JP6913422B2 - Surveying system - Google Patents

Description

The present invention relates to a surveying system that measures light waves using a measuring pole.

Conventionally, when measuring the measurement point of a measurement object, the pole is brought into contact with the measurement point, the pole is measured using the measurement light, and the measurement point is indirectly measured based on the measurement result of the pole, or the measurement point is set to the measurement point. The measurement point is directly measured by irradiating the measurement light directly.

In this case, it is premised that the pole or the measurement surface is generally facing the measurement light. Therefore, it is not possible to measure an object to be measured on a surface parallel to the measurement optical axis, for example, a side wall, a ceiling surface, or a recessed place, and the measurement range is limited.

Japanese Unexamined Patent Publication No. 2016-151423

The present invention provides a surveying system capable of measuring a direction other than the reference optical axis direction of a measuring machine, or measuring an object to be measured in a recessed place.

The present invention comprises a distance measuring unit that emits distance measuring light, receives reflected distance measuring light from an object to be measured, and performs distance measuring, an optical axis deflection unit that can scan the distance measuring light in two dimensions, and the measurement. It has a measuring machine having a distance unit, a calculation control unit that controls the optical axis deflection unit and measures the position of an irradiation point of distance measurement light, a pole, and a target plate provided at the upper end of the pole. A measuring system including a target device in which a notch is formed in the target plate and a deflection optical member is provided on the back side of the notch, and the measuring machine scans through the notch. The target plate is scanned with a pattern, the inclination and rotation of the target plate are measured by measuring values of at least three points on the scan line, and the distance between the measurement points irradiated with the ranging light via the deflection optical member is measured. It relates to a measuring system that measures and measures the position of the measuring point based on the tilt, rotation and distance measurement result of the target plate.

Further, the present invention relates to a surveying system in which the optical axis deflection unit scans the ranging light in a circle.

The present invention also relates to a surveying system in which the target plate is composed of at least two members having different reflectances.

The present invention also relates to a surveying system in which the front surface of the target plate is composed of a retroreflective member.

Further, in the present invention, a condenser lens is provided for the deflection optical member, and distance measurement light is imaged or substantially imaged at the measurement point by the condenser lens, and the measurement point and the condenser lens form an image. It relates to a surveying system in which retroreflection is configured.

The present invention also relates to a surveying system in which the condenser lens is a multifocal lens or a multifocal Fresnel lens.

The present invention also relates to a surveying system in which the deflecting optical member is a reflecting mirror.

The present invention also relates to a surveying system in which the deflecting optical member is a pentaprism.

The present invention also relates to a surveying system in which the cutout portions are provided at a plurality of locations, the distance measuring light is deflected in a plurality of directions, and the plurality of locations are measured.

The present invention also relates to a surveying system in which the target plate is rotatably configured.

Further, the present invention further includes a traveling device, and the target device relates to a surveying system provided in the traveling device.

According to the present invention, a distance measuring unit that emits distance measuring light, receives reflected distance measuring light from a measurement object, and performs distance measuring, and an optical axis deflection unit that can scan the distance measuring light in two dimensions. It has a measuring machine having a distance measuring unit and an arithmetic control unit that controls the distance measuring unit and the optical axis deflection unit and measures the position of an irradiation point of the distance measuring light, and a pole and a target plate provided at the upper end of the pole. A measuring system including a target device in which a notch is formed on the target plate and a deflection optical member is provided on the back side of the notch, and the measuring machine passes through the notch. The target plate is scanned with the scan pattern to be performed, the inclination and rotation of the target plate are measured with the measured values of at least three points on the scan line, and the measurement points irradiated with the ranging light through the deflection optical member. Since the distance is measured and the position of the measurement point is measured based on the tilt, rotation and distance measurement result of the target plate, it is possible to measure in a direction other than the reference optical axis direction of the measuring machine, or it is recessed. It exerts an excellent effect that it is possible to measure an object to be measured at a place.

It is the schematic of the surveying system which concerns on embodiment of this invention. It is a block diagram of the measuring machine main body used for the surveying system. It is the schematic of the optical axis deflection part used for the measuring machine main body. (A) to (C) are operation explanatory views of the optical axis deflection part. (A) is a front view of the target device according to the first embodiment, and (B) is a front side view of the target device. (A) is a graph showing the state of the received light signal when the target plate is circularly scanned, and (B) is a graph showing the measurement result when the target plate is circularly scanned. It is a front view of the target apparatus which concerns on 2nd Embodiment. (A) is a front view of the target device according to the third embodiment, and (B) is a front side view of the target device. (A) is a front view showing an application example of the target device according to the third embodiment, and (B) is a front side view thereof. It is a front view of the target apparatus which concerns on 4th Embodiment. It is explanatory drawing of the target apparatus which concerns on 5th Example.

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

FIG. 1 shows an outline of a surveying system 1 according to an embodiment of the present invention. In FIGS. 1, 2 is a measuring machine installed at a known point, 3 is a target device, and 4 is a remote control device. ing. Note that 3'indicates the target device after movement.

