JP-A-7-198383 is known. That is, in the case of using a four-divided light receiving element, the light receiving surface is divided into four parts vertically and horizontally around the center position corresponding to the optical axis position of the telescope, and based on the difference in the amount of light received on each divided surface. The center point of the received light image is detected, and the attitude of the surveying instrument main body is changed so that the center point is positioned at the center position of the light receiving surface. In the case of using a CCD area sensor, the image of the survey object is taken as image data, and the deviation between the address of the center point of the image and the address of the center position of the CCD area sensor corresponding to the optical axis position of the telescope And the attitude of the surveying instrument body is changed according to the deviation.
[0004]
[Problems to be solved by the invention]
However, in the case of using the four-part light receiving element as in the former prior art, when the distance between the surveying instrument and the survey target changes and the size of the received light image changes, Even if the deviation amount between the center position and the center point of the received light image is the same, the difference in the received light amount on each divided surface changes, and as a result, the survey target is caused by the change in distance between the surveying instrument and the survey target. There is a problem that the tracking accuracy of the camera fluctuates.
[0005]
On the other hand, when the latter CCD area sensor is used, since the image capturing period of the CCD area sensor is generally about 1/60 second, position detection cannot be performed at shorter time intervals. Since the amount of image processing over the entire area of the CCD area sensor is enormous, it takes time to perform image processing, which makes it difficult to perform high-speed automatic tracking. Although it is conceivable to use a dedicated high-speed image processing apparatus, in this case, the adverse effects of increasing the size and cost of the apparatus are significant.
[0006]
In addition, in the automatic tracking device of the conventional surveying instrument, the light projected from the light projecting means spreads as the survey target is farther away, and the amount of light per unit area becomes smaller. In order to secure the amount of light, when tracking a long-distance survey target, the divergence angle of the light projected from the light projecting means is made relatively narrow. However, in this case, although the amount of light reflected from the surveying object can be sufficiently increased, the projection range of light is relatively narrow, so that there is a problem that the surveying object is easily lost.
[0007]
The present invention has been made in view of such various points, and the object of the present invention is to devise the structure of the light receiving means so that the tracking accuracy does not change even if the distance to the survey target changes. In addition, it is to be able to perform high-speed tracking.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, according to the solution means of the present invention, in the light receiving means, two photoelectric conversion means having a large number of light receiving portions arranged in parallel in the longitudinal direction are arranged so as to extend in two directions orthogonal to each other. The center point of the received light image is detected in the two directions based on the light receiving position in each photoelectric conversion means.
[0009]
Specifically, the invention described in claim 1 is a light projecting unit that projects light onto a survey target, and a light reflector that is disposed on the survey target and reflects light projected from the light projecting unit. The light reflected by the light reflector is received as position detection feature light, and the position detection feature light is formed as a two-dimensional image by the objective lens, and the attitude of the surveying instrument main body is determined. Based on the output signal from the light receiving means so that the center point of the two-dimensional image of the survey target imaged on the light receiving means is located on the optical axis of the objective lens. An automatic tracking device of a surveying instrument that controls the driving means is an object.
[0010]
The light receiving means includes a plurality of light receiving portions arranged in parallel so as to extend in a first setting direction orthogonal to the optical axis direction of the objective lens, and a two-dimensional image of a survey target by the objective lens. Entered And a plurality of light receiving portions arranged in parallel so as to extend in a second setting direction orthogonal to the optical axis direction of the objective lens and intersecting the first setting direction. , Two-dimensional image of the survey object by the objective lens Entered Second photoelectric conversion means to radiate,
On the other hand, the light projecting means includes a light projector that projects light so as to spread in a cross shape while being biased in first and second setting directions orthogonal to each other, and the light is projected along the optical axis of the objective lens with respect to the survey target. It was set as the structure which projects.
