JP6666406B2 - Photogrammetry system - Google Patents

Description

The present invention relates to a photogrammetry system capable of detecting a tilt of a light receiving device.

  As a method for measuring the distance to a measurement point, there is a method in which a target having retroreflective properties is installed on the measurement point, and the target is measured by a surveying device such as a total station to measure the distance to the measurement point.

Usually, the target is provided at the upper end of the pole, and the lower end of the pole is set at the measurement point.
In order to accurately measure the distance to the measurement point, the target must be located directly above the measurement point. If the pole is inclined, the inclination angle of the pole is detected and the target is detected. The position needs to be corrected.

  Conventionally, a laser plane is generated by rotating and irradiating a laser beam from a surveying apparatus main body along a reference line of the surveying apparatus, or a laser plane is generated by irradiating a line laser extending in the horizontal direction to generate a laser plane. Light is received by two detectors separated by a predetermined distance. The detector has a required length in the vertical direction, and measures the deviation length of the light receiving position of the two detectors with respect to the laser plane, and calculates the reference line of the surveying instrument from the distance between the two detectors and the deviation length. The inclination angle of the target with respect to was calculated.

  In the case of the conventional method, the accuracy of the detected tilt angle is determined by the resolution of measuring the distance between the two detectors and the deviation length. To improve the detection accuracy, increase the distance between the two detectors. There must be. On the other hand, the measurement range of the tilt angle is determined by the interval between the two detectors and the size of the detectors (the size of the light receiving range), and is proportional to the interval between the two detectors in order to secure a desired measurement range. Therefore, there is a problem that the detector must be enlarged.

  Conventionally, it is possible to detect the inclination angle with respect to the horizontal and vertical directions, but there is no one with high accuracy and high response speed, and the inclination of the target far from the reference line of the surveying instrument main body can be detected at high speed and with high accuracy. There was no tilt detection device that could be measured quickly and could be miniaturized.

The present invention has been made in view of the above circumstances, and provides a photogrammetry system capable of easily and accurately detecting a tilt angle of a target.

The present invention relates to a system for performing photogrammetry using a UAV , a surveying device having a distance measuring function and a line laser irradiating unit that is provided to be horizontally rotatable and irradiates a vertical line laser, and a known system. A camera provided with a light receiving device having at least two light receiving units provided at intervals, a target having retroreflective properties, and a calculating unit, rotating the line laser irradiation unit, and applying the line laser to each light receiving unit. The arithmetic unit corrects the position of the UAV by detecting a shift of the light receiving time of each light receiving unit and a tilt angle of the light receiving device based on a distance measurement result of the target of the surveying device, and The present invention relates to a photogrammetry system that corrects a photogrammetry result according to the inclination angle of the photogrammetry.

Further, the present invention relates to a photogrammetry system further comprising a diffraction grating provided in the line laser irradiation section, and dividing the line laser into predetermined angular intervals.

Further, the present invention relates to a photogrammetry system in which the light receiving section is a multifaceted sensor having a light receiving sensor provided at a predetermined angular pitch in a circumferential direction, and the target is a full-circle prism.

Furthermore, the present invention relates to a photogrammetry system in which the surveying device further has a tracking function, the surveying device emits tracking light, and tracks the light receiving device based on the tracking light reflected by the target. It is.

According to the present invention, there is provided a system for performing photogrammetry using a UAV , a surveying device having a distance measuring function and a line laser irradiating unit which is provided to be horizontally rotatable and irradiates a vertical line laser, A camera equipped with a light receiving device having at least two light receiving units provided at known intervals, a target having a retroreflective property, and an arithmetic unit, rotating the line laser irradiation unit, and setting each light receiving unit to Scan the line laser, the arithmetic unit corrects the position of the UAV by detecting the shift of the light receiving time of each light receiving unit and the inclination angle of the light receiving device based on the distance measurement result of the target of the surveying device , Since the survey result of photogrammetry is corrected based on the tilt angle of the camera, the tilt angle can be detected regardless of the size of the distance between the light receiving units, and the light receiving device can be reduced in size. The tilt angle of the light receiving device can be easily and quickly detected with high accuracy, and the accuracy of photogrammetry by the UAV can be improved .

  Further, according to the present invention, the apparatus further comprises a diffraction grating provided in the line laser irradiation unit, and divides the line laser into a predetermined angular interval. The inclination angle can be detected more accurately by averaging the detected inclination angles.