The measuring machine 2 is provided on a support device 5 such as a tripod, a horizontal rotating portion 6 provided at the upper end of the support device 5, a bracket portion 7 provided on the horizontal rotating portion 6, and the bracket portion 7. It has a measuring machine main body 8.

The horizontal rotation unit 6 has a horizontal drive unit (not shown) that rotates the bracket 7 in the horizontal direction, and also has a horizontal angle detector (not shown) that can detect horizontal rotation.

The bracket 7 has a vertical drive unit 9 that rotates the measuring machine main body 8 in the vertical direction, and also has a vertical right angle detector (not shown) capable of detecting the vertical rotation.

The measuring machine 2 emits the ranging light 39, measures the distance to the object to be measured, and can scan the ranging light 39 in two dimensions (described later).

The target device 3 has a pole 11 whose lower end indicates a measurement point, and a target plate 12 provided at the upper end of the pole 11. At least the surface of the target plate 12 facing the measuring machine 2 is formed of a retroreflective member. For example, a retroreflective sheet is attached or a retroreflective paint is applied to the surface of the target plate 12. The target plate 12 has a reference point 13 (that is, the center of the target plate 12). The reference point 13 is located on the axis of the pole 11 and is a known distance from the lower end of the pole 11.

The measuring machine main body 8 will be described with reference to FIG.

The measuring machine main body 8 includes a distance measuring light emitting unit 18, a light receiving unit 19, a distance measuring calculation unit 21, an imaging unit 22, an emission direction detection unit 23, a motor driver 24, an attitude detector 25, a calculation control unit 26, and a storage unit. 27, an image pickup control unit 28, an image processing unit 29, a display unit 30, an operation unit 31, and a communication unit 40 are included, and these are housed in a housing 32 and integrated. The distance measuring light emitting unit 18, the light receiving unit 19, the distance measuring calculation unit 21, and the like constitute a distance measuring unit.

The ranging light emitting unit 18 has an emitted optical axis 33, and a light emitting element 34, for example, a laser diode (LD) is provided on the emitted optical axis 33. Further, a projection lens 35 is provided on the emission optical axis 33. Further, the first reflecting mirror 36 as a deflection optical member provided on the emission optical axis 33 and the second reflector 38 as a deflection optical member provided on the light receiving optical axis 37 (described later) are used. The emission optical axis 33 is deflected so as to match the light receiving optical axis 37. The first reflecting mirror 36 and the second reflecting mirror 38 form an emission optical axis deflection portion.

The light emitting element 34 emits a pulsed laser beam, and the ranging light emitting unit 18 emits a pulsed laser beam emitted from the light emitting element 34 as the ranging light 39.

The light receiving unit 19 will be described. Reflected ranging light 41 from a measurement object (that is, a measurement point) is incident on the light receiving unit 19. The light receiving unit 19 has the light receiving optical axis 37, and the light receiving optical axis 37 has the emission optical axis 33 deflected by the first reflecting mirror 36 and the second reflecting mirror 38 as described above. Matches. The state in which the emitted optical axis 33 and the received optical axis 37 match is referred to as the distance measuring optical axis 42 (see FIG. 4 (A)).

An optical axis deflection unit 43 (described later) is arranged on the deflected emission optical axis 33, that is, on the light receiving optical axis 37. The straight optical axis that passes through the center of the optical axis deflection portion 43 is the reference optical axis O. The reference optical axis O coincides with the emission optical axis 33 or the light receiving optical axis 37 when not deflected by the optical axis deflection unit 43.

An imaging lens 44 is arranged on the light receiving optical axis 37 that has passed through the optical axis deflecting portion 43, and a light receiving element 45, for example, a photodiode (PD), is provided on the light receiving optical axis 37. The imaging lens 44 forms an image of the reflected distance measuring light 41 on the light receiving element 45. The light receiving element 45 receives the reflected ranging light 41 and generates a light receiving signal. The received light signal is input to the distance measuring calculation unit 21. The distance measurement calculation unit 21 measures the distance to the measurement point based on the received signal.

The optical axis deflection unit 43 will be described with reference to FIG.

The optical axis deflection unit 43 is composed of a pair of optical prisms 46a and 46b. The optical prisms 46a and 46b are disk-shaped, respectively, and are arranged on the light-receiving optical axis 37 orthogonally to the light-receiving optical axis 37, overlap each other, and are arranged parallel to each other.

The central portion of the optical axis deflecting portion 43 is the ranging light deflecting portion 43a, which is the first optical axis deflecting portion through which the ranging light 39 is transmitted and emitted, and the portion other than the central portion is the reflection. The reflection distance measurement light deflection unit 43b, which is the second optical axis deflection unit that the distance measurement light 41 transmits and is incident on, is the reflection distance measurement light deflection unit 43b.

The optical prisms 46a and 46b are composed of prism elements 47a and 47b formed in parallel and a plurality of prism elements 48a and 48b, respectively. The optical prisms 46a and 46b, the prism elements 47a and 47b, and the prism elements 48a and 48b have the same optical characteristics. The prism elements 47a and 47b belonging to the distance measuring light deflection portion 43a of the optical prisms 46a and 46b are preferably one, and the width of the prism elements 47a and 47b is the luminous flux of the distance measuring light 39. It is preferable that the diameter is approximately the same as or slightly wider than the diameter of.

