JP4458530B2 - Total station - Google Patents

Description

  The present invention relates to a motor drive-driven total station that is a distance measuring / angle measuring instrument equipped with a distance measuring / angle measuring means, and in particular, a marking serving as a reference indicating an excavation area when excavating a tunnel or the like with an excavator. The present invention relates to a total station provided with laser light irradiation means used for applying.

  Conventionally, when excavating a tunnel, using a motor drive driven total station equipped with a laser pointer that is a laser beam irradiation means, the surface to be excavated is spot-irradiated intermittently along the contour of the tunnel hole, After marking a laser beam irradiation point with paint or the like, excavation is performed along this marking corresponding to the contour of the tunnel hole. That is, the total station is an external personal computer that stores plan information (planar data of the construction plan and vertical section data of the construction plan corresponding to the route position) about the construction plan along the route and a predetermined drive program stored in the storage unit. Driven by a control signal from a remote control device such as, for example, laser irradiation light is intermittently spot-irradiated along a tunnel hole design value at a predetermined route position set in advance in a predetermined driving program. (See Patent Document 1).

  In addition, the total station with a laser pointer is used for such marking work at the tunnel excavation site, as well as measuring (ranging and angle measurement) predetermined positions on the face of the tunnel and the inner peripheral surface of the tunnel hole. It is also used for marking a predetermined position on the face of the face and the inner peripheral surface of the tunnel hole. To move the collimation axis of the total station and the laser beam irradiation axis toward an arbitrary position, it is possible to remotely control the external computer or remote control. The total station is directed to an arbitrary position (see Patent Document 2).

JP 2001-133264 A (page 3 to page 5, FIGS. 1 to 4) JP 2001-12950 A (pages 3 to 6, FIGS. 1 to 3)

  However, in the prior art, when the collimation axis of the total station is moved in an arbitrary direction, the tilt angle of the collimation axis is corrected based on the detection output of the liquid tilt sensor (X-axis, Y-axis tilt sensor). Therefore, it took time to position the collimation axis of the total station in an arbitrary direction. That is, in the liquid tilt sensor, when the collimation axis is moved, the liquid shakes with the movement of the collimation axis, and after the collimation axis is moved in an arbitrary direction, about 0 until the detection output of the tilt sensor becomes stable. It took about 5 seconds, and there was a problem that the marking work was delayed by the amount of waiting time until the laser marking position was specified.

  The present invention has been made in view of the problems of the prior art, and its purpose is to wait for the laser point position to be specified by moving the collimation axis of the collimation telescope in an arbitrary direction during the laser marking operation. It is to provide a total station with a laser pointer that can shorten the time.

In order to achieve the above object, in the total station according to claim 1, the distance from the instrument point to the collimation point is measured by the distance measurement light emitted from the collimation telescope toward the collimation point and its return light. a distance measuring means, and angle measuring means for measuring the angular horizontal angle and vertical angle of the collimating telescope, a main body fitted with a visual mutatis mutandis telescope, the X-axis tilt angle is the front-rear direction of inclination of said main body portion An X-axis tilt sensor for detecting, a Y-axis tilt sensor for detecting a Y-axis tilt angle that is a horizontal tilt of the main body, and a rotation for rotationally driving the collimating telescope in a horizontal direction and a vertical direction according to a control signal In a total station comprising control means and laser light irradiation means for irradiating laser light along a laser light irradiation axis that is coaxial or parallel to the collimation axis of the collimation telescope, Storage means for storing the horizontal angle, the X-axis tilt angle, and the Y-axis tilt angle before moving the collimation point or the laser light irradiation point among the tilt angles detected by the respective tilt sensors; When the collimation point or the laser beam irradiation point after the collimation point or the laser beam irradiation point is designated, the collimation point or the laser beam irradiation point is moved to the collimation point or the laser beam irradiation point after the movement. Based on the horizontal / vertical angle calculation means for calculating the horizontal angle and the vertical angle when it is assumed that the collimating telescope is collimated, based on the storage contents of the storage means and the calculation result of the horizontal / vertical angle calculation means. The horizontal angle deviation between the horizontal angle before moving the quasi-point or laser beam irradiation point and the horizontal angle after moving is calculated, and the calculated horizontal angle deviation and each tilt angle before moving the collimation point or laser beam irradiation point Based on the collimation point or A tilt angle calculating means for calculating each tilt angle after moving the light irradiation point, and a horizontal angle and a vertical angle calculated by the horizontal / vertical angle calculating means are corrected according to a calculation result of the tilt angle calculating means. The amount of deviation from the horizontal angle and the vertical angle before moving the collimation point or laser beam irradiation point of each angle and vertical angle is calculated, and a control signal for setting the amount of deviation to 0 is output to the rotation control means And a computing means for performing the above.

  (Operation) The rotation control means is a predetermined drive program (for example, on a route) based on construction plan information (for example, tunnel linear data and tunnel vertical section data corresponding to the route position) stored in the storage means. Receiving a control signal corresponding to a program for directing laser irradiation light to a plurality of specified positions on a tunnel excavation section corresponding to a predetermined position), and controlling the rotation drive of the horizontal axis and the vertical axis, thereby On the face, the laser irradiation light moves intermittently (every fixed time) at a predetermined timing along the design value of the tunnel excavation section to be excavated. During this time, the worker sequentially marks the laser beam irradiation points along the design value of the tunnel excavation cross section with paint. As a result, excavation can be performed by an excavator or boring using the paint mark attached along the design value of the tunnel excavation cross section as a guide.

