JP6826400B2 - Surveying device and tilt angle detection method - Google Patents

Description

The present invention relates to a surveying device and a tilt angle detection method, and more particularly to tilt angle detection control by a tilt sensor.

As a surveying device, there is a so-called total station, which is a light wave distance measuring device that measures distance measurement, horizontal angle, and vertical right angle by directing the measurement optical axis of the distance measuring optical system to the object to be measured. Further, in recent years, as a light wave distance measuring device, a light wave distance measuring device having a tracking function that rotates following the movement of a measurement object has also been developed.

Further, there is also known a laser rotary irradiation device that linearly irradiates a laser beam to form a reference plane (see Patent Documents 1 and 2).

Then, using a laser measuring device that integrates a light wave distance measuring device (also called a light wave distance measuring mechanism) and a laser rotation irradiation device (also called a laser rotation irradiation mechanism), control of construction machines such as slip foam paving machines is performed. A system for performing this has also been developed (see Patent Document 3).

Japanese Unexamined Patent Publication No. 2004-221508 Japanese Unexamined Patent Publication No. 2005-274229 Japanese Unexamined Patent Publication No. 2014-55499

When a surveying device such as a laser surveying device or a light wave distance measuring device as shown in Patent Documents 1 and 2 is installed, the vertical axis of the surveying device is set by using a tilt sensor provided in the surveying device. It is leveled to match the direction of gravity.

Leveling is also performed in a laser surveying device in which a light wave distance measuring device and a laser rotation irradiation device are integrated as described in Patent Document 3, but if the leveling is not performed correctly, the distance is measured by the light wave distance measuring device. Etc. and the formation of the reference plane by the laser rotation irradiation device cannot be measured correctly, so more accurate leveling is required.

In order to perform leveling in a surveying device, it is necessary to detect the tilted state of the device with a tilt sensor. For example, a tilt sensor consisting of a bubble tube is affected by disturbances such as temperature and vibration, and the tilted state is correctly corrected. It may not be detected.

The present invention has been made to solve such a problem, and an object of the present invention is to provide a surveying device and a tilt detection method capable of more accurately detecting a tilt state by a tilt sensor. It is in.

In order to achieve the above object, in the surveying apparatus according to the present invention, the tilt sensor for detecting the tilt angle, the temperature detection unit for detecting the temperature, and the tilt waiting time according to the temperature detected by the temperature detection unit. A waiting time setting unit for setting the tilt angle, and a tilt angle detection control unit for detecting the tilt angle after the tilt waiting time set by the waiting time setting unit has elapsed when the tilt angle is detected by the tilt sensor. The waiting time setting unit sets the tilt waiting time shorter as the temperature detected by the temperature detecting unit increases, and the tilt waiting time increases as the temperature detected by the temperature detecting unit increases. It reduces the degree of decrease.

Further, in the surveying apparatus according to the present invention, the tilt sensor preferably comprises a bubble tube.

Further, in the surveying apparatus according to the present invention, the waiting time setting unit may detect the tilt angle by the tilt sensor in advance and change the tilt waiting time setting according to the tilt angle.

Further, in order to achieve the above object, the tilt angle detection method according to the present invention is a tilt angle detection method in which a tilt sensor detects a tilt angle, and a waiting time setting for setting a tilt waiting time according to a temperature. a step, and the wait time has elapsed determination step of determining the course of the tilt latency, and a tilt angle detecting step of detecting the tilt angle by the tilt sensor after lapse of said tilt waiting time, in the wait time setting step, wherein temperature becomes higher and set the tilt latency short high, you and reduce the degree of decrease as the tilt waiting the temperature increases.

Further, in the tilt angle detection method according to the present invention, in the waiting time setting step, the tilt angle may be detected in advance by the tilt sensor, and the tilt waiting time setting may be changed according to the tilt angle. ..

According to the present invention using the above means, it is possible to more accurately detect the tilted state by the tilt sensor.

It is a schematic perspective view of the laser surveying apparatus provided with the automatic leveling apparatus which concerns on one Embodiment of this invention. It is a flowchart which showed the automatic leveling routine which concerns on one Embodiment of this invention. It is a continuation of the flowchart of FIG. It is a continuation of the flowchart of FIGS. 2 and 3. It is a flowchart which showed the search control routine. It is a continuation of the flowchart of FIG. It is explanatory drawing of the search drive. It is a flowchart which showed the inclination angle acquisition control routine. It is a relationship diagram of temperature and tilt waiting time.