  Further, according to the present invention, the light receiving section is a polyhedral sensor having a light receiving sensor provided at a predetermined angular pitch in a circumferential direction, and the target is a full-circle prism, so that the light receiving device can be tracked from any direction. In addition to this, it is possible to make each light receiving unit receive the line laser, and it is not necessary to direct each light receiving unit to the inclination detecting device, so that workability can be improved.

Furthermore , according to the present invention, the surveying device further has a tracking function, and the surveying device emits tracking light and tracks the light receiving device based on the tracking light reflected by the target. Therefore, it is not necessary to point the surveying device at the light receiving device, and an excellent effect that workability can be improved is exhibited .

FIG. 2 is a side view illustrating the tilt detection system according to the first embodiment of the present invention. FIG. 2 is a front view illustrating an example of a tilt detection device used in the tilt detection system. (A) is a figure which shows the positional relationship of a 1st light receiving sensor and a 2nd light receiving sensor, (B) is a figure which shows the light receiving state of the said 1st light receiving sensor and the said 2nd light receiving sensor. FIG. 9 is a diagram showing light-receiving signal waveforms on a forward path and a return path according to a second embodiment of the present invention. FIG. 11 is a plan view illustrating a tilt detection system according to a third embodiment of the present invention. FIG. 11 is a diagram illustrating light-receiving signal waveforms on a forward path and a return path according to a third embodiment of the present invention. FIG. 14 is a diagram illustrating a positional relationship among a first light receiving sensor, a second light receiving sensor, and a third light receiving sensor according to a fourth embodiment of the present invention. (A) is a side view showing a light receiving device according to a fifth embodiment of the present invention, (B) is a plan view of the light receiving device, and (C) is a line laser received by each light receiving sensor. It is a figure showing a light reception signal waveform. FIG. 13 is a side view illustrating a tilt detection system according to a sixth embodiment of the present invention. (A) is an explanatory view showing an example of a direction sensor, and (B) is an explanatory view showing a direction angle detection method using the direction sensor.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  First, a distance measuring system according to a first embodiment of the present invention will be described with reference to FIG.

  In FIG. 1, reference numeral 1 denotes a surveying device having an inclination detecting mechanism, for example, a total station.

  A columnar light receiving device 2 is set up within the measurement range of the surveying device 1. The light receiving device 2 is provided on an upper end of a required support member (the pole 3 is shown in the figure) such as a pole or a tripod, and the light receiving device 2 is a target having a retroreflective property such as a corner cube or a reflection sheet. Four. The height of the target 4, that is, the height from the lower end of the pole 3, is known.

  The light receiving device 2 includes a first light receiving sensor 6 as a first light receiving portion and a second light receiving sensor 7 as a second light receiving portion capable of receiving a line laser 5 (described later) spreading in a vertical direction. It is provided at a predetermined interval, and the interval between the first light receiving sensor 6 and the second light receiving sensor 7 is known.

  The light receiving device 2 is provided with a two-dimensional direction sensor 8. The direction sensor 8 is, for example, a profile sensor that is a group of pixels as shown in FIG. 10A, and the pixels are arranged in a matrix, and each pixel receives tracking light (described later). It has become.

  The profile sensor has, for example, a rectangular shape as shown in FIG. 10 (A), and has an origin at the upper left corner, and as shown in FIG. 10 (B), in the X and Y directions. By detecting the peak pixel position of the level of the light receiving signal 57 of the tracking light when scanning is performed for each column, the light receiving position of the tracking light (the position of the object) in the profile sensor can be detected.

  Therefore, based on the position of the tracking light received in the Y direction by the profile sensor, the inclination angle of the light receiving device 2 on a plane parallel to the spreading direction of the line laser 5 (the direction of the approaching / separating direction with respect to the surveying device 1). (A tilt angle) is detected, and a rotation angle about the axis of the pole 3 with respect to the line laser 5 is detected based on the light receiving position of the tracking light in the X direction. Incidentally, a CCD or CMOS sensor may be used as the direction sensor 8.

  Further, the light receiving device 2 is provided with a calculation unit 10, which calculates a tilt angle of the light receiving device 2 based on the line laser 5 received by the first light receiving sensor 6 and the second light receiving sensor 7. Is calculated, and the inclination angle in the direction of the surveying device 1 and the inclination angle of the pole 3 in the rotating direction are calculated based on the received light signal input to the direction sensor 8, and the calculation result is transmitted to the surveying device 1. It is supposed to.