In addition, when it is desired to point the collimation axis or laser beam irradiation axis at any position in the vertical section of the construction plan along the route at the site where the construction plan is formed, the distance input means can be When a distance to an arbitrary position is input (designated), a vertical section of the construction plan at the designated position on the route (for example, on the screen of the display means, based on the construction plan information stored in the storage unit, for example, An image related to the tunnel excavation section is displayed, and the x'y 'coordinates on the screen on which the vertical section image is displayed and the xy coordinates of the vertical section (for example, tunnel excavation section) of the construction plan at the specified position on the route Are substantially corresponding to each other (see FIGS. 5 and 6).
Then, the collimation point after moving the collimation point or the laser light irradiation point at an arbitrary point 233a in the image displayed on the screen (vertical section image of the construction plan, for example, an image of the tunnel excavation section) Alternatively, when designated as the laser beam irradiation point, the horizontal angle (θh) and the vertical angle (θv) with respect to the xy coordinates designated by the horizontal / vertical angle calculating means are calculated. Further, each tilt angle (X0, Y0) before moving the collimation point or the laser beam irradiation point is stored in the storage means, and the tilt angle calculation means stores the tilt angle (X0, Y0) and the collimation point or laser beam. horizontal angle deviation (θh-θ0) and a respective tilt angle after quasi point or laser beam irradiation point moves seen in groups (XH, YH) is calculated indicating a difference between the horizontal angles before and after moving the irradiation point . According to this calculation result, the horizontal angle (θH) and the vertical angle (θV) after movement of the collimation point or the laser beam irradiation point are corrected by the calculation means . Then, the xy coordinates (x ₁ , y ₁ ) in the vertical section (for example, tunnel excavation section) of the construction plan corresponding to the designated position coordinates (x ′ ₁ , y ′ ₁ ) on the screen and the total station are calculated by the calculation means. Of the horizontal axis (θH) and vertical angle (θV) of the corrected horizontal angle (θH) and the horizontal angle before moving the laser light irradiation point and the vertical angle, respectively. Calculate the amount of deviation. Further, the calculation means outputs a control signal for setting the amount of deviation to 0 to the rotation control means, whereby the horizontal axis and the vertical axis are rotationally driven, and the collimation axis of the collimation telescope or the laser beam irradiation axis is changed. Directed to the specified position.

For example, if you want to measure a predetermined point on the excavated tunnel face (measurement to obtain 3D coordinates by distance measurement and angle measurement), install a reflective target at the position you want to measure on the face. If the approximate distance from the machine point to the face of the face to be viewed is input (designated), a tunnel excavation cross-sectional image at the route position corresponding to the input distance is displayed on the screen. Therefore, in this tunnel excavation cross-sectional image, the position roughly corresponding to the target installation point is designated as the collimation point after moving the collimation point , thereby obtaining the deviation amount between the designated position and the collimation axis. The rotation of the horizontal axis and the vertical axis is controlled so that the amount of deviation becomes zero, and the collimation point of the telescope is automatically directed to the designated position. Therefore, a predetermined point on the face of the tunnel is measured by distance measurement / angle measuring means. Note that the method of the distance measuring means may be either a phase difference method or a pulse method.

Also, if you want to mark a predetermined point on the tunnel face in order to set up blasting, enter (designate) the approximate distance to the face to be seen in the tunnel vertical cross-section image displayed on the screen. The position roughly corresponding to the predetermined point to be marked is designated as the laser light irradiation point after the collimation point is moved, whereby the amount of deviation between the designated position and the laser light irradiation axis is obtained. The rotation of the horizontal axis and the vertical axis is controlled so as to be 0, and the laser beam irradiation axis is automatically directed to the designated position. Therefore, it is only necessary to irradiate the laser beam by the laser irradiation means and mark the laser beam irradiation position.

Also, if you want to place a reinforcing material such as a lock bolt at a predetermined position on the inner peripheral surface of the tunnel hole behind the tunnel during excavation, enter the approximate horizontal distance from the mechanical point to the planned reinforcing material placement position ( If specified, a tunnel excavation cross-sectional image at the route position corresponding to the input distance is displayed on the screen. Therefore, in the tunnel excavation cross-sectional image displayed on the screen, by designating a position roughly corresponding to the reinforcing material placement planned position as a laser beam irradiation point after moving the collimation point , The amount of deviation from the laser beam irradiation axis is obtained, and the rotation of the horizontal axis and the vertical axis is controlled so that the amount of deviation is zero, and the laser beam irradiation axis is automatically directed to the designated position. Therefore, it is only necessary to irradiate the laser beam by the laser beam irradiation means and mark the laser beam irradiation position.

  In this way, the operator performs an operation for inputting the approximate distance from the instrument point at the position to be measured or the position to be irradiated with the laser light, and an operation for designating the collimation point or the laser light irradiation point on the screen. The collimation axis of the collimation telescope or the laser beam irradiation axis can be immediately directed in the specified direction simply by performing the above.

In the total station according to claim 2 , in the total station according to claim 1, the tilt angle calculation means may perform a collimation point or laser beam according to coordinate conversion when the X-axis and the Y-axis are respectively rotated by a horizontal angle deviation. Each tilt angle after movement of the irradiation point is calculated.

(Operation) Since each tilt angle after the collimation point or the laser beam irradiation point is moved is calculated according to the coordinate transformation, each tilt angle after the movement can be accurately obtained.

As is apparent from the above description, according to the total station of claim 1, when the collimation axis of the collimation telescope or the laser beam irradiation axis is directed in the specified direction, the tilt angle detection value before being directed is based on the detected tilt angle value. calculating a tilt angle after towards, since the calculated horizontal angle and the vertical angle after having its collimation axis or laser irradiation visual axis based on the calculated value in the specified direction, taking into account the tilt angle Thus, the time required to correct the horizontal angle and the vertical angle and direct the laser irradiation light to a predetermined position is remarkably shortened.

According to the total station of the second aspect, since each tilt angle after movement is obtained by coordinate conversion, each tilt angle after movement of the collimation point or laser light irradiation point can be obtained accurately.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 to 8 show a total station according to an embodiment of the present invention. FIG. 1 is a block diagram for explaining the overall configuration of the total station with a laser pointer according to an embodiment of the present invention. It is a figure explaining the optical system and automatic collimation device of the total station, FIG. 3 (a) is a front view of the total station, FIG. 3 (b) is a rear view of the total station, FIG. FIG. 4 is a diagram showing a touch panel display extracted from the total station, FIG. 4 is a diagram illustrating a cross-shaped line sensor used in the automatic collimation device of the total station, and FIG. 5 is a configuration of a display used in a measurement controller the is a diagram illustrating, FIG. 6 shows a tunneling sectional, 7 move quasi point or laser beam irradiation point viewing After a diagram for explaining a method of obtaining the coordinate conversion tilt angle, FIG. 8 is a flowchart for explaining the operation of Rutoki toward the collimation axis of the telescope in any direction.