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

FIG. 1 shows a laser surveying device 1 manufactured by the manufacturing method according to the present embodiment, and in the laser surveying device 1 shown in the figure, a laser rotation irradiation mechanism 3 is integrated on a light wave distance measuring mechanism 2. It is provided in.

The laser surveying device 1 is a laser surveying device used in a control system of a construction machine such as the slip foam paving machine described in Patent Document 3, and is arbitrarily used during surveying via a tripod (not shown). It is installed at the point.

The light wave distance measuring mechanism 2 has a function equivalent to that of a total station. For example, the light wave distance measuring mechanism 2 irradiates the distance measuring light toward the target of the construction machine, receives the reflected distance measuring light from the target, performs distance measurement and angle measurement, and uses the reflected light from the target. Track the target based on it.

Specifically, the light wave distance measuring mechanism 2 has a base portion 10 and a rotating base 11 at the lower portion.

A tripod (not shown) can be attached to the base portion 10. The base portion 10 has a horizontal rotation drive unit (not shown), and the horizontal rotation drive unit rotationally drives the rotation base 11 in the horizontal direction (in a plane perpendicular to the vertical axis of the laser surveying device 1).

Further, between the base portion 10 and the rotating base 11, a leveling portion 12 for adjusting and leveling the inclination with respect to the base portion 10 is provided. The leveling portion 12 is simply shown as a dotted line block in FIG. 1, but specifically, for example, any one point on the horizontal plane of the rotating base 11 is fixed as a fulcrum and is fixed on the horizontal plane. Two leveling screws that can move the rotating base 11 in the vertical direction are provided at arbitrary two places, and the inclination of the rotating base 11 with respect to the base portion 10 is adjusted according to the degree of tightening of these leveling screws. It is a thing. The number of leveling screws is not limited to this, and for example, three may be provided. Further, each leveling screw can be driven by an actuator such as a stepping motor, and can be automatically leveled via the actuator.

Further, the rotating base 11 is provided with a horizontal tilt sensor 13 made of a circular bubble tube, and the horizontal tilt sensor 13 tilts the portion of the laser surveying device 1 above the rotating base 11, that is, the laser surveying device 1 as a whole. It is possible to detect the tilted state of.

A pair of support columns 14 and 15 are erected on the upper surface of the rotating base 11, and the telescope unit 16 is rotatably supported between the pair of support columns 14 and 15. Although not shown, the pair of support columns 14 and 15 are provided with a vertical rotation drive unit that rotates the telescope unit 16 in the vertical direction.

The telescope unit 16 houses a range-finding optical system, a tracking optical system, and a range-finding unit. The telescope unit 16 emits range-finding light L1 and tracking light (not shown), and reflects distance from the target. The distance is measured by receiving light at the distance measuring unit. Further, the telescope unit 16 receives the tracking light reflected by the target via the tracking optical system and is driven in the horizontal direction by the horizontal rotation drive unit and in the vertical direction by the vertical rotation drive unit to automatically track the target. Is possible.

Further, although not shown, the base portion 10 is provided with a horizontal angle detector for detecting the horizontal rotation angle (horizontal angle) of the rotation base 11 with respect to the base portion 10, and the support columns 14 and 15 are provided with a telescope unit. A vertical right angle detector for detecting the rotation angle (vertical right angle) of 16 in the vertical direction is provided. The collimation direction of the telescope unit 16 can be measured from the horizontal angle and the vertical angle detected by the horizontal angle detector and the vertical angle detector.

Further, a temperature sensor 17 (temperature detection unit) and a control unit 18 are provided on the rotating base 11. The temperature sensor 17 has a function of detecting the outside air temperature around the laser surveying device 1, and the control unit 18 has a function of performing survey control in the laser surveying device 1. For example, the control unit 18 reads, stores, calculates, and the like various information detected by the telescope unit 16, the horizontal tilt sensor 13, the horizontal angle detector, the vertical angle detector, and the temperature sensor 17, and according to the calculation result. It controls the drive of the leveling unit 12, the vertical rotation drive unit, and the horizontal rotation drive unit.