[0011]
According to this configuration, first, the light projected from the light projecting means is reflected by the light reflector, and is emitted from the survey target as the position detection feature light. The feature light from the survey target is the first. The first and second photoelectric conversion means receive light, and based on the light reception positions, the center point position of the survey target image with respect to the first and second setting directions is detected. That is, the center position of the range of the light receiving unit receiving the characteristic light in the first photoelectric conversion means is detected as the position of the center point of the image to be surveyed in the first setting direction. Similarly, in the second photoelectric conversion means, the position of the center point of the survey target image in the second setting direction is detected. Then, if the center point position of the image with respect to each of the first and second setting directions intersecting each other is detected, the center point of the image can be specified and the deviation from the optical axis position can be accurately obtained, The surveying object can be accurately tracked by changing the attitude of the surveying instrument main body by the driving means based on this deviation.
[0012]
At that time, even when the distance between the surveying instrument and the survey target changes and the size of the image of the survey target changes, the center point of the image can be detected accurately, preventing fluctuations in tracking accuracy. can do. In addition, since a large number of light receiving portions in the first and second photoelectric conversion units need only be arranged in parallel only in the first and second setting directions, respectively, the number of light receiving portions is smaller than that of a CCD area sensor, for example. There is much less. For this reason, when obtaining the position of the center point of the image to be surveyed, unnecessary information can be remarkably reduced, and the amount of calculation processing for position detection can be significantly reduced. Moreover, since the first and second setting directions are orthogonal to each other, if the center point position of the image to be surveyed is detected with respect to the first and second setting directions, the detection result directly The center point position of the image to be surveyed can be obtained, thereby facilitating calculation processing for position detection. Therefore, even if a relatively small arithmetic processing device is used, the time for position detection can be shortened, and accordingly, the tracking operation can be speeded up.
[0013]
Furthermore, the light projected from the light projecting means toward the surveying object is projected along the optical axis of the objective lens, and spreads in the first or second setting direction orthogonal to each other and spreads in a crossed manner. Is projected into the shape. For this reason, although the actual light projection range is narrower than that in the case of being projected so as to spread uniformly in all directions, the light amount per unit area can be increased accordingly. In addition, with respect to the first and second setting directions, a light projection range having a sufficiently long length is ensured, and the light projection range has a substantially large outer diameter. Therefore, in the present invention, it is possible to sufficiently increase the amount of light per unit area without substantially narrowing the projection range of the light projected onto the survey target, thereby making it easy to detect the survey target and make it difficult to lose sight. it can.
[0014]
In addition, in the present invention, the survey target only needs to be provided with a light reflector, and it is not necessary to provide a light emitting means, so that the system configuration is simplified. For example, a reflection prism may be used as the light reflector.
[0015]
The invention described in claim 2 is a light projecting means for projecting light onto a surveying object, a light reflector that is disposed on the surveying object and reflects light projected from the light projecting means, and this light reflector. Receiving the light reflected by the position detection feature light as a position detection feature light, the light detection means for forming the position detection feature light as a two-dimensional image by the objective lens, and a drive means for changing the attitude of the surveying instrument body And controlling the drive means based on the output signal from the light receiving means so that the center point of the two-dimensional image to be surveyed imaged on the light receiving means is positioned on the optical axis of the objective lens The automatic tracking device of a surveying instrument designed for this purpose is the target.
[0016]
The light receiving means is provided at a position where a part of the light from the objective lens is transmitted and a part of the beam splitter that reflects the rest, and a position at which the transmitted light from the beam splitter is received, and an optical axis of the transmitted light A two-dimensional image of a survey target by the objective lens, having a large number of light receiving portions arranged in parallel so as to extend in a first setting direction orthogonal to the direction Entered And a second set direction that is provided at a position to receive the reflected light from the beam splitter and is orthogonal to the optical axis direction of the reflected light and intersects the first set direction. A two-dimensional image of a survey object by the objective lens Entered Second photoelectric conversion means to radiate,
On the other hand, the light projecting means includes a light projector that projects light so as to spread in a cross shape while being biased in first and second setting directions orthogonal to each other, and the light is projected along the optical axis of the objective lens with respect to the survey target. It was set as the structure which projects.
[0017]
According to this configuration, as in the first aspect of the invention, the center point position of the image to be surveyed can be specified and the deviation from the optical axis position can be accurately obtained, and the drive means is controlled based on this deviation. By doing so, the survey target can be accurately tracked. At that time, even if the distance between the surveying instrument and the survey target changes, the tracking accuracy can be prevented from fluctuating, and high-speed tracking can be performed using a relatively small arithmetic processing unit. .