  The total station 110 with a laser pointer of the present embodiment is shown in FIG. 3 as a whole. For example, when marking a tunnel face as a drilling standard when excavating a tunnel that is a construction plan in a dark construction site or the like, As shown in FIG. 3A, the collimating telescope 46 provided in the total station 110 is the center of the optical system of the collimating telescope 46. The collimation axis O is set at the position (δx, δy) offset from the collimation axis O, and the laser beam irradiation axis O1 of the laser pointer as the laser beam irradiation means is parallel to the collimation axis O. Is set. Further, as shown in FIGS. 3A and 3B, a horizontal rotation axis (vertical axis) 43A is mounted on the leveling table 40 so as to be horizontally rotatable, and is integrated with the horizontal rotation axis (vertical axis) 43A. A telescope 46 is attached between a pair of pillars 44 of a total station main body (hereinafter referred to as main body) 42 by a vertical rotation axis (horizontal axis) 43B so as to be vertically rotatable. That is, the telescope 46 can rotate horizontally with respect to the leveling table 40 by a horizontal rotation axis (vertical axis) 43A and can rotate by a vertical rotation axis (horizontal axis) 43B.

  The leveling table 40 includes a lower plate 34, a surface plate 35, and three leveling screw portions 36 as an automatic leveling table, and two leveling screws 36 among the three leveling screws 36. Is connected to a drive motor (not shown) as a rotary drive shaft. A main body 42 is fixed to the upper portion of the surface plate 35, and the lower plate 34 is fixed to a tripod or a base plate (not shown). Further, an XY coordinate inclination sensor (not shown) with a built-in control circuit is fixed to the edge of the surface plate 35. The inclination sensor detects the amount of inclination (θx, θy) of the main body 42 and supplies the detection output to a drive motor provided on the two leveling screws 36. Each drive motor is configured to rotationally drive the leveling screw 36 in a direction in which the amount of inclination (θx, θy) is 0, so that the main body 42 is automatically maintained in a horizontal state. That is, when the total station 110 is installed, the horizontal state is always maintained even when the total station 110 is tilted due to vibration or the like. This automatic leveling device is disclosed in detail in, for example, Japanese Patent No. 2655276 and Japanese Patent No. 2688933.

Further, as shown in FIGS. 1 and 3A , the main body 42 of the total station 110 of the present embodiment has an X-axis tilt angle that is an inclination (angle) in the front-rear direction (X-axis direction) of the main body 42. And an Y-axis tilt sensor 22Y for detecting a Y-axis tilt angle, which is an inclination (angle) in the left-right direction (Y-axis direction) of the main body portion 42, is provided. In FIG. 3A, the left-right direction is the Y axis, and the direction perpendicular to the Y axis and perpendicular to the paper surface is the X axis. The tilt angle detected by the tilt sensors 22X and 22Y is used to correct an angle measurement value associated with the tilt of the main body 42. That is, when the main body 42 is tilted with respect to the X axis, the tilt is an error of the vertical angle (zenith angle), and when the main body 42 is tilted with respect to the Y axis, the main body 42 is rotated horizontally. Since the inclination becomes a horizontal angle error, the horizontal angle and the vertical angle are corrected based on the detection values of the tilt sensors 22X and 22Y.

  The total station 110 of this embodiment is configured as an automatic collimation type total station having an illumination device that irradiates illumination light toward a measurement target captured by the collimating telescope 46, for example, a reflection target 90 installed on a face of a tunnel. ing. Specifically, as shown in FIGS. 1 and 3, a distance measuring unit (light wave distance) as a distance measuring means for measuring the distance from the instrument point to the measurement point by collimation through the collimation telescope 46. 48), a horizontal angle measuring unit (horizontal encoder) 50 for measuring the horizontal angle of the collimating telescope 46 (the collimation axis O), and the vertical angle (vertical angle) of the collimating telescope 46 (the collimation axis O) ), A horizontal control unit (horizontal servomotor) 54 for controlling the horizontal angle of the collimation telescope 46 (the collimation axis O), and the collimation telescope 46 (sight of the collimation telescope 46). A vertical control unit (vertical servomotor) 56 that controls the vertical angle (vertical angle) of the quasi-axis O), and a CPU (arithmetic control unit) 58 for controlling each of these units and calculating the measurement results are provided. Yes. Of course, the collimation telescope 46 can be manually rotated easily.

  Further, the total station 110 of the present embodiment designates measurement points by touching with a measurement point designation means such as a touch pen 68 or a finger for automatic collimation using the reflective target 90, and inputs various data and commands. In order to exchange information (input / output data) wirelessly or by wire with an external device such as a measurement controller (personal computer) 200 as a remote controller separate from the touch panel display 64 and the total station 110. The input / output device 66 is provided.

As shown in FIG. 3B, the touch panel display 64 is attached to the lower back surface of the main body 42, and here, a reticle indicating the direction of the collimation axis (optical axis) O of the collimation camera optical system. A line (crosshair) 92, icons for inputting various commands, numeric keys for inputting data, measurement results obtained by the distance measuring section 48 and angle measuring sections (angle measuring means) 50, 52, and the like can be displayed. It is like that. In the state where the collimating the reflected target 90 installed in a measuring point, on the touch panel display 64, the image 90 ₁ of the reflection target 90 captured by the quasi-camera optical system 47 as viewed to be described later is displayed. The reticle line (crosshair) 92 on the touch panel display 64 does not move even if the collimation telescope 46 is rotated in the vertical and horizontal directions. FIG. 3 (b), the touch panel display 64 (c), the collimation reticle line view showing the collimation axis O of the telescope 46 state overlapping the state where the center of the (crosshairs) 92 and the reflected target image 90 ₁ is displaced (Matched state).

  Further, instead of the touch panel display 64, a display device such as a liquid crystal display and a keyboard for inputting various commands and data are used separately, or a cursor movement key is used as a measurement point designating means. A mouse, a trackball, a joystick, or the like may be used.

  The collimating camera optical system 47 is configured by installing the objective lens 11, the reflecting prism 70, the dichroic mirror 72, the beam splitter 120, the focusing lens 19, and the collimating CCD camera element 45 on the collimation axis O. Yes. The collimating camera optical system 47 includes a light emitting element 74 such as an infrared LED that emits distance measuring light, a condensing lens 76 that condenses the distance measuring light, and a reflecting prism 70 that collects the collected distance measuring light. A distance measuring unit optical system composed of a dichroic mirror 78 reflecting toward the optical axis. The optical axis O2 of the distance measuring unit optical system is an optical system conjugate with the collimating axis O and coaxial with the collimating axis O. A distance measuring unit optical system is used, and substantially parallel light is emitted from the objective lens 11. Note that diffused light may be transmitted from the lens 76.