  Next, an example of the surveying device 1 used in the present embodiment will be described with reference to FIG.

  A leveling section 11 is provided on the tripod 9, and a base section 12 is provided on the leveling section 11. A horizontal rotation drive unit 13 is housed in the base unit 12. The horizontal rotation drive unit 13 has a vertically extending hollow horizontal output shaft 14, and a support 15, which is a rotating unit, is attached to the upper end of the horizontal output shaft 14.

  The mounting portion 15 has a concave portion 16, and a telescopic portion 17 as a rotating portion is housed in the concave portion 16, and the telescopic portion 17 is rotatably supported by the mounting portion 15 via a vertical rotation shaft 18. Have been. The telescope unit 17 is provided with a collimating telescope 19 having a distance measuring optical axis 21 (see FIG. 1), and houses a distance measuring unit (not shown) for emitting invisible distance measuring light. Further, the telescope unit 17 houses a tracking unit (not shown) for emitting tracking light of invisible light to a tracking optical axis coaxial with the distance measuring optical axis 21.

  A vertical rotation drive unit 23 is housed in the support unit 15, and the vertical rotation drive unit 23 is connected to the vertical rotation shaft 18. The vertical rotation drive unit 23 has a vertical output shaft 24, the vertical output shaft 24 is connected to the vertical rotation shaft 18, and the vertical rotation drive unit 23 drives the vertical output shaft 24, the vertical rotation shaft. The telescope section 17 is rotated in the vertical direction via 18.

  The horizontal rotation drive unit 13 includes a rotation motor 25 and a clutch unit 26. When the clutch 26 is engaged, the rotational force of the rotary motor 25 is transmitted to the horizontal output shaft 14, and when the clutch 26 is disengaged, the horizontal output shaft 14 is separated from the rotary motor 25, The horizontal output shaft 14 can be rotated by itself. When the clutch 26 is in the disengaged state, the horizontal output shaft 14 and the rotary motor 25 are connected via a predetermined frictional force.

  Accordingly, the support portion 15 is rotatable relative to the horizontal rotation drive portion 13 and the position is held by the frictional force.

  The vertical rotation drive unit 23 has the same structure as the horizontal rotation drive unit 13.

  The vertical rotation drive unit 23 has a rotation motor 27 and a clutch unit 28. When the clutch unit 28 is engaged, the rotational force of the rotary motor 27 is transmitted to the vertical output shaft 24, and when the clutch unit 28 is disengaged, the vertical output shaft 24 is disconnected from the rotary motor 27, The vertical output shaft 24 can be rotated by itself. When the clutch unit 28 is in the disengaged state, the vertical output shaft 24 and the rotary motor 27 are connected via a predetermined frictional force, and the telescope unit 17 is held at an arbitrary position even when the clutch unit 28 is in the disengaged state. It is to be done.

  Although not shown, the horizontal output shaft 14 is provided with a horizontal angle encoder, and detects the rotation angle of the horizontal output shaft 14. The vertical output shaft 24 is provided with a vertical angle encoder so that the rotation angle of the vertical output shaft 24 is detected.

  Further, on the upper surface of the telescope unit 17, a line laser irradiation unit 29 for emitting a laser beam (line laser 5) extending vertically is provided. The line laser irradiation unit 29 is supported by the telescope unit 17 via a vertical rotation shaft 31 and is rotatable in the horizontal direction about the vertical rotation shaft 31. The line laser irradiating section 29 has a horizontal driving section (not shown), and can rotate horizontally independently of the telescope section 17.

  The line laser irradiating section 29 emits a visible laser beam such as an infrared ray and has a cylindrical lens 33 provided at an exit of the laser beam. The cylindrical lens 33 has a horizontal center line, and the laser light emitted from the line laser irradiator 29 is diffused by the cylindrical lens 33 so as to have a predetermined divergence angle in the vertical direction. 5 are formed. The line laser 5 forms a vertical laser plane. The spread angle of the laser plane is, for example, 20 °.