[0018]
Moreover, by projecting light that spreads in a cross shape toward the survey target, the amount of light per unit area can be sufficiently increased without substantially narrowing the projection range of the light projected on the survey target. This makes it easy to detect the survey target and make it difficult to lose sight. Moreover, it is only necessary to provide a light reflector for the surveying object, and it is not necessary to provide a light emitting means, so that the system configuration is simplified.
[0019]
In addition, in the light receiving means, the light from the objective lens is divided by the beam splitter so as to be separately incident on the first and second photoelectric conversion means arranged at different locations. The degree of freedom of arrangement of the photoelectric conversion means is improved.
[0020]
In the invention described in claim 3, high detection accuracy can be obtained at a relatively low cost by using the CCD line sensor as the first and second photoelectric conversion means in the invention described in claim 1 or 2. .
[0021]
According to a fourth aspect of the present invention, in the projector according to the first or second aspect of the present invention, one end is connected to the light source and the other end is juxtaposed in the first and second setting directions. The optical fiber bundle is provided, and the light generated from the light source is projected from the other end of the optical fiber.
[0022]
In this configuration, the configuration of the projector in the invention according to claim 1 or 2 is specifically specified, and the light generated from the light source is biased in the first and second setting directions via the optical fiber, respectively. Projected to spread. That is, the projection direction of light from the light source can be easily set by using an optical fiber, and the degree of freedom of arrangement of the light source is improved, and the light projecting means can be made compact accordingly. .
[0023]
In the invention according to claim 5, claim 1 is provided. Thru 4 Z In the invention described in any one of the first and second setting directions, the vertical direction and the horizontal direction were set, respectively. The driving means is configured to rotate the surveying instrument main body about the vertical axis and the horizontal axis.
[0024]
In this configuration, the claim 1 Thru The first and second setting directions in the invention described in Item 4 are specified as a vertical direction and a horizontal direction, respectively. Then, based on the position of the center point of the image of the survey object detected in each direction, the surveying instrument main body is rotated around the vertical axis and the horizontal axis by the driving means to track the survey object. That is, the rotational operation amount of the surveying instrument main body by the driving means can be obtained directly from the center point position of the survey target image detected by the first and second photoelectric conversion means. Therefore, the control of the driving means in the tracking operation is facilitated, and accordingly, the tracking speed can be increased.
[0025]
In addition, since the cross-shaped light projected from the light projecting means spreads in a biased manner in the vertical direction and the horizontal direction, the light projecting means is disposed integrally with the surveying instrument main body and is rotated around the vertical axis or the horizontal axis. If it is made to turn to, the projection range of the projection light can be easily made very wide.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0027]
FIG. 1 shows a surveying instrument 1 equipped with an automatic tracking system according to the present invention. The surveying instrument 1 includes a lower panel 12 that is horizontally supported by a tripod 11 at a surveying origin position. A horizontal board 13 is disposed above the lower board 12 so as to be pivotable about a vertical axis y. Above the horizontal board 13, the surveying instrument main body 15 is mounted on the horizontal axis x by a pair of left and right columns 14, 14. It is supported so that it can rotate around. The surveying instrument main body 15 automatically tracks the survey target 2 as described later, and measures the relative position of the survey target 2 with respect to the survey origin position. Reference numeral 16 denotes a telescope for collimation by an operator.
[0028]
FIG. 2 shows an optical system for position detection provided in the surveying instrument main body 15, 3 is a light projecting means for projecting characteristic light for position detection to the surveying object 2, and 4 is the surveying object 2. The objective lens 5 that forms an image of the reflected light from the reflecting prism 21 as a light reflector disposed therein receives the light from the objective lens 4 and detects the center point C of the image 2a of the surveying object 2. Light receiving means. The controller 6 that receives the input signal from the light receiving means 5 operates the driving motors 61 and 62 as the driving means to rotate the surveying instrument main body 15 about the horizontal axis x and the vertical axis y. It is like that.