  Further, the collimating camera optical system 47 reflects a light source 80 such as an LED that illuminates with visible light, a condensing lens 82 that condenses the irradiation light, and the condensed illumination light toward the reflecting prism 70. It has an illuminating device composed of a mirror 84. The optical axis O3 of the illuminating device is an optical system conjugate with the collimation axis O and is a collimation axis O and a coaxial illumination optical system, and substantially parallel light is emitted from the objective lens 11.

Further, in the collimation camera optical system 47, the distance measuring light reflected and diffused by the reflection target 90 installed at the measurement point is reflected by the dichroic mirror 72 and enters the light receiving element 86 such as a photodiode, and the CPU 58 measures the distance. Is done. The reflection image of the target 90 through a focusing lens 19 passes through the beam splitter 120, and focused on the collimation CCD camera element 45 into a digital image, display as a reflected target image 90 ₁ on the touch panel Display 64 Is done. If the light source 80 flashes also flashes reflected target image 90 ₁ appearing on the display 64. Part of the light from the light source 80 reflected by the reflection target 90 forms an image as a light receiving spot 130 on the cross-shaped line sensor 122 via the beam splitter 120 (see FIG. 4). Since the image formation (light receiving spot) 130 of the light source 80 may not come on the pixels of the line sensor 122 (123, 124), the collimation telescope 46 is rotated in the vertical direction and the horizontal direction to thereby generate the light source 80. The imaging center 131 position of the light source 80 can be recognized by causing at least a part of the imaging (light receiving spot) 130 to be on the pixels of the line sensors 123 and 124. Then, the collimation telescope 46 is rotated (automatically collimated) in the vertical and horizontal directions so that the imaging center 131 of the light source 80 coincides with the center 125 of the line sensor 122. In the collimating camera optical system 47, other appropriate imaging elements may be used instead of the collimating CCD camera element 45, and a sensor such as a quadrant sensor is appropriately used instead of the cross-shaped line sensor 122. Also good.

  The illumination light may be infrared laser light, but in this embodiment, an illumination device that emits visible illumination light from a light source 80 such as an LED is provided so that the illumination light easily spreads over the entire visual field.

In this embodiment, the light source 80 can be blinked by an on / off switching command from the CPU 58. Of course, the light source 80 may be blinkable by an appropriate modulation circuit. When blink the light source 80, also the reflection target 90 directly visible in the dark, since the reflected target image 90 ₁ on the touch panel display 64 also flashes facilitates specifying a more reflective targets 90 to visually recognize easily the measurement point.

  The distance measuring light (LED or infrared laser light) emitted from the light emitting element 74 is transmitted toward the target to be measured through the condenser lens 76, the dichroic mirror 78, the reflecting prism 70, and the objective lens 11. . Then, the distance measuring light reflected by the reflection target 90 travels backward in the optical path that has just arrived, passes through the objective lens 11, is reflected by the dichroic mirror 72 in a right angle direction, and enters the light receiving element 86. As in the prior art, the distance to the reflection target 90 is the reference light that directly enters the light receiving element 86 from the light emitting element 74 through an optical fiber (not shown), and the distance measuring light that is reflected by the reflection target 90 and then enters the light receiving element 86. And the phase difference between the reference signal and the reference signal.

  On the other hand, the illumination light emitted from the light source 80 passes through the condenser lens 82, the mirror 84, the reflection prism 70, and the objective lens 11, and is transmitted toward the reflection target 90 installed at the measurement target measurement point. Then, the diffuse illumination light reflected by the reflection target 90 travels backward in the optical path that has come, passes through the objective lens 11 and the dichroic mirror 72, and is divided into two by the beam splitter 120. One enters the collimating CCD camera element 45 through the focusing lens 19 to form an illuminated target image, and this image is converted into a digital image, and the other of the divided lights is a cross-shaped line. It is condensed on the sensor 122. Since the digital image obtained by the collimating CCD camera element 45 is displayed on the touch panel display 64, collimation is confirmed by matching the reticle line (crosshair) 92 on the display 64 with the crosshair indicating the center of the reflection target 90. can do.

  The collimation telescope 46 of this embodiment has a laser beam collimation axis O1 parallel to the collimation axis O and includes a lens 88 and a red laser light source 89. It is configured so that the red laser beam can be irradiated along the laser beam collimation axis O1.

  In this embodiment, an automatic collimation device 69 including a cross-shaped line sensor 122, a CPU 58, a horizontal control unit 54, and a vertical control unit 56 is provided, and the automatic collimation device having the cross-shaped line sensor 122 is provided. Will be described with reference to FIGS.

  As shown in FIG. 4, the cross-shaped line sensor 122 is a combination of two line sensors 123 and 124 in a cross shape, and a light beam along the center 125 and the collimation axis O of the collimation camera optical system. The incident position is matched. The output signals from both line sensors 123 and 124 are input to the CPU 58 as an incident position signal indicating the incident position of the light beam through a signal processing unit 91 constituted by an amplifier, a waveform shaper, an A / D converter, and the like. . Then, as shown in FIG. 4, the CPU 58 takes in the incident signals by the outputs of the photoelectric conversion element groups of both line sensors 123 and 124 that are sensitive to the irradiation spot 130, and the midpoints 128 and 129 of the respective light receiving portions 126 and 127. To obtain the horizontal deviation h1 and the vertical deviation v1 between the center 125 of the cross-shaped line sensor 122 and the center 131 of the irradiation spot 130 of the reflected light from the reflection target 90 by the illumination light of the light source 80. Since both the deviations h1 and v1 correspond to the angle formed by the collimation axis O and the target direction (collimation point), the CPU 58 applies a control signal corresponding to both the deviations h1 and v1 to the horizontal control unit 54 and the vertical control, respectively. Rotating the vertical shaft 43A and the horizontal shaft 43B by driving the motor so that both deviations h1 and v1 are both zero, and reflecting the collimation telescope 46 (the collimation axis O) of the main body 42. The target 90 is directed to the center, that is, the reflective target 90 is automatically collimated. In addition to the cross-shaped line sensor 122, a sensor such as a quadrant optical sensor can be used for the automatic collimation device.

  In addition, the measurement controller 200 in the present embodiment incorporates a personal computer (CPU) 202 for remotely operating the total station 110 while exchanging information via the total station main body and the input / output device 66, and a touch panel display 64. A similar function is provided, and as shown in FIG. 5, a display panel 210 as a display means is provided.