A top plate 19 is provided at the upper ends of the pair of support columns 14 and 15, and a laser rotation irradiation mechanism 3 is provided on the top plate 19.

The laser rotation irradiation mechanism 3 rotationally irradiates the laser beam L2 at a constant speed, and the laser beam L2 forms a reference plane. The laser beam L2 is composed of a plurality of fan-shaped beams (fan beams) having a predetermined spreading angle, and at least one of them is inclined with respect to a horizontal plane. For example, the laser beam L2 is composed of two fan-shaped beams, a fan-shaped beam in the vertical direction and a fan-shaped beam inclined at a predetermined angle with respect to a horizontal plane. As a result, the reference can be formed as a horizontal region extending not only in the reference plane but also in the height direction. Various configurations of the laser beam can be considered as shown in Patent Documents 2 and 3.

Specifically, in the laser rotation irradiation mechanism 3, a cylindrical portion 21 is integrally erected at the center of a disk-shaped flange portion 20, and the laser irradiation portion 22 rotates horizontally on the upper surface of the cylindrical portion 21. It is provided as possible.

The collar portion 20 is fixed to the top plate 19. A pair of uniaxial tilt sensors 23 and 24 are provided on the peripheral surface of the cylindrical portion 21. These uniaxial tilt sensors 23 and 24 are, for example, cylindrical bubble tubes and are arranged so that the axes are orthogonal to each other, and the two axes orthogonal to each other in the horizontal direction of the laser rotation irradiation mechanism 3, that is, the X-axis Ax and Y-axis. The inclination of Ay can be detected. Then, the inclination angle with respect to the horizontal plane can be calculated by detecting and synthesizing the inclinations of the X-axis Ax and the Y-axis Ay. As described above, the tilt state of the entire laser surveying device 1 can be detected by the pair of uniaxial tilt sensors 23 and 24, and the uniaxial tilt sensors 23 and 24 have higher accuracy in detecting the tilt than the horizontal tilt sensor 13. ..

The laser irradiation unit 22 is a portion that irradiates the above-mentioned laser beam L2, and the irradiation direction of the laser beam L2 can be rotated in the horizontal direction on the cylindrical portion 21. The surveying control in the laser rotation irradiation mechanism 3 is also performed by the control unit 18, and the laser irradiation unit 22 is driven and controlled by the control unit 18.

The laser surveying device 1 configured as described above aligns the vertical axis of the laser surveying device 1 with the direction of gravity before performing the survey after installing the laser surveying device at an arbitrary point via a tripod at the time of performing the survey. Therefore, perform leveling. In the laser surveying apparatus 1 of the present embodiment, automatic leveling control by the control unit 18 can be executed by operating an operating means such as a switch (not shown).

Here, referring to FIGS. 2 to 4, an automatic leveling routine executed by the control unit 18 of the laser surveying apparatus according to the present embodiment is shown in a flowchart. Further, FIGS. 5 and 6 show a flowchart showing a search control routine executed in the automatic leveling control, FIG. 7 shows an explanatory diagram of the search drive, and FIG. 8 shows the automatic leveling control and the search control. A flowchart showing the tilt angle acquisition control routine to be executed is shown, and FIG. 9 shows a relationship diagram between the temperature and the tilt waiting time, respectively.

First, the automatic leveling control will be described based on the flowcharts of FIGS. 2 to 4.

As shown in FIG. 2, when the automatic leveling control is started, the control unit 18 selects the horizontal tilt sensor 13 as the tilt sensor used for leveling in step S1.

As a subsequent step S2, the control unit 18 acquires the tilt angle a1 detected by the horizontal tilt sensor 13 based on the tilt angle acquisition control described in detail later.

Then, as step S3, the control unit 18 determines whether or not the inclination angle a1 acquired in step S2 is within a predetermined measurement range (for example, within ± 2.5 °). The measurement range is set to a measurable range as the specifications of the horizontal tilt sensor 13, for example. If the determination result is true (Yes), that is, if the inclination angle a1 is within the measurement range, the process proceeds to step S4.

In step S4, the control unit 18 drives the leveling unit 12 to perform leveling (hereinafter, also referred to as leveling drive). That is, the leveling screw is driven by the stepping motor so that the inclination angle a1 detected in step S2 becomes horizontal (inclination angle a1 = 0 °).