[0029]
The light projecting means 3 uses pulsed light generated by a semiconductor laser device as a light source (not shown) in the vertical direction (y direction) as a first setting direction and the horizontal direction (x (Direction) and project so as to spread out. That is, the light projecting means 3 has one end connected to the semiconductor laser device and the other end connected to the optical fibers 31, 31,... Arranged in parallel in the vertical and horizontal directions as shown in FIG. With a bunch of. The pulsed light generated by the semiconductor laser device is projected from the other end of each of the optical fibers 31, 31,... And reflected by the half mirror 34 while spreading in a cross shape in the vertical and horizontal directions. Thus, a predetermined divergence angle is set and projected onto the surveying object 2 along the optical axis L of the objective lens 4. As described above, the configuration using the optical fibers 31, 31,... Facilitates the setting of the light projection direction and improves the degree of freedom in the arrangement of the semiconductor laser device. 3 is a compact configuration.
[0030]
The light receiving means 5 forms an image of the light condensed by the objective lens 4 through the concave lens 41, and transmits approximately 50% of the light from the objective lens 4, while the remaining approximately. A beam splitter 51 that reflects 50%; a first CCD line sensor 52 serving as a first photoelectric conversion unit disposed in a vertical direction at a position where light transmitted from the beam splitter 51 is received; And a second CCD line sensor 53 as second photoelectric conversion means arranged in a horizontal direction at a position for receiving the reflected light. In this manner, the light from the objective lens 4 is divided by the beam splitter 51 and is incident on the first and second CCD line sensors 52 and 53 that are separately arranged, thereby the two CCDs. The degree of freedom of arrangement of the line sensors 52 and 53 is improved. Reference numerals 54 and 55 denote optical filters that transmit only light in a specific wavelength region including pulsed light generated by the semiconductor laser device 51, respectively.
[0031]
As shown in FIG. 4, the first CCD line sensor 52 is disposed so as to extend in the vertical direction (y direction) through the reference light receiving position S1 corresponding to the optical axis L of the transmitted light from the beam splitter 51. The vertical position of the image 2a of the surveying object 2 is detected with high accuracy by the light receiving surface 52a having a large number of light receiving cells arranged in the vertical direction at intervals of 8 microns, for example. That is, the light receiving surface 52a of the first CCD line sensor 52 receives the pulsed light projected from the optical fibers 31, 31,. Then, the address of each light receiving cell in the light receiving range corresponding to the image 2a of the surveying object 2 (the range shown by hatching in the figure) is output to the controller 6, and these light receiving cells are received by the controller 6 receiving this signal input The address of the center light receiving cell is detected with high accuracy as the position in the vertical direction of the center point C of the image 2a.
[0032]
Similarly, the second CCD line sensor 53 is disposed so as to extend in the horizontal direction (x direction) through the reference light receiving position S2 corresponding to the optical axis of the reflected light from the beam splitter 51, as shown in FIG. The horizontal position of the image 2a of the survey target 2 is detected by the light receiving surface 53a. Based on the output signal from the second CCD line sensor 52, the horizontal position of the center point C of the image 2a is detected with high accuracy.
[0033]
When the surveying object 2 moves away, the outer diameter of the image 2a of the surveying object 2 decreases according to the distance from the surveying instrument 1, but the center point C of the image 2a is as shown in FIGS. It is detected with high accuracy irrespective of the change in the distance between the surveying instrument 1 and the surveying object 2.
[0034]
The charge and discharge timings of the first and second CCD line sensors 52 and 53 are controlled so as to be synchronized with the light emission timing of the pulsed light, whereby the first and second CCD line sensors 52 are controlled. , 53, the incidence of external light other than pulsed light is reduced to improve the S / N ratio of the pulsed light.
[0035]
The controller 6 receives the output signals from the first and second CCD line sensors 52 and 53, and the vertical direction of the center point C of the image 2a of the survey target 2 with respect to the reference light receiving positions S1 and S2, and The deviation amount in the horizontal direction is calculated, and the operation of the drive motors 61 and 62 is controlled so that the deviation amount becomes zero. As a result, the surveying instrument main body 15 is rotated about the horizontal axis x and the vertical axis y, and the center point C of the image 2a of the surveying object 2 is positioned at the reference light receiving positions S1 and S2. That is, the attitude of the surveying instrument main body 15 is changed so that the surveying object 2 is positioned on the extension line of the optical axis L of the objective lens 4.