  The storage unit (memory) 203 which is a storage unit of the CPU 202 includes tunnel excavation plan information (tunnel linear data and data related to the tunnel vertical section with respect to the route position), and “face surface A of the tunnel T. A predetermined drive program for controlling the drive of the total station 110 so that the laser irradiation light is sequentially directed to a plurality of specified positions (see reference numerals P1 to P7 in FIG. 6) on the outer shape of the tunnel vertical section at a predetermined route position corresponding to Is stored. Therefore, as shown in FIG. 6, when marking the tunnel face excavation on the face A using the total station 110 installed so as to face the face A of the tunnel T, the CPU 202 performs this drive. In accordance with the program, a control signal for intermittently driving the horizontal shaft 43B and the vertical shaft 43A by a predetermined angle while irradiating red laser light from the laser light irradiation device (laser pointer) 87 of the total station 110 is input / output device of the total station 110. 66 is transmitted wirelessly. When this control signal is transferred from the input / output device 66 to the CPU 58, the CPU 58 outputs a signal for starting the laser light source 89 and also outputs a control signal for intermittently driving the horizontal shaft 43B and the vertical shaft 43A. The data is output to the vertical control unit 56 and the horizontal control unit 54. Thereby, on the face A of the tunnel, as indicated by reference signs P1 → P2 →... P6 → P7 in FIG. 6, the laser irradiation light is spot-like at predetermined intervals along the outer shape of the tunnel excavation section to be excavated. If the worker marks the spot irradiation positions (P1, P2,... P6, P7) of the laser irradiation light sequentially with paint, the paint corresponding to the tunnel excavation cross-sectional profile on the face A The mark is applied. After the marking operation is completed, the driving of the total station 110 is stopped, and excavation is continued with reference to the paint mark corresponding to the tunnel vertical cross-sectional outline.

  When the excavation over a predetermined length is completed, the total station 110 is set again at a predetermined position facing the new face, and the instrument point position of the total station 110 is obtained from the rear reference point by the backward intersection method, and measurement control is performed. After this instrument point position is set in the machine 200, the driving of the total station 110 is controlled again based on the driving program of the measurement controller 200. As described above, the laser irradiation light sequentially moves spotwise along the outer shape of the tunnel excavation cross section in a spot-like manner on the facet surface, so that the operator marks the spot irradiation position of the laser irradiation light. Continue drilling the face with the paint mark as a reference. By repeating such work, the tunnel, which is the construction plan, is completed.

  Further, on the display panel 210 of the measurement controller 200, as shown in FIG. 5, an on-route position designation area 220 as a distance input means for inputting a distance from an instrument point to an arbitrary position on the route L, and a distance input A position designation area 230 on the excavation section is provided, which is a display means for displaying an image relating to the excavation section of the tunnel at an arbitrary position on the route L input by the means (on-line position designation area 220).

  In the position designation area 220 on the route, the distance (m) from the instrument point position 222 of the total station 110 to an arbitrary position on the route L is calibrated, and the instrument is used by using a touch pen as an input means. As a distance from the point 222 to an arbitrary position on the line L, for example, when a scale of 80 meters is touched, the position display line 224 on the line moves to the scale position 224a of 80 meters touched by the pen and the CPU 202 which is a calculation means. Is input with distance information of 80 meters as a distance from the instrument point position to an arbitrary position on the route L. In this case, after designating the distance from the instrument point 222 to an arbitrary position on the route L, the distance increase / decrease area key 226 is operated so that the distance from the instrument point 222 to the arbitrary position is 1 m, 0.1 m, It can be increased or decreased (adjusted) by switching to a predetermined unit of 0.01 m.

  When a distance from the instrument point 222 to an arbitrary position on the route L is input, plan information for tunnel excavation stored in the storage unit (memory) 203 (tunnel linear data and route position as a construction plan) In the area 230 on the screen, a tunnel excavation cross-sectional image (planned excavation cross-sectional image) 232 at an input distance equivalent position (for example, a position of 80 meters) is displayed in the area 230 on the screen. Is done. The planned excavation section image 232 is displayed along the orthogonal coordinate axis x'y 'on the screen, and the formation line FL and the spring line SL as the planned height are also displayed in the planned excavation section image 232.

Reference numeral 234 denotes a mode switching area key for selectively switching between the laser beam irradiation mode and the automatic collimation mode. The operator uses a touch pen or the like to place the planned excavation cross-sectional image 232 on the screen of the display panel 210. When the fixed point 233a is designated as a collimation point after moving the collimation telescope 46 or a laser beam irradiation point, and the automatic collimation mode is selected by clicking the mode switching area key 234, the CPU 202, The x′y ′ coordinates (see FIG. 5) on the screen are associated with the xy coordinates (see FIG. 6) of the planned excavation section (vertical section), and the designated point coordinates (x ′ ₁ , y ′ on the screen). tunnel planning drilling section on coordinates for ₁₎ a _{(x 1, y} 1) and computation, the coordinate values of the planned drilling cross section _(x 1, _{y 1),} adjacent to the mode switching area key 234 Are displayed in the coordinate display areas 235a and 235b provided. Then, the CPU 202 calculates a vertical angle (θa) and a horizontal angle (θb) for making the collimation axis O coincide with the designated position (x ₁ , y ₁ ) on the planned excavation cross section. In this case, in order to calculate the vertical angle and the horizontal angle in consideration of the inclination of the main body 42, it is necessary to correct based on the detection values of the tilt angle sensors 22X and 22Y. However, even if the collimation telescope 46 is rotated to move the collimation point or the laser beam irradiation point , the vertical angle and the horizontal angle are corrected based on the detection values of the tilt angle sensors 22X and 22Y. sensors 22X, the detection value of 22Y it takes time to stabilize, the waiting time until directing collimation axis of the viewing mutatis mutandis telescope 46 in the specified direction is longer.