In step S5, the control unit 18 determines whether or not the leveling unit 12 has reached the drive limit. That is, it is determined whether or not it is within the movable range of the leveling screw of the leveling unit 12. When the determination result is true (Yes), that is, when the leveling screw reaches the limit of the movable range, it is determined that the leveling unit 12 is at the drive limit, and the process proceeds to step S6.

In step S6, the control unit 18 displays an error or notifies an error (hereinafter, this is referred to as error processing) by a display unit, an alarm device, or the like (not shown) as being out of the leveling range, and ends the routine.

On the other hand, if the determination result in step S5 is false (No), that is, if the leveling screw is within the movable range and the leveling unit 12 can be driven, the process proceeds to step S7.

In step S7, the control unit 18 again acquires the tilt angle a1 by the horizontal tilt sensor 13 based on the tilt angle acquisition control, as in step S2.

Then, in step S8, the control unit 18 determines whether or not the inclination angle a1 acquired in step S8 is within the measurement range, as in step S3. If the determination result is true (Yes), that is, if the inclination angle a1 is within the measurement range, the process proceeds to step S9.

In step S9, the control unit 18 determines whether or not the inclination angle a1 acquired in step S7 is within the predetermined first leveling accuracy range (for example, within ± 30 ″). The first leveling accuracy range is set to the leveling accuracy required for leveling based on the horizontal tilt sensor 13. If the determination result is false (No), that is, if the inclination angle a1 is outside the first leveling accuracy range, the process proceeds to step S10.

The control unit 18 stores the number of times of leveling drive by the leveling unit 12 in step S4 (hereinafter referred to as drive number N), and in step S10, the control unit 18 increments the drive number N of the leveling unit 12. (N = N + 1).

In the following step S11, the control unit 18 determines whether or not the drive count N of the leveling unit 12 is within the preset upper limit number (for example, 10 times). If the determination result is false (No), that is, if the drive count N of the leveling unit 12 has not yet reached the upper limit, the process returns to step S4 and the leveling drive is attempted again.

On the other hand, when the determination result in step S11 is true (Yes), that is, when the number of drives N of the leveling unit 12 reaches the upper limit, the process proceeds to step S12.

In step S12, since the control unit 18 does not satisfy the leveling accuracy even if the leveling drive is performed a plurality of times, an error is set as a leveling timeout in consideration of the possibility of a device failure or an improper installation position. Performs processing and ends the routine.

On the other hand, when the determination result in step S9 is true (Yes), that is, when the inclination angle a1 detected by the horizontal tilt sensor 13 is within the first leveling accuracy range, the process proceeds to step S13.

In step S13, the control unit 18 finishes the leveling based on the horizontal tilt sensor 13, and proceeds to step S21 of FIG.

In step S21 of FIG. 3, the control unit 18 selects a pair of uniaxial tilt sensors 23 and 24 as the tilt sensors used for leveling.

In the following steps S22 to S28, the contents to be executed are the same except that the tilt sensor used is different from the steps S2 to S8. That is, the uniaxial tilt sensors 23 and 24 detect the tilt angle a2 (S22), and when the tilt angle a2 is within the measurement range (S23), the leveling unit 12 performs the leveling drive (S24). Then, when the drive limit of the leveling unit 12 is reached (S25), error processing is performed (S26), and if it is within the driveable range, the inclination angle a2 is detected again (S27), and the inclination angle a2 is detected within the measurement range. Check if there is (S28).

Then, when the tilt angle a2 detected again is within the measurement range, in step S29, the control unit 18 determines whether or not the tilt angle a2 is within the second leveling accuracy range (for example, within ± 10 ″). To determine. The second leveling accuracy range is the leveling accuracy with respect to the leveling based on the uniaxial tilt sensors 23 and 24, and the first leveling accuracy range is set to be narrower, that is, higher accuracy. If the determination result is false (No), that is, if the inclination angle a2 is outside the second leveling accuracy range, the process proceeds to step S30.

In steps S30 to S32, similarly to steps S10 to S12, the control unit 18 increments the drive count N of the leveling unit 12 (N = N + 1) (S30), and the drive count N is the upper limit (for example, 10 times). If it is within, the process returns to step S24, and if the upper limit is reached, error processing is performed (S32).