  Further, a control unit 20 is provided inside the support unit 15, and the control unit 20 executes the distance measurement and the angle measurement of the target 4, as well as the horizontal rotation drive unit 13 and the vertical rotation drive unit 23. Etc. are controlled. Further, the control unit 20 can receive the inclination detection result from the light receiving device 2 and corrects the distance measurement result based on the inclination angle and the inclination angle from the light receiving device 2.

  When the pole 3 is set at the measurement point, tracking light is emitted from the telescope unit 17. The collimating telescope 19 follows the target 4 by receiving the tracking light by the cooperation of the horizontal rotation of the support unit 15 and the vertical rotation of the telescope unit 17, and the distance measuring optical axis is set to the target 4. Pointed. With the pole 3 installed at the measurement point, the distance measuring unit emits distance measuring light via the telescope unit 17 and receives reflected light from the target 4 to measure the distance. Also, the horizontal angle and the vertical angle are measured based on the detection results of the horizontal angle encoder and the vertical angle encoder.

  At this time, when the light receiving device 2 is tilted, the target 4 is not located on the measurement point, and the distance measurement result and the angle measurement result of the measurement point include an error. Therefore, it is necessary to correct the three-dimensional position of the target 4 by detecting the inclination angle of the light receiving device 2 and the like.

Hereinafter, detection of the inclination angle θ of the light receiving device 2 in this embodiment will be described with reference to FIGS. 3A and 3B. FIG. 3A is an explanatory diagram showing a positional relationship between the first light receiving sensor 6 and the second light receiving sensor 7. In FIG. 3A, reference numeral 34 denotes a center line of the light receiving device 2. The first light receiving sensor 6 and the second light receiving sensor 7 are separated from each other by A in the vertical direction.
FIG. 3B is a diagram showing a state in which the first light receiving sensor 6 and the second light receiving sensor 7 have received the line laser 5. The inclination angle θ indicates a relative inclination angle with respect to a reference line of the surveying instrument, but in the following description, the line laser 5 will be described as being vertical.

  When detecting the inclination angle θ of the light receiving device 2, the line laser 5 is irradiated from the line laser irradiation unit 29, and the line laser 5 is applied to the first light receiving sensor 6 and the second light receiving sensor 7. The line laser irradiation unit 29 is reciprocally rotated at a constant angle and a known angular speed by a predetermined angle (reciprocal scanning at a predetermined angle) so as to be received.

  When the light receiving device 2 is tilted, a difference occurs between the timing when the first light receiving sensor 6 receives the line laser 5 and the timing when the second light receiving sensor 7 receives the line laser 5.

  As shown in FIG. 3 (A), a shift length between the first light receiving sensor 6 and the second light receiving sensor 7 at this time is a, and the distance between the first light receiving sensor 6 and the second light receiving sensor 7 is Assuming that the distance is A, the inclination angle θ can be expressed by the following equation.

θ = sin ^-1 (a / A)

  Here, the scan speed S [mm / s] can be obtained by multiplying the scan angular speed ω [rad / s] by the measurement distance L [mm]. The scanning speed S [mm / s] is multiplied by a shift time Δt [s] as shown in FIG. 3B, which is a light receiving time difference between the light receiving signals 35 of the first light receiving sensor 6 and the second light receiving sensor 7. Thus, the shift length a is obtained. That is, the shift length a and the inclination angle θ can be expressed by the following equations. Here, the scan angular velocity ω, the measurement distance L, and the shift time Δt are known.

  a = ΔtωL [mm]

θ = sin ⁻¹ (a / A) = sin ⁻¹ (ΔtωL / A)

  The tilt angle of the line laser 5 in a plane parallel to the laser plane (inclination angle in the approaching and separating directions) is detected based on the vertical displacement of the target image with respect to the reference line of the light receiving surface of the direction sensor 8. can do.

  After the detection of the tilt angle θ and the tilt angle, the three-dimensional position of the target 4 can be corrected based on the detected tilt angle θ and the tilt angle, and accurate distance measurement to the measurement point can be performed. .

  As described above, in the first embodiment, the vertical laser plane formed by the line laser 5 is scanned, and the first light receiving sensor 6 and the second light receiving sensor 7 receive the line laser 5. When the light receiving device 2 is tilted, the inclination of the light receiving device 2 is determined based on the time difference between the first light receiving sensor 6 and the second light receiving sensor 7 receiving the line laser 5 and the shift length at that time. The angle θ can be detected.