Therefore, in this embodiment, before moving the collimation point or the laser light irradiation point, the tilt angle detected by the tilt sensor 22X is set as X0, and the tilt angle detected by the tilt sensor 22Y is stored as Y0 in the memory 203, respectively. In addition, a configuration is adopted in which the horizontal angle θ0 obtained by the angle measurement by the horizontal angle measuring unit 50 is stored in the memory 203. Further, when a quasi-point or laser beam irradiation point view to direct visual mutatis mutandis telescope 46 in the direction of the specified is specified, CPU 202 is moved, the horizontal and vertical angle calculating means, the quasi-point or laser beam irradiation point viewing as the horizontal angle θh and calculates the vertical angle .theta.v, tilt angle calculating means on the assumption that the applied mutatis mutandis telescope 46 viewing the reference point or the laser beam irradiation point vision after being as collimated point is collimated, the memory 203 storage contents (θ0, X0, Y0) of the horizontal and vertical angle calculating means calculates the result (θh, θv) horizontal angle of the horizontal angle [theta] h after rotation and horizontal angle .theta.0 before rotation of mutatis mutandis telescope 46 viewed based on The deviation (θh−θ0) is calculated, and the tilt angle XH, YH after movement is calculated based on the calculated horizontal angle deviation (θh−θ0) and the tilt angles X0, Y0 before movement of the collimation point or laser light irradiation point. Is calculated. Further, the CPU 202 corrects the horizontal angle θh and the vertical angle θv calculated by the horizontal / vertical angle calculating unit according to the tilt angles XH and YH calculated by the tilt angle calculating unit, and the corrected horizontal angle θH and vertical angle are calculated. The shift amount from the horizontal angle and the vertical angle before moving each collimation point or laser beam irradiation point of θV is calculated, and the calculation result is transferred to the CPU 58 via the input / output device 66. .

Specifically, when performing a laser marking, when a communication command for enabling tilt correction is input to the measurement controller 200, the horizontal angle θ0 measured by the horizontal angle measuring unit 50 is used as a collimation point or laser light irradiation. while being stored in the memory 203 as a horizontal angle before before moving the point, tilt sensors 22X, as the tilt angle before before moving the tilt angle X0, Y0 is a quasi-point or laser beam irradiation point viewed by the detection of 22Y Stored in the memory 203.

Thereafter, in order toward the collimation axis of the viewing mutatis mutandis telescope 46 in the specified direction, quasi-point or quasi-point or laser beam irradiation point vision after the laser beam irradiation point is moved to the specified position viewing is designated Then, a communication command for invalidating tilt correction is input to the measurement controller 200, and processing by the CPU 202 is started. First, CPU 202 is likely to apply mutatis mutandis telescope 46 viewed in the reference point or a laser beam irradiation point view after moving the quasi-point or laser beam irradiation point is assumed to have been collimated Kino horizontal angle θh and the vertical angle θv And the horizontal angle between the horizontal angle θ0 before moving the collimation point or the laser beam irradiation point and the horizontal angle θh after moving based on the calculation result and the horizontal angle θ0 stored in the memory 203 The deviation (θh−θ0) is calculated, and the post-movement tilt angles XH and YH are calculated according to the following arithmetic expression based on the calculated horizontal angle deviation (θh−θ0) and the pre-movement tilt angles X0 and Y0. .
Tilt angle XH = X0 · cos (θh−θ0) −Y0 · sin (θh−θ0) (1)
Tilt angle YH = X0 · sin (θh−θ0) + Y0 · cos (θh−θ0) (2)
As shown in FIG. 7, the tilt angles XH and YH are defined as horizontal angle deviation θ (= θh−) with the x-axis and y-axis as coordinates (X0, Y0) with respect to the x-axis and y-axis. It can be obtained according to coordinate transformation when rotated by θ0). However, in FIG. 7, x is XH, y is YH, X is X0, Y is Y0, and θ is determined as θh−θ0.

Quasi point or laser light irradiation tilt angle after moving the point XH, when YH is calculated viewing, calculated tilt angle XH, that to correct the horizontal angle θh and the vertical angle θv after movement based on YH . The vertical angle theta V and the horizontal angle θH after compensation for calculating according to the following arithmetic expression (correction equation).
Corrected horizontal angle θH = θh− (YH / tan (θv)) (3)
Corrected vertical angle θV = θv−XH
…………… (4)
In this case, the CPU 202 calculates the amount of deviation from the horizontal angle and the vertical angle before moving the collimation point or laser light irradiation point of the corrected horizontal angle θH and vertical angle θV, and inputs and outputs this calculation result. through the device 66 that have adapted to transfer CPU 58. The CPU 58 generates a control signal for setting the shift amount based on the calculation result of the CPU 202 to 0 and outputs the control signal to the vertical control unit 56 and the horizontal control unit 54.

On the other hand, when the worker clicks the mode switching area key 234 on the screen and selects the laser light irradiation mode, the coordinates on the planned excavation cross section of the tunnel with respect to the specified point coordinates (x ′ ₁ , y ′ ₁ ) on the screen The amount of deviation between the vertical angle and the horizontal angle of the laser beam irradiation axis O1 with respect to (x ₁ , y ₁ ) is calculated according to the arithmetic expressions (1) to (4), and the coordinate values (x ₁ , y ₁ ) and the amount of deviation are calculated. coordinate display area 235a, that displays in 235b.

Since the collimation axis O and the laser beam irradiation axis O1 are offset by δx in the horizontal direction and δy in the vertical direction, the deviation between the collimation axis O and the laser beam irradiation axis O1 at the route distance Lz is horizontal. Δx / Lz in the vertical direction and θy / Lz in the vertical direction, the deviation between the designated position (x ₁ , y ₁ ) on the planned excavation section and the laser beam irradiation axis O1 is the specified position (x ₁ on the planned excavation section). , _{y 1)} and viewed against the shift amount of the collimation axis O, .delta.x / Lz horizontally, may do it corrected by [theta] y / Lz vertically. That plan vertical angle Shita'V and horizontal angle Shita'H designated positions of the drilling on the cross section, θ'V = θV + θY / Lz , θ'H = θH + δx / Lz and to be you to correct the laser beam irradiation When the mode is selected, the CPU 202, which is a calculation means, calculates the amount of deviation between the designated position and the laser beam irradiation axis O1 based on this correction formula.

  In addition, after the worker designates the collimation point (or laser beam irradiation point) 233a on the screen of the display panel 210 using a touch pen or the like, the designated position adjustment area keys 236a and 236b on the lower left of the screen are respectively operated. The position of the collimation point (or laser light irradiation point) 233a can be switched to a predetermined unit of 1 m, 0.1 m, and 0.01 m, and the position can be corrected in the x and y directions by increasing / decreasing (adjustment). .