On the other hand, when the determination result in step S29 is true (Yes), that is, when the inclination angle a2 detected by the uniaxial tilt sensors 23 and 24 is within the second leveling accuracy range, the process proceeds to step S33.

In step S33, the control unit 18 also ends the leveling based on the uniaxial tilt sensors 23 and 24, and ends the automatic leveling control.

On the other hand, if the determination result of the measurement range of the inclination angle a1 or a2 in steps S3, S8, S23, and S28 is false (No), that is, if the inclination angle a1 or a2 is out of the measurement range, the corresponding case is taken. The process proceeds to step S41 shown in FIG. 4 in order to perform search control for searching for an effective measurement range of the tilt sensor.

The control unit 18 stores the number of times the search control is executed (hereinafter, referred to as the number of times S), which will be described later, and determines in step S41 whether or not the number of times S is within the upper limit number of times (for example, once). .. If the determination result is false (No), that is, if the search control has already been executed more than the upper limit number of times, and if the tilt sensor used for leveling at this time is the horizontal tilt sensor 13, one axis is set in step S6. When the tilt sensors 23 and 24 are used, the process proceeds to step S26 to perform error processing.

On the other hand, if the determination result in step S41 is true (Yes), that is, if the number of searches S does not exceed the upper limit, the process proceeds to step S42. In step S42, the control unit 18 increments the number of searches S (S = S + 1).

In the following step S43, the control unit 18 executes the search control described later (search step).

Then, in step S44, the control unit 18 determines whether or not the search control is normally completed. If the determination result is false (No), that is, if the search control is not normally completed, the process proceeds to step S6 or step S26 according to the tilt sensor selected at this time, and error processing is performed. On the other hand, when the determination result is true (Yes), that is, when the search control ends normally, the process proceeds to step S4 or step S24 according to the tilt sensor selected at this time, and leveling is performed.

Next, the search control executed in step S43 will be described in detail with reference to FIGS. 5 to 7.

First, as shown in FIG. 5, as step S51 of the search control, the control unit 18 drives the leveling unit 12 to the neutral position. The neutral position is, for example, the state of the leveling unit 12 when the vertical axis of the laser surveying device 1 is set to substantially coincide with the direction of gravity of the earth at the time of shipment from the factory. The neutral position in step S51 does not have to be in the factory default state at all times. For example, if there is a neutral position learning function, the neutral position is set to the latest neutral position.

Subsequently, in steps S52 to S54, similarly to steps S5 to S8 and S25 to S28, it is confirmed again whether the leveling unit 12 is at the drive limit (S52), and the leveling unit 12 is selected at this time by the inclination angle acquisition control. An inclination angle a1 or a2 is acquired by the tilt sensor (S53), and it is confirmed whether the acquired inclination angle a1 or a2 is within the measurement range (S54).

Then, if the determination result in step S58 is false (No), that is, if the inclination angles a1 or a2 are still out of the measurement range, the process proceeds to step S55.

In step S55, the control unit 18 searches and drives the leveling unit 12. The search drive drives the leveling unit 12 so as to tilt the laser surveying device 1 by a predetermined amount in one horizontal direction (for example, the positive direction of the X-axis) set with the neutral position of the leveling unit 12 as the origin.

Subsequently, in steps S56 to S58, it is confirmed again whether the leveling unit 12 is at the drive limit (S56), the inclination angle a1 or a2 is acquired by the inclination angle acquisition control (S57), and the acquired inclination angle a1 or a2 is acquired. Is within the measurement range (S58).

If the inclination angle a1 or a2 falls within the measurement range as a result of performing the search drive in step S55, the determination result in step S58 is true (Yes), and the process proceeds to step S59. Further, if the inclination angle a1 or a2 is within the measurement range in the step before the search drive is performed in step S54, the process proceeds to step S59.

In step S59, the control unit 18 exits the routine on the assumption that the search control is normally completed.

On the other hand, if the determination result in step S58 is false (No), that is, if the inclination angles a1 or a2 are out of the measurement range even after the search drive is performed, the process proceeds to step S60.