  Therefore, the inclination angle θ can be detected by detecting the time when the line laser 5 crosses between the first light receiving sensor 6 and the second light receiving sensor 7, so that the first light receiving sensor 6 and the second light receiving sensor 6 can be detected. There is no need to increase the distance between the light receiving device 7 and the first light receiving sensor 6 and the second light receiving sensor 7, and the light receiving device 2 can be downsized.

  Further, since the line laser 5 only needs to be received by the first light receiving sensor 6 and the second light receiving sensor 7, the rotation distance for the line laser 5 to scan is small, and the light receiving device 2 Can be easily and accurately detected in a short time.

  Next, a second embodiment of the present invention will be described with reference to FIGS.

  In the second embodiment, in a state where the telescope unit 17 tracks the target 4, the line laser irradiation unit 29 is moved at a low speed and a constant speed around the tracking optical axis at a predetermined angle, for example, in a range of 1 ° to 2 °. The line laser 5 is reciprocated so that the first light receiving sensor 6 and the second light receiving sensor 7 receive the line laser 5 a plurality of times.

  FIG. 4 shows a state where the line laser 5 is received twice (one reciprocation) by the first light receiving sensor 6 and the second light receiving sensor 7. In FIG. 4, reference numeral 36 denotes a first (outgoing) light receiving signal waveform, and 37 denotes a second (returning) light receiving signal waveform.

  The detection accuracy of the inclination angle θ is determined by the resolution for measuring the deviation length between the first light receiving sensor 6 and the second light receiving sensor 7, and the response speed (response time) of the light receiving sensor is Since there is an individual difference between the light receiving sensors, a response delay occurs between the sensors due to the individual difference, and the resolution may be reduced due to the response delay.

  Here, assuming that the response time of the first light receiving sensor 6 is τ1 and the response time of the second light receiving sensor 7 is τ2, the response delay Δτ of the second light receiving sensor 7 with respect to the first light receiving sensor 6 is represented by the following equation. Can be represented by

  Δτ = τ2−τ1

  In addition, the light receiving time difference between the first light receiving sensor 6 and the light receiving signal of the second light receiving sensor 7 with respect to the first light receiving sensor 6 can be represented by Δt + Δτ, and the light receiving time of the second light receiving sensor 7 with respect to the first light receiving sensor 6 during the backward movement. The light receiving time difference of the signal can be represented by -Δt '+ Δτ.

  The sum of the light receiving time difference between the first light receiving sensor 6 and the second light receiving sensor 7 on the outward path and the light receiving time difference between the first light receiving sensor 6 and the second light receiving sensor 7 on the backward path is represented by Δt + Δt ′. be able to. Therefore, when the scan speed of the line laser 5 at the time of reciprocation is equal (Δt = Δt ′), the sum of the light receiving time differences between the first light receiving sensor 6 and the second light receiving sensor 7 at the time of going and returning is: , 2Δt. Therefore, the response delay of the first light receiving sensor 6 and the response delay of the second light receiving sensor 7 can be offset.

  The number of times that the first light receiving sensor 6 and the second light receiving sensor 7 receive the line laser 5 is an even number so that the difference in response time between the first light receiving sensor 6 and the second light receiving sensor 7 can be canceled. It is desirable to set it to times.

  As described above, in the second embodiment of the present invention, the line laser 5 is reciprocated, and the first light receiving sensor 6 and the second light receiving sensor 7 receive the line laser 5 twice, The detection sensitivity of the first light receiving sensor 6 and the second light receiving sensor 7 is doubled, and the difference in response time between the first light receiving sensor 6 and the second light receiving sensor 7 can be canceled.

  Therefore, an error based on a difference in response time between the first light receiving sensor 6 and the second light receiving sensor 7 can be suppressed, and the detection accuracy of the inclination angle θ can be further improved.

  In the second embodiment, the line laser 5 is reciprocated once, that is, the first light receiving sensor 6 and the second light receiving sensor 7 are received twice. The first light receiving sensor 6 and the second light receiving sensor 7 may receive light four times or more. By increasing the number of times that the line laser 5 is received by the first light receiving sensor 6 and the second light receiving sensor 7 and performing the averaging process, the detection accuracy of the tilt angle θ can be further improved. .

  Next, a third embodiment of the present invention will be described with reference to FIGS. In FIG. 5, the same components as those in FIGS. 1 and 2 are denoted by the same reference numerals, and description thereof will be omitted.