[0036]
Next, the operation of the automatic tracking device and its effects will be described along the procedure of surveying work using the surveying instrument 1 according to the above embodiment.
[0037]
When measuring the position of the surveying object 2 using the surveying instrument 1, first, the surveying origin position is set at a place where the surveying object 2 provided with the reflecting prism 21 can be visually recognized, and the surveying instrument 1 is set at the surveying origin position. Install. Then, the direction of the surveying instrument main body 15 is roughly set so that the reflecting prism 21 of the surveying object 2 is recognized within the field of view of the collimating telescope 16, and then the automatic tracking device is operated to emit pulsed light from the light projecting means 3. Project.
[0038]
That is, the pulsed light generated by the semiconductor laser device 31 is projected onto the survey target 2 via the objective lens 4. At that time, the pulsed light is biased upward, downward, leftward and rightward and spreads in a cross shape, so the actual light projection range is narrower than when it spreads uniformly in all directions, but the amount of light per unit area is increased accordingly. Can do. In addition, a sufficiently long light projection range is secured although it is narrow in the vertical direction or the horizontal direction. That is, the amount of light per unit area can be sufficiently increased without substantially narrowing the projection range of light projected onto the surveying object 2. Therefore, the surveying object 2 can be easily detected and hardly lost.
[0039]
Then, the pulsed light reflected by the reflecting prism 21 is collected by the objective lens 4 and received by the light receiving means 5. That is, the light condensed by the objective lens 4 is divided into transmitted light and reflected light by the beam splitter 51, and enters the light receiving surfaces 52a and 53a of the first or second CCD line sensors 52 and 53, respectively (FIG. 4). To FIG. 7). Based on the output signals from the first and second CCD line sensors 52 and 53, the positions of the center point C of the image 2a of the surveying object 2 in the vertical and horizontal directions are detected, respectively, and the center point C of the image 2a and The vertical and horizontal deviations from the reference light receiving positions S1 and S2 are calculated accurately and directly.
[0040]
At that time, even when the surveying object 2 is relatively close to the surveying instrument 1 (see FIGS. 4 and 5), the surveying object 2 is compared with the surveying instrument 1 when the outer diameter of the image 2a is relatively large. Even when the image 2a is relatively far away (see FIGS. 6 and 7), the deviation between the center point C of the image 2a and the reference light receiving positions S1 and S2 does not change. For this reason, even if the distance between the surveying instrument 1 and the survey target 2 changes, the tracking accuracy of the survey target 2 can be prevented from fluctuating. Further, the light receiving cells 52a and 53a of the first and second CCD line sensors 52 and 53 need only be arranged in parallel in the longitudinal direction. The number of light receiving cells is remarkably reduced. For this reason, the amount of calculation processing when detecting the center point C of the image 2a of the surveying object 2 can be remarkably reduced. Therefore, even if the controller 6 is a relatively small arithmetic processing device, the calculation time for position detection can be shortened, and accordingly, the tracking operation can be speeded up.
[0041]
Then, in accordance with the vertical and horizontal deviations detected by the first and second CCD line sensors 52, 53, the driving motors 61, 62 are operated by the controller 6, whereby the surveying instrument main body 15 is moved to the horizontal axis. Rotated around x and vertical axis y. At this time, since the control amounts of the drive motors 61 and 62 are directly obtained from the deviation amounts in the vertical direction and the horizontal direction, the control in the tracking operation is facilitated.
[0042]
As described above, the surveying instrument main body 15 automatically tracks the survey target 2, and the center point C of the image 2a of the survey target 2 is always located at the reference light receiving positions S1 and S2. The position of the survey target 2 is measured by the operation of the operator. That is, although not shown, a distance measuring laser is projected from the distance measuring laser oscillator to the reflecting prism 21, while a laser beam reflected from the reflecting prism 21 is received by the distance measuring light receiving unit and reciprocates. Are counted, and the linear distance to the surveying object 2 is measured. At that time, the rotation angles of the surveying instrument main body 15 about the horizontal axis x and the vertical axis y are respectively detected by the encoders, and the horizontal angle and the vertical angle of the survey object 2 are measured based on the rotation angles.