In step S60, the control unit 18 determines whether or not the search drive in the entire range determined in advance has been completed. A plurality of directions for performing the search drive can be set. For example, in the present embodiment, as shown in FIG. 7, two positive and negative directions (d1, d2) of the X axis, two positive and negative directions of the Y axis (d3, d4), and the X axis. The search drive is set in a total of eight directions (d5 to d8) in the middle of the Y-axis.

In step S60, it is determined whether or not the search drive has been performed in all of these eight directions. If the determination result is false (No), the process returns to step S55 and the search drive is performed in different directions. On the other hand, when the search drive in all eight directions is completed, that is, when the inclination angles a1 or a2 do not fall within the measurement range even if the search drive is performed in the eight directions, the determination result is true (Yes), and step S61. Proceed to.

In step S61, the control unit 18 drives the leveling unit 12 to the neutral position. Then, in step S62, the control unit 18 determines whether or not it is the drive limit of the leveling unit 12, and if the determination result is false (No), that is, if it is not the drive limit of the leveling unit 12. The process proceeds to step S63.

In step S63, the control unit 18 cannot find an effective measurement range even by the search control, performs error processing of the search control as outside the search range, and ends the routine.

On the other hand, when the determination result regarding the drive limit of the leveling unit 12 in steps S52, S56, and S62 is true (Yes), that is, when the leveling unit 12 reaches the drive limit, the position of the leveling screw is reset. Therefore, the process proceeds to step S71 in FIG.

The control unit 18 stores the number of times the position of the leveling screw, which will be described later, has been reset (hereinafter referred to as the reset number R), and in step S71, whether or not the reset number R is within the upper limit number (for example, once). To determine. If the determination result is false (No), that is, if the leveling screw has already been reset more than the upper limit number of times, the process proceeds to step S72.

In step S72, the control unit 18 performs error processing as a timeout of the search control, and ends the search control.

On the other hand, if the determination result in step S71 is true (Yes), that is, if the reset number R does not exceed the upper limit, the process proceeds to step S73. In step S73, the control unit 18 increments the reset number R (R = R + 1).

In the following step S74, the control unit 18 once drives the leveling screw to the movable limit and resets the absolute position.

Then, in step S75, the control unit 18 determines whether or not the reset of the absolute position in step S74 has been successful. If the determination result is true (Yes), that is, if the leveling screw is successfully reset, the process returns to step S51 and the search control is performed again. On the other hand, if the determination result is false (No), for example, if the leveling screw cannot be reset due to a failure of the stepping motor or the like, the process proceeds to step S76.

In step S76, the control unit 18 performs search control error processing as, for example, a stepping motor error, and ends the search control.

Next, the tilt angle acquisition control executed in steps S2, S7, S22, S27, S53, and S57 will be described in detail with reference to FIGS. 8 and 9. The tilt angle acquisition control is similarly applied to both the horizontal tilt sensor 13 and the uniaxial tilt sensors 23 and 24 in the present embodiment, and these tilt sensors are distinguished in the following description. Instead, it will be described simply as a tilt sensor.

First, as shown in FIG. 8, the control unit 18 sets the timeout time To as step S81 of the tilt angle acquisition control. The time-out time To is a time for determining an error of the tilt sensor, and in this embodiment, it is set to, for example, three times the tilt waiting time Tw described later.

In the following step S82, the control unit 18 determines whether or not the horizontal angle h1 at this point can be acquired. If the horizontal angle h1 is detected by the horizontal angle detector and the control unit 18 cannot acquire the horizontal angle information from the horizontal angle detector, the determination result becomes false (No) and the process proceeds to step S83.

In step S83, the control unit 18 cannot accurately grasp the state of the laser surveying device 1 due to a failure of the control unit 18 or the horizontal angle detector, a communication failure between the control unit 18 and the horizontal detector, and the like. Error processing is performed as a device error, and the tilt angle acquisition control is terminated.

On the other hand, if the determination result in step S82 is true (Yes), that is, if the control unit 18 can acquire the horizontal angle h1, the process proceeds to step S84.

In step S84, the control unit 18 sets the tilt waiting time Tw (waiting time setting unit, waiting time setting step). The tilt waiting time Tw is set as a time required for the tilt sensor to stably acquire the tilt angle, and this is set according to the temperature.