  In the third embodiment, the diffraction grating 38 is provided on the exit side of the cylindrical lens 33. The diffraction grating 38 divides the line laser 5 into three line lasers 5a to 5c having a predetermined diffraction pitch (predetermined angular pitch) b, for example, 10 ° intervals.

  The detection accuracy of the tilt angle depends on the stability of the scan angular velocity. The scan angular velocity when the line laser irradiation unit 29 is rotated at a constant speed, or the first light receiving sensor 6 (see FIG. 1), It is necessary to detect the scan angular velocity when the second light receiving sensor 7 (see FIG. 1) receives the line laser 5.

  In the third embodiment, the diffraction grating 38 forms a predetermined diffraction pitch (predetermined angular pitch) b between the line lasers 5a to 5c. Therefore, for example, between the line laser 5a and the line laser 5b The scan angular velocity between the line laser 5a and the line laser 5b can be easily obtained by detecting the time when the line laser 5a and the line laser 5b pass through the first light receiving sensor 6 assuming that the scan angular velocity is constant. be able to.

  Further, even when the rotation speed of the line laser irradiation unit 29 is uneven, if the angular pitch is small, the scan speed between the line lasers 5a to 5c can be regarded as constant.

  Accordingly, the scan speed of the line lasers 5a to 5c may not be constant, and even if it is difficult to rotate the line laser irradiation unit 29 at a constant speed, the tilt angle of the light receiving device 2 can be accurately determined. Can be detected.

  Further, the line laser 5 can be divided into a plurality of the line lasers 5a to 5c by the diffraction grating 38. The line laser 5 is applied to the first light receiving sensor 6 and the second light receiving sensor 7 during one scanning. 5 can be received a plurality of times, the averaging process can be performed in one scan, and the detection accuracy of the tilt angle of the light receiving device 2 can be improved.

  The signal waveform 39 detected by the first light receiving sensor 6 and the second light receiving sensor 7 is a signal waveform whose period is stabilized by the diffraction grating 38. Therefore, the signal waveform 39 of the first light receiving sensor 6 and the second light receiving sensor 7 or the line laser irradiating unit 29 is reciprocated, and one of the first light receiving sensor 6 and the second light receiving sensor 7 is moved. By detecting the shift time by measuring the phase of the signal waveform 39 on the outward path and the signal waveform 41 on the return path, or by determining the shift time by correlation processing, it is possible to detect the tilt angle with high resolution.

  In the third embodiment, the line laser 5 is divided into three line lasers 5a to 5c by the diffraction grating 38, but the number of divisions may be four or more. By dividing the line laser 5 into four or more, the number of periods of the signal waveform detected by the first light receiving sensor 6 and the second light receiving sensor 7 is increased, and the resolution can be further improved.

  Next, a fourth embodiment of the present invention will be described with reference to FIG. In the fourth embodiment, in addition to the first light receiving sensor 6 and the second light receiving sensor 7, a third light receiving sensor 42 as a third light receiving unit is provided in the light receiving device 2 (see FIG. 1).

  The first light receiving sensor 6 and the third light receiving sensor 42 are located on a plane orthogonal to the laser plane of the line laser 5 (see FIG. 1). Further, the second light receiving sensor 7 is located on a vertical bisector of the first light receiving sensor 6 and the third light receiving sensor 42.

  Here, the light receiving time difference between the first light receiving sensor 6 and the second light receiving sensor 7 is Δt1 [s], the light receiving time difference between the first light receiving sensor 6 and the third light receiving sensor 42 is Δt2 [s], The distance from the second light receiving sensor 7 to the line connecting the first light receiving sensor 6 and the third light receiving sensor 42 is A, and the distance from the first light receiving sensor 6 to the vertical bisector and the third Assuming that the distance from the light receiving sensor 42 to the perpendicular bisector is b, the inclination angle θ can be expressed by the following equation.

θ = tan ⁻¹ [(2b · Δt1) / ｛Δt2 · {(A ² + b ² ) · cos (tan ⁻¹ (b / A))} − b / A]

  In the above formula, A and b are known, and when the line laser irradiation unit 29 (see FIG. 1) is further rotated at a constant speed, that is, the line laser irradiation unit 29 is rotated at a known scan angular velocity. Thus, the inclination angle θ can be obtained without obtaining the distance to the light receiving device 2.