[0043]
Therefore, according to the surveying instrument 1 according to this embodiment, the moving surveying object 2 can be automatically tracked by the surveying instrument 1, and the position measurement of the surveying object 2 can be performed very easily. At that time, even if the distance between the surveying instrument 1 and the surveying object 2 changes, the tracking operation does not change, so that the surveying accuracy is kept high. Further, it is possible to automatically track at high speed without losing sight of the survey target 2.
<Other embodiments>
In addition, this invention is not limited to the said embodiment, Various other embodiments are included. That is, in the above embodiment, the light from the objective lens 4 is split by the beam splitter 51 in the light receiving means 5 and is incident on the first and second CCD line sensors 52 and 53 arranged at different positions. For example, a CCD line sensor may be arranged in a cross shape and light may be incident thereon.
[0044]
In the above embodiment, the first and second CCD line sensors 52 and 53 serving as the first and second photoelectric conversion means are arranged in the vertical direction or the horizontal direction so as to be orthogonal to each other. It is also possible to use a light receiving element other than the line sensor.
[0045]
In the said embodiment, although the pulsed light was projected by the light projection means 3 so that it might spread to a cross direction with respect to a projection direction, it is not restricted to this, The light to project may not be pulsed light.
[0046]
In the above embodiment, the pulsed light projected from the light projecting means 3 is projected onto the surveying object 2 via the objective lens 4. However, the present invention is not limited to this. For example, as shown in FIG. A through hole 4a may be formed at the center, and the pulsed light may be projected onto the surveying object 2 through the through hole 4a.
[0047]
In the above-described embodiment, the light projecting means 3 is configured to project the pulsed light generated by the semiconductor laser device 31 so as to spread in a vertical direction or a horizontal direction via a bundle of optical fibers 32a and 33a. For example, a plurality of semiconductor laser devices may be arranged in parallel in the vertical direction or the horizontal direction to project light.
[0048]
【The invention's effect】
As described above, according to the automatic tracking device for a surveying instrument according to the first aspect of the present invention, the first and second photoelectric conversion means are provided so as to intersect each other, and the center point of the image to be surveyed and the objective lens The deviation from the optical axis position is obtained, and the attitude of the surveying instrument main body is changed based on this deviation. Thus, even if the distance between the surveying instrument and the survey target changes, it is possible to prevent the tracking accuracy from changing. In addition, the amount of calculation processing for position detection can be remarkably reduced as compared with a conventional CCD area sensor or the like, so that the time for position detection can be shortened even if a relatively small arithmetic processing device is used. Thus, the tracking operation can be speeded up.
[0049]
In addition, since the first and second setting directions are set so as to be orthogonal to each other, the calculation processing for position detection can be facilitated.
[0050]
Furthermore, the amount of light per unit area can be sufficiently increased without substantially narrowing the projection range of the light projected onto the surveying object, and the surveying object can be easily detected and hardly lost. In addition, since it is only necessary to provide a light reflector for the survey target, the system configuration is simplified.
[0051]
In the invention of claim 2, the same effect as that of the invention of claim 1 can be obtained, and the first and second photoelectric conversion means can be arranged in different places, and the degree of freedom of their arrangement. Will improve.
[0052]
In the invention of claim 3, high detection accuracy can be obtained at a relatively low cost by using a CCD line sensor as the photoelectric conversion means.
[0053]
According to the fourth aspect of the present invention, the projection direction of light from the light source can be easily set by using an optical fiber, and the degree of freedom of arrangement of the light source is improved, so that the light projecting means is compact. Is achieved.
[0054]
According to the fifth aspect of the present invention, the control in the tracking operation of the surveying instrument can be facilitated and the tracking speed can be increased, and the projection range of the projection light can be easily made extremely wide.
[Brief description of the drawings]
FIG. 1 is a side view showing a schematic configuration of a surveying instrument according to an embodiment of the present invention.
FIG. 2 is a top view showing an optical system for position detection provided in the surveying instrument main body.
FIG. 3 is a front view showing end portions of optical fibers arranged side by side so as to extend vertically and horizontally in the light projecting means;
FIG. 4 is a schematic diagram showing position detection in the vertical direction of an image to be surveyed by a first CCD line sensor.