Specifically, the tilt sensor made of a bubble tube has a lower viscosity of the liquid inside as the temperature rises, and the movement of the bubbles becomes smoother. Therefore, as shown in FIG. 9, the tilt waiting time becomes shorter as the temperature rises. It is set. On the other hand, when the movement of bubbles becomes smooth, the sensitivity becomes high and the possibility of erroneous detection due to vibration increases. Therefore, the degree of decrease in waiting time tends to decrease as the temperature rises.

Further, in the present embodiment, the larger the inclination angle, the more the bubbles are located on the end side of the bubble tube, and the movement of the bubbles becomes slower. Therefore, the inclination angle is detected in advance by the tilt sensor, and the tendency is changed according to the inclination angle. It is set to change. Specifically, when the tilt angle detected by the tilt sensor is larger than 10', the tilt waiting time tends to be longer than when the tilt angle is larger than 10'.

In this way, the tilt waiting time in step S84 is set based on the relationship diagram and the like shown in FIG.

In the next step S85, the control unit 18 acquires the current system time Ts. The system time Ts is, for example, the time from the start of the tilt angle acquisition control timed by the timer included in the control unit 18.

In step S86, the control unit 18 determines whether or not the system time Ts acquired in step S85 has reached the timeout time To (To <Ts). If the determination result is true (Yes), that is, if the system time Ts has reached the timeout time To, the process proceeds to step S87.

In step S87, the control unit 18 sets an timeout, performs error processing for the tilt angle acquisition, and ends the tilt angle acquisition control.

On the other hand, if the determination result in step S86 is false (No), that is, if the system time Ts has not reached the timeout time To, the process proceeds to step S88.

In step S88, the control unit 18 again determines whether or not the horizontal angle h2 can be acquired by the horizontal angle detector. If the horizontal angle h2 cannot be acquired, the process proceeds to step S83 described above to perform error processing, and if it can be acquired, the process proceeds to step S89.

Then, in step S89, the horizontal rotation angle hr obtained from the difference between the horizontal angle h2 acquired in step S88 and the horizontal angle h1 previously acquired in step S82 is within the permissible range in horizontal rotation (for example, ± 30'. It is determined whether or not (within), that is, whether or not the entire laser measuring device 1 or the light wave distance measuring mechanism 2 is in a rotating state. If the determination result is false (No), that is, if the entire laser surveying device 1 or the light wave distance measuring mechanism 2 whose horizontal rotation angle hr is out of the permissible range is in a rotating state, the inclination angle is accurately acquired. Since it is difficult to do so, the process returns to step S82. On the other hand, if the determination result is true (Yes), that is, if the entire laser surveying device 1 and the light wave distance measuring mechanism 2 are in a substantially stationary state, the process proceeds to step S90.

In step S90, the control unit 18 determines whether the tilt waiting time has ended, that is, whether the system time Ts has reached the tilt waiting time (To <Ts) (waiting time progress determination step). If the determination result is false (No), that is, if it is still within the tilt waiting time, the process returns to step S85. On the other hand, if the determination result is true (Yes), that is, when the tilt waiting time is reached, the process proceeds to step S91.

In step S91, the control unit 18 acquires the tilt angle by the corresponding tilt sensor (tilt angle detection control unit, tilt angle detection step), and ends the tilt angle acquisition control.

As described above, in the present embodiment, in order to acquire the tilt angle by the tilt sensor, a tilt waiting time set according to the temperature is provided, and the tilt angle is acquired after the tilt waiting time has elapsed. As a result, the horizontal tilt sensor 13 and the uniaxial tilt sensors 23 and 24 made of a bubble tube can detect a more accurate tilt angle in consideration of disturbances such as temperature and vibration.

Specifically, by setting the tilt waiting time Tw shorter as the temperature rises, a sufficient waiting time is provided at low temperatures where the viscosity of the liquid in the tilt sensor increases and the sensitivity deteriorates, while the viscosity of the liquid decreases. At high temperatures where the sensitivity is improved, the waiting time can be shortened and quick tilt angle detection can be performed, and efficient tilt angle detection can be realized.

Further, if the tilt waiting time is simply shortened according to the temperature, the sensitivity is improved and erroneous detection due to disturbance such as vibration is likely to occur, whereas the higher the tilt waiting time Tw is, the more the waiting time is reduced. By setting the value to be smaller, such false detection can be suppressed.