Thereafter, the CPU 202 wirelessly transmits the calculation result to the input / output device 66 of the total station 110. When the calculation result of the CPU 202 of the measurement controller 200 is transferred to the CPU 58 of the total station 110, a control signal for rotationally driving the horizontal axis 43B and the vertical axis 43A by the CPU 58 constituting the calculation means together with the CPU 202 of the measurement controller 200. (Control command) is generated. That, CPU 58 is a control signal for a's Les amount of the coordinates of the specified point _(x 1, _{y 1)} and viewed mutatis mutandis collimation axis O (or laser beam irradiation axis O1) visual telescope 46 to 0 Generated and output to the vertical control unit 56 and the horizontal control unit 54. The vertical control unit 56 and the horizontal control unit 54 rotate and drive the horizontal shaft 43B and the vertical shaft 43A according to a control signal from the CPU 58 as rotation control means.

As a result, the collimation axis O (or laser beam collimation axis O1) of the collimation telescope 46 is a predetermined position on the planned excavation cross section of the tunnel at a viewing distance of 80 meters from the total station 110 ((x ₁ , y ₁ ) directed to position).

Accordingly, in the tunnel excavation site, as shown in FIG. 6, when it is desired to measure the predetermined position 233a1 on the face A (measurement of three-dimensional coordinate values), first, as shown in FIG. The total station 110 is installed (step S1), the reflection target 90 is installed at a predetermined position 233a1 of the face A to be measured, and an angle is measured by designating another known point (step S2). For example, an arbitrary known point is used as an instrument point, and a horizontal angle with respect to another known point is measured. Thereafter, when a communication command for enabling the tilt correction is input to the measurement controller 200 by the operator's operation, the tilt correction is turned on (step S3), and the horizontal angle measured by the horizontal angle measuring unit 50 is horizontal. The detected values of the angle and tilt angle sensors 22X and 22Y are acquired as the horizontal angle θ0 and the tilt angles X0 and Y0 before moving the collimation point or the laser beam irradiation point, respectively , and the acquired horizontal angle θ0 and tilt angle X0, Y0 is stored in the memory 203 (step S4). Next, when a communication command for invalidating tilt correction is input to the measurement controller 200, a command for invalidating (OFF) tilt correction is input to the CPU 202 (step S5). Thereafter, in the measurement controller 200, an approximate visual distance (for example, 80 meters) from the total station 110 to the facet A of the tunnel is input by the operator's operation, and the tunnel planned excavation section displayed in the area 230 on the screen is displayed. A collimation point after a predetermined position 233a2 (x ′ ₁ , y ′ ₁ ) approximately corresponding to the reflection target installation point 233a1 (x ₁ , y ₁ ) in the image 232 moves the collimation point or the laser light irradiation point Is specified, the command for directing the laser beam irradiation axis of the total station 110 to the predetermined position 233a2 (x′1, y′1) is input to the CPU 202 (step S6). The tilt angles XH and YH after movement are calculated according to (2) (step S7). Moreover, Te CPU202 smell, horizontal angle and vertical angle after compensation is arithmetic expression (3) is calculated according to (4) (step S8). In this case, the automatic collimation mode is selected from the corrected horizontal angle θH and vertical angle θV, so that the designated point 233a2 (x ′ ₁ , y ′ ₁ ) on the tunnel planned excavation section with a route distance of 80 meters is viewed. The amount of deviation from the quasi-axis O is obtained. Next, by transmitting this amount of deviation from the measurement controller 200 to the total station 110, the horizontal axis 43 </ b> B and the vertical axis 43 </ b> A are rotationally driven so that the amount of deviation is zero in the total station 110. The collimation axis O faces the general reflection target 90 (reflection target installation point 233a1) (step S9).

  Next, when the automatic collimation area key 237a and the prism use key 237b on the display panel 210 are clicked to activate the automatic collimation device 69 in the total station 110, the irradiation light from the light source 80 is irradiated on the face A of the tunnel T. The horizontal axis 43B and the vertical axis are irradiated so that the horizontal deviation h1 and the vertical deviation v1 between the center 131 of the light receiving spot 130 of the reflected light 90 and the center 125 of the cross-shaped line sensor 122 are zero. The shaft 43A is rotationally driven, and the collimation axis O of the collimation telescope 46 can be accurately directed to the center position of the reflection target 90 on the face A of the tunnel T. Accordingly, the measurement area key 238 on the display panel 210 is clicked, and the distance measurement / angle measurement means in the total station 110 is operated to obtain the distance and angle (horizontal angle and vertical angle) to the reflection target 90.

Further, when it is desired to mark a predetermined point 233b1 on the tunnel face A in order to start blasting at the tunnel excavation site, in the measurement controller 200, an approximate visual distance from the total station 110 to the tunnel face A (for example, 80 meters). ) enter a, is moved a predetermined point disc 233b1 (x 2, collimation axis position (viewing _{of y 2)} outline corresponding to on tunnel face plane a in tunnel plan excavation cross-sectional image 232 displayed in the area 230 on the screen By designating as a laser beam irradiation point 233b2 (x ′ ₂ , y ′ ₂ ) and selecting a laser beam irradiation mode, the designated point 233b1 (x ₂ , x ₂ , x) on the tunnel planned excavation section with a route distance of 80 meters is selected. The amount of deviation between y ₂ ) and the laser beam irradiation axis O1 is obtained according to the arithmetic expressions (1) to (4). Next, by transmitting this amount of deviation from the measurement controller 200 to the total station 110, the horizontal axis 43B and the vertical axis 43A are rotationally driven so that the amount of deviation is zero in the total station 110, and the laser beam irradiation axis O1. Is directed toward the designated point position 233b1 (x ₂ , y ₂ ). Next, when the laser light irradiation area key 239 of the display panel 210 is clicked to activate the laser light irradiation means (laser pointer) 87 in the total station 110, a predetermined position 233b1 (x ₂ on the target tunnel face A). , Y ₂ ) is irradiated with laser light, and is marked with paint.