  Further, by measuring Δt1 and Δt2, the scan speed can be obtained, and the measurement distance can be obtained from the obtained scan speed.

  In the fourth embodiment, the known scan angular velocity is shifted from the light receiving time of the first light receiving sensor 6 to the light receiving time of the second light receiving sensor 7, and the light receiving time of the first light receiving sensor 6 is shifted from the light receiving time of the third light receiving sensor 42. The inclination angle θ can be obtained without obtaining the measurement distance based on That is, based on the known rotation speed, the difference in the light receiving time with the other light receiving unit with reference to one of the light receiving units, and further based on the difference in the light receiving time with the other light receiving unit, without determining the measurement distance. The inclination angle θ can be obtained, and the scan speed and the measurement distance can be obtained. Accordingly, the surveying device 1 (see FIG. 1) itself does not require a distance measuring mechanism, so that the device configuration can be simplified and the manufacturing cost can be reduced.

  In the fourth embodiment, three light receiving sensors 6, 7, and 42 are provided in the light receiving device 2, but four or more light receiving sensors may be provided. It goes without saying that the fourth embodiment may be combined with other embodiments.

  Next, a fifth embodiment of the present invention will be described with reference to FIGS. 8 (A) to 8 (C).

  In the fifth embodiment, as shown in FIG. 8A and FIG. 8B, the light receiving portions provided at regular intervals on the circumference centered on the axis of the pole 3 as the first light receiving portion. A first light receiving sensor 43 which is an eight-surface sensor having sensors 43a to 43h is used. Further, as the second light receiving section, a second light receiving sensor 44 which is an eight-surface sensor having light receiving sensors 44a to 44h provided at equal intervals on a circumference centered on the axis of the pole 3 is used. . Further, an all-round prism 45 is used as a target, and profile sensors provided in four directions are used as the direction sensor 8.

  The light receiving sensor 43a and the light receiving sensor 44a, the light receiving sensor 43b and the light receiving sensor 44b, the light receiving sensor 43c and the light receiving sensor 44c, the light receiving sensor 43d and the light receiving sensor 44d, the light receiving sensor 43e and the light receiving sensor 44e, The light receiving sensor 43f and the light receiving sensor 44f, the light receiving sensor 43g and the light receiving sensor 44g, and the light receiving sensor 43h and the light receiving sensor 44h are respectively arranged correspondingly. They are provided at the same distance on the line. For example, when the light receiving device 2 is provided vertically, the light receiving sensor 43a and the light receiving sensor 44a receive the line laser 5 at the same time. Note that the configuration of the second light receiving sensor 44 is the same as the configuration of the first light receiving sensor 43, and is not shown.

  For example, as shown in FIG. 8B, when the line laser 5 is irradiated on the light receiving sensor 43a in a state where the light receiving device 2 is inclined, as in the first embodiment, The inclination angle θ of the light receiving device 2 can be detected based on the difference Δt between the light receiving time of the light receiving sensor 44a and the light receiving time of the light receiving sensor 44a.

  Further, since the first light receiving sensor 43 and the second light receiving sensor 44 are eight-surface sensors, in the arrangement shown in FIG. 8B, the light receiving sensor 43h and the light receiving sensor 44h are scanned by one scan. The line laser 5 can be received by three sets of light receiving sensors, the light receiving sensor 43a and the light receiving sensor 44a, and the light receiving sensor 43b and the light receiving sensor 44b. Accordingly, the inclination angle θ can be detected for each group of the light receiving signal waveforms 46 for each group, and an averaging process for improving the detection accuracy of the inclination angle θ can be performed.

  By reciprocating the line laser irradiating section 29 (see FIG. 1), the light receiving sensors 43h, 43a, 43b and the light receiving sensors 44h, 44h, based on the light receiving signal waveform 46 on the outward path and the light receiving signal waveform 47 on the backward path. The difference between the response times 44a and 44b can be canceled, and the detection accuracy of the inclination angle θ can be further improved.

  Further, since the first light receiving sensor 43 and the second light receiving sensor 44 are eight-surface sensors and the target is the full-circle prism 45, the light receiving device 2 can be tracked from any direction, The first light receiving sensor 43 and the second light receiving sensor 44 can be scanned. Further, since the direction sensor 8 is a profile sensor provided in four directions, the inclination angle in the approaching / separating direction can be detected from any direction. Therefore, it is not necessary to direct each light receiving section toward the surveying device 1, and workability can be improved.