Further, the tilt waiting time is set so as to change the tendency according to the tilt angle detected by the tilt sensor, so that the tilt angle can be detected more accurately.

From the above, according to the surveying device and the inclination angle detecting method according to the present embodiment, the inclination state can be detected more accurately by the tilt sensor.

Although the description of the embodiment of the present invention is completed above, the aspect of the present invention is not limited to this embodiment.

In the above embodiment, the tilt angle acquisition control according to the present invention is applied to the horizontal tilt sensor 13 provided in the light wave distance measuring mechanism 2 and the pair of uniaxial tilt sensors 23 and 24 provided in the laser rotation irradiation mechanism 3. However, the present invention is not limited to the application to the laser measuring device 1 in which the light wave distance measuring mechanism 2 and the laser rotation irradiation mechanism 3 are integrated. It can also be applied to a tilt sensor provided in a surveying device having only a light wave distance measuring mechanism or a laser rotation irradiation mechanism only.

Further, in the above embodiment, the tilt waiting time is set so as to change the tendency according to the tilt angle detected by the tilt sensor, but the setting of the tilt waiting time is not limited to this. For example, the waiting time setting may be changed according to the control value of the leveling screw actuator or the feedback value of the actuator when the actuator has an angle detection function.

Further, in the above embodiment, the light wave distance measuring mechanism 2 is provided with the horizontal tilt sensor 13, and the laser rotation irradiation mechanism 3 is provided with the pair of uniaxial tilt sensors 29 and 30, and this combination is preferable, but each mechanism has The tilt sensor provided is not necessarily limited to this. For example, the light wave distance measuring mechanism may be provided with a pair of uniaxial tilt sensors, or the laser rotation irradiation mechanism may be provided with a horizontal tilt sensor.

Further, in the above embodiment, the temperature sensor 17 is provided on the rotating base 11, but the position and number of the temperature sensors are not limited to this. For example, a temperature sensor is provided near the uniaxial tilt sensor. May be good.

Further, in the above embodiment, the search control is set to perform search driving in eight directions, but the search driving direction and the number thereof are not limited to this, and may be, for example, only one direction.

Further, in the above embodiment, the timeout time To is set to three times the tilt waiting time Tw in the tilt angle acquisition control, but the timeout time setting is not limited to this.

1 Laser surveying device 2 Light wave distance measuring mechanism 3 Laser rotating irradiation mechanism 13 Horizontal tilt sensor 16 Telescope unit 17 Temperature sensor (temperature detection unit)
18 Control unit (waiting time setting unit, tilt angle detection control unit)
22 Laser irradiation unit 23, 24 Uniaxial tilt sensor

Claims (5)

A tilt sensor that detects the tilt angle and
A temperature detector that detects the temperature and
A waiting time setting unit that sets the tilt waiting time according to the temperature detected by the temperature detecting unit, and
When the tilt sensor detects the tilt angle, the tilt angle detection control unit that detects the tilt angle after the tilt waiting time set by the waiting time setting unit has elapsed, and the tilt angle detection control unit.
Equipped with a,
The waiting time setting unit sets the tilt waiting time shorter as the temperature detected by the temperature detecting unit increases, and the decrease degree of the tilt waiting time decreases as the temperature detected by the temperature detecting unit increases. surveying apparatus. The surveying device according to claim 1, wherein the tilt sensor includes a bubble tube. The surveying device according to claim 1 or 2, wherein the waiting time setting unit detects a tilt angle by the tilt sensor in advance, and changes the tilt waiting time setting according to the tilt angle. It is a tilt angle detection method that detects the tilt angle with a tilt sensor.
A waiting time setting process that sets the tilt waiting time according to the temperature, and
The waiting time progress determination step for determining the progress of the tilt waiting time and
The tilt angle detection step of detecting the tilt angle with the tilt sensor after the tilt waiting time elapses,
Equipped with a,
Wherein in the wait time setting step, the temperature is higher and shorter the tilt latency high and the inclination angle detection method wherein the higher the temperature you decrease the reduction degree of the tilt latency. The tilt angle detection method according to claim 4, wherein in the waiting time setting step, a tilt angle is detected in advance by a tilt sensor, and the tilt waiting time setting is changed according to the tilt angle.

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