In addition, as shown in FIG. 6, when it is desired to arrange a reinforcing material such as a lock bolt at a predetermined position 233c1 on the inner peripheral surface of the tunnel hole behind the tunnel T during excavation, the measuring controller 200 starts the reinforcing material from the total station 110. Input the approximate visual distance (for example, minus 20 meters) to the planned placement position 233c1, and within the tunnel planned excavation cross-sectional image (tunnel planned excavation cross-sectional image at the route distance minus 20 meters) 232A displayed in the area 230 on the screen By designating a position 233c2 that roughly corresponds to the planned reinforcing material placement position 233c1 in the laser beam irradiation point (after moving the collimation axis) and selecting the laser beam irradiation mode, the route distance minus 20 meters designated points on the tunnel plan drilling section and shift amount of the arithmetic expression of the laser beam irradiation axis O1 ( ) Can be determined according to (4). Next, by transmitting this amount of deviation from the measurement controller 200 to the total station 110, the horizontal axis 43B and the vertical axis 43A are rotationally driven so that the amount of deviation is zero in the total station 110, and the laser beam irradiation axis O1. Faces the designated point position 233c1. Next, when the laser light irradiation area key 239 on the display panel 210 is clicked and the laser light irradiation means in the total station 110 is operated, the laser light is irradiated to the predetermined tunnel hole inner peripheral surface predetermined position 233c1. Mark here with paint.

  In addition, in the said Example, although comprised so that the total station 110 may be remotely controlled by radio | wireless from the measurement controller 200, the structure remote-controlled by a wire may be sufficient.

  In the above embodiment, the areas 220 and 230 and various operation area keys are set on the display panel 210 of the measurement controller 200, and the total station 110 is remotely controlled by the measurement controller 200. A structure in which the areas 220 and 230 and various operation area keys are set on the touch panel display 64 and the total station 110 can be operated alone may be employed.

  In the above-described embodiment, the collimation axis O and the laser beam irradiation axis O1 are offset by (δx, δy). However, the collimation axis O emits red laser light for marking. It is also possible to do.

  In the above-described embodiment, the case where the total station 110 is used for excavation of the tunnel T has been described. However, as a construction plan along the route, for example, a road is conceivable. The present invention can also be applied to a case where a mark indicating a kilometer post installation point, which is a road distance display, is attached to a position. However, in this case, plan information for tunnel excavation (tunnel linear data that is a construction plan) is stored in the storage unit (memory) 203 of the CPU 202 of the measurement controller 200, or in the case of using the total station 110 alone, in the CPU 58 of the total station 110. And data on the tunnel vertical section with respect to the route position) must be stored.

It is a block diagram of the whole total station which is one Example of this invention. It is a figure explaining the optical system and automatic collimation apparatus of the total station. (A) is a front view of the total station, (b) is a rear view of the total station, and (c) is a diagram showing an extracted touch panel display. It is a figure explaining a cross-shaped line sensor. It is a figure explaining the structure of the display used for a measurement controller. It is a figure which shows a tunnel excavation cross section. It is a figure for demonstrating the method of calculating | requiring the tilt angle after moving a collimation point or a laser beam irradiation point by coordinate transformation. It is a flow chart for explaining the operation of Rutoki toward the collimation axis of the viewing mutatis mutandis telescope in any direction.

Explanation of symbols

Working face surface of the T tunnel A tunnel O collimation axis 22X X-axis value Rutosensa 22Y Y-axis values Rutosensa 46 viewed mutatis mutandis telescope 47 collimation camera optical system 48 distance measuring unit (distance measuring means)
50 Horizontal angle measuring unit (angle measuring means)
52 Vertical angle measuring unit (angle measuring means)
54 Horizontal control unit (rotation control means)
56 Vertical controller (rotation control means)
58 CPU
64 Total station touch panel display 69 Automatic collimation device 80 Light source (illumination device)
87 Laser pointer (Laser beam irradiation means)
O1 Ray light irradiation axis 89 Laser light source 90 Reflection target 91 Signal processing unit 122 Cross-shaped line sensor 110 Total station with laser pointer 200 Measurement controller 202 CPU (horizontal / vertical angle calculation means, tilt angle calculation means, calculation means)
203 memory (storage means)
210 Display panel 220 Location designation area on route 230 Location designation area on excavation section 222 Instrument point L Route 232, 232A Planned excavation section image of tunnel FL Formation line SL Spring line 233a1 Designated point (collimation point) on face
233b1 Designated point on the face (laser irradiation point)
233c1 Designated point (laser irradiation point) on the inner surface of the tunnel
233a2, 233b2, 233c2 Designated points on the tunnel excavation cross section image

Claims (2)

A distance measuring means for ranging the distance to the collimation point from the instrument point visual mutatis mutandis distance measuring light emitted toward the collimation point from the telescope and by the return light, a horizontal angle and a vertical angle of the collimating telescope Angle measuring means for measuring an angle, a main body portion to which a collimating telescope is attached, an X-axis tilt sensor that detects an X-axis tilt angle that is an inclination in the front-rear direction of the main body portion, and a horizontal inclination of the main body portion. A Y-axis tilt sensor for detecting a certain Y-axis tilt angle, rotation control means for rotating and controlling the collimation telescope in the horizontal and vertical directions according to the control signal, and coaxial or parallel to the collimation axis of the collimation telescope In a total station equipped with laser light irradiation means for irradiating laser light along the laser light irradiation axis,
Of the horizontal angle measured by the angle measuring means and the tilt angle detected by each tilt sensor, the horizontal angle before moving the collimation point or the laser light irradiation point, the X-axis tilt angle, and the Y-axis tilt angle are respectively set. Storage means for storing and the collimation point after moving the collimation point or laser light irradiation point when the collimation point or laser light irradiation point after moving the collimation point or laser light irradiation point is designated Or a horizontal / vertical angle calculating means for calculating a horizontal angle and a vertical angle when the collimating telescope is assumed to be collimated at a laser beam irradiation point, and stored contents of the storage means and the horizontal / vertical angle calculating means Based on the calculation result, a horizontal angle deviation between the horizontal angle before moving the collimation point or laser light irradiation point and the horizontal angle after movement is calculated, and the calculated horizontal angle deviation and the collimation point or laser light irradiation are calculated. Based on each tilt angle before point movement Tilt angle calculation means for calculating each tilt angle after moving the collimation point or laser light irradiation point, and correcting the horizontal and vertical angles calculated by the horizontal / vertical angle calculation means according to the calculation result of the tilt angle calculation means And calculating a deviation amount from the horizontal angle and the vertical angle before moving the collimation point or the laser beam irradiation point of each of the corrected horizontal angle and vertical angle, and a control signal for setting the deviation amount to zero. A total station comprising a calculation means for outputting to the rotation control means.   2. The total station according to claim 1, wherein the tilt angle calculation unit is configured to change each tilt angle after moving the collimation point or the laser beam irradiation point according to coordinate conversion when the X axis and the Y axis are respectively rotated by the horizontal angle deviation. A total station characterized by calculating

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