FIG. 5 is a schematic diagram showing horizontal position detection of an image to be surveyed by a second CCD line sensor.
FIG. 6 is a diagram corresponding to FIG. 4 when the survey target is relatively far away.
FIG. 7 is a diagram corresponding to FIG. 5 when the survey target is relatively far away.
FIG. 8 is a view corresponding to FIG. 2 according to another embodiment.
[Explanation of symbols]
1 surveying instrument
2 Survey target
2a Survey target image
3 Projection means
4 Objective lens
5 Light receiving means
21 Reflective prism (light reflector)
31, 31 ... Optical fiber
51 Beam splitter
52,53 CCD line sensor
61, 62 Driving motor (driving means)
C Center point of survey target image
L Optical axis of objective lens
S1, S2 reference light receiving position

Claims (5)

A light projecting means for projecting light onto a surveying object, a light reflector that is disposed on the surveying object and reflects light projected from the light projecting means, and a position of the light reflected by the light reflector is detected. A light receiving means for receiving the position detecting characteristic light as a two-dimensional image by the objective lens, and a driving means for changing the attitude of the surveying instrument main body. In an automatic tracking device for a surveying instrument, the operation of the driving means is controlled based on the output signal from the light receiving means so that the center point of the image to be surveyed is positioned on the optical axis of the objective lens. ,
The light receiving means is
Has a large number of light receiving portions which are arranged to extend in a first setting a direction orthogonal to the optical axis of the objective lens, a first photoelectric the 2-dimensional image of the surveying object by the objective lens morphism ON Conversion means;
A plurality of light receiving portions arranged in parallel so as to extend in a second setting direction orthogonal to the optical axis direction of the objective lens and orthogonal to the first setting direction; a second photoelectric conversion means for the image of that morphism entry has a,
The light projecting means includes a light projector that projects light so as to be spread in a cross shape in the first and second setting directions orthogonal to each other, and projects light along the optical axis of the objective lens to the survey target. An automatic tracking device for a surveying instrument, characterized in that it is configured to do so. A light projecting means for projecting light onto a surveying object, a light reflector that is disposed on the surveying object and reflects light projected from the light projecting means, and a position of the light reflected by the light reflector is detected. A light receiving means for receiving the position detecting characteristic light as a two-dimensional image by the objective lens, and a driving means for changing the attitude of the surveying instrument main body. In an automatic tracking device for a surveying instrument, the operation of the driving means is controlled based on the output signal from the light receiving means so that the center point of the image to be surveyed is positioned on the optical axis of the objective lens. ,
The light receiving means is
A beam splitter that transmits part of the light from the objective lens and reflects the rest,
A plurality of light receiving portions provided in a position for receiving the transmitted light from the beam splitter, and arranged in parallel so as to extend in a first setting direction orthogonal to the optical axis direction of the transmitted light, and by the objective lens a first photoelectric conversion means for two-dimensional image of the surveying object is morphism entry,
A plurality of light beams arranged in parallel so as to extend in a second setting direction perpendicular to the optical axis direction of the reflected light and perpendicular to the first setting direction; has a light receiving portion, it includes a second photoelectric conversion means for two-dimensional image of the surveying object by the objective lens morphism enter, and
The light projecting means includes a light projector that projects light so as to be spread in a cross shape in the first and second setting directions orthogonal to each other, and projects light along the optical axis of the objective lens to the survey target. An automatic tracking device for a surveying instrument, characterized in that it is configured to do so. In either claim 1 or claim 2,
An automatic tracking device for a surveying instrument, wherein the first and second photoelectric conversion means are CCD line sensors. In either claim 1 or claim 2,
The projector includes a bundle of optical fibers having one end connected to the light source and the other end juxtaposed in the first and second setting directions, and the light generated by the light source is transmitted to the optical fiber. An automatic tracking device for a surveying instrument, which is configured to project from the other end of the surveying instrument. In any one of Claims 1 thru | or 4,
The first and second setting directions are set to a vertical direction and a horizontal direction, respectively.
An automatic tracking device for a surveying instrument, characterized in that the drive means is configured to rotate the surveying instrument main body about a vertical axis and a horizontal axis, respectively.

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