  In the fifth embodiment, the first light receiving sensor 43 and the second light receiving sensor 44 are eight-surface sensors having eight light receiving sensors, but have seven or less light receiving sensors or nine or more light receiving sensors. It goes without saying that a multi-surface sensor may be used.

  Next, a sixth embodiment of the present invention will be described with reference to FIG. In the sixth embodiment, a light receiving device 49 is attached to a UAV (Unmanned Air Vehicle) 48.

  The UAV 48 has a camera 51 for performing photogrammetry. The camera 51 is provided on the UAV 48 via a gimbal, and the camera 51 is always in a vertical posture. The columnar light receiving device 49 is hung below the camera 51. The light receiving device 49 is integral with the camera 51. When the camera 51 is in a vertical posture, the axis of the light receiving device 49 is vertical, and when the camera 51 is inclined, the light receiving device 49 is The camera is tilted in the same tilt direction and tilt angle as the camera 51.

  Further, the light receiving device 49 has a first light receiving sensor 52 and a second light receiving sensor 53, and the distance between the first light receiving sensor 52 and the second light receiving sensor 53 is known. The light receiving device 49 has a camera 54 for detecting the direction of the UAV 48. By taking an image of the surroundings by the camera 54, the direction of the UAV 48 with respect to a predetermined surrounding object can be detected. For example, by acquiring an image of the surveying device 1 with the camera 54, the direction and direction of the UAV 48 with respect to the surveying device 1 can be detected. Further, at the lower end of the light receiving device 49, an all-round prism 55 having retroreflectivity is provided.

  Further, the light receiving device 49 has a calculation unit and a communication unit (not shown), and calculates the inclination of the light receiving device 49 and the direction of the UAV 48 and transmits the calculation result to the surveying device 1.

  The surveying device 1 emits tracking light to the full-circumferential prism 55 and receives reflected light from the full-circumferential prism 55, thereby tracking the UAV 48 and emitting distance-measuring light to form the UAV 48. The position can be measured. By measuring the position of the UAV 48, photogrammetry based on the image captured by the camera 51 can be performed on the coordinates of the surveying device 1.

  Here, the surveying device 1 irradiates the line laser 5, the first light receiving sensor 52 and the second light receiving sensor 53 receive the line laser 5, and the first light receiving sensor 52 and the second light receiving sensor 53 The inclination angle of the UAV 48 and the inclination angle of the camera 51 can be detected by detecting the deviation of the light receiving time with respect to. Therefore, the position of the UAV 48 can be corrected based on the detected tilt angle, and the survey result of photogrammetry can be corrected based on the tilt angle of the camera 51. The UAV 48 can improve the accuracy of photogrammetry. it can.

REFERENCE SIGNS LIST 1 surveying device 2 light receiving device 4 target 5 line laser 6 first light receiving sensor 7 second light receiving sensor 29 line laser irradiation unit 33 cylindrical lens 42 third light receiving sensor 43 first light receiving sensor 44 second light receiving sensor 45 full circumference prism

Claims (3)

A system for performing photogrammetry using a UAV, which is provided at a known interval with a surveying device having a distance measuring function and a line laser irradiating unit which is provided to be horizontally rotatable and irradiates a vertical line laser. A camera provided with a light receiving device having at least two light receiving units, a target having retroreflective properties, and an arithmetic unit, and a diffraction grating provided in the line laser irradiation unit, and rotating the line laser irradiation unit. The line laser is divided into predetermined angular intervals by the diffraction grating, and each light receiving unit is caused to scan the line laser. The arithmetic unit is configured to measure a shift in light receiving time of each light receiving unit and measurement of the target of the surveying device. The position of the UAV is corrected by detecting a tilt angle of the light receiving device based on a distance result, and a survey result of photogrammetry is corrected by a tilt angle of the camera. Photogrammetry system. The photogrammetry system according to claim 1 , wherein the light receiving unit is a polyhedral sensor having a light receiving sensor provided at a predetermined angular pitch in a circumferential direction, and the target is a full-circle prism. 3. The photogrammetry system according to claim 1, wherein the surveying device further has a tracking function, and the surveying device emits tracking light and tracks the light receiving device based on the tracking light reflected by the target.

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