The prism elements 47a and 47b form the distance measuring light deflection unit 43a, and the prism elements 48a and 48b form the reflection distance measuring light deflection unit 43b.

The optical prisms 46a and 46b may be manufactured from optical glass, but may also be molded from an optical plastic material. By molding with an optical plastic material, an inexpensive and thin Fresnel prism can be manufactured.

The optical prisms 46a and 46b are independently rotatably arranged around the light receiving optical axis 37, respectively. By independently controlling the rotation direction, the amount of rotation, and the rotation speed of the optical prisms 46a and 46b, the emission optical axis 33 of the distance measurement light 39 to be emitted is deflected in an arbitrary direction and received. The received optical axis 37 of the reflected distance measuring light 41 is deflected in parallel with the emitted optical axis 33.

The external shapes of the optical prisms 46a and 46b are circular around the light receiving optical axis 37, respectively, and the optical prisms 46a and 46b can obtain a sufficient amount of light in consideration of the spread of the reflected distance measuring light 41. The diameter of 46b is set.

A ring gear 49a is fitted on the outer circumference of the optical prism 46a, and a ring gear 49b is fitted on the outer circumference of the optical prism 46b.

A drive gear 51a meshes with the ring gear 49a, and the drive gear 51a is fixed to the output shaft of the motor 52a. Similarly, the drive gear 51b meshes with the ring gear 49b, and the drive gear 51b is fixed to the output shaft of the motor 52b. The motors 52a and 52b are electrically connected to the motor driver 24.

As the motors 52a and 52b, those capable of detecting the rotation angle or those that rotate corresponding to the drive input value, for example, a pulse motor are used. Alternatively, the rotation amount of the motor may be detected by using a rotation angle detector for detecting the rotation amount (rotation angle) of the motor, for example, an encoder or the like. The amount of rotation of the motors 52a and 52b is detected, and the motors 52a and 52b are individually controlled by the motor driver 24. The encoder may be directly attached to the ring gears 49a and 49b, respectively, and the rotation angle of the ring gears 49a and 49b may be directly detected by the encoder.

The drive gears 51a and 51b and the motors 52a and 52b are provided at positions that do not interfere with the distance measuring light emitting unit 18, for example, below the ring gears 49a and 49b.

The light projecting lens 35, the first reflecting mirror 36, the second reflecting mirror 38, the distance measuring light deflecting unit 43a, and the like constitute a light projecting optical system, and the reflected distance measuring light deflecting unit 43b, the imaging The lens 44 and the like constitute a light receiving optical system.

The distance measurement calculation unit 21 controls the light emitting element 34 to emit a pulsed laser beam as the distance measurement light 39. The emission optical axis 33 is deflected so that the distance measuring light 39 is directed toward the measurement point by the prism elements 47a and 47b (the distance measuring light deflection unit 43a).

The reflected distance measuring light 41 reflected from the object to be measured is incident on the prism elements 48a and 48b (the reflected distance measuring light deflection unit 43b) and the imaging lens 44, and is received by the light receiving element 45. NS. The light receiving element 45 sends a light receiving signal to the distance measuring calculation unit 21, and the distance measuring calculation unit 21 is irradiated with a measurement point (distance measuring light) for each pulse light based on the light receiving signal from the light receiving element 45. The distance measurement is performed, and the distance measurement data is stored in the storage unit 27. Therefore, the distance measurement data of each measurement point can be acquired by performing distance measurement for each pulse light while scanning the distance measurement light 39.

The injection direction detection unit 23 detects the rotation angle of the motors 52a and 52b by counting the drive pulses input to the motors 52a and 52b. Alternatively, the rotation angles of the motors 52a and 52b are detected based on the signal from the encoder. Further, the injection direction detection unit 23 calculates the rotation position of the optical prisms 46a and 46b based on the rotation angles of the motors 52a and 52b. Further, the emission direction detection unit 23 calculates the deviation angle and the emission direction of the distance measuring light 39 with respect to the reference optical axis O based on the refractive index and the rotation position of the optical prisms 46a and 46b, and the calculation result is the calculation result. It is input to the arithmetic control unit 26.

Further, a horizontal angle detection signal 54 from the horizontal angle detector (not shown) and a vertical angle detection signal 55 from the vertical right angle detector (not shown) are input to the arithmetic control unit 26, and the above. The calculation control unit 26 is configured to calculate the direction of the reference optical axis O based on the horizontal angle detection signal 54 and the vertical right angle detection signal 55.

The calculation control unit 26 calculates the direction of the reference optical axis O, the deviation angle of the distance measuring light 39 with respect to the reference optical axis O, the horizontal angle of the measurement point, and the vertical perpendicularity from the emission direction, and for each measurement point. , Horizontal angle, and vertical angle can be associated with the distance measurement data to obtain three-dimensional data (three-dimensional coordinates) of the measurement point.

The posture detector 25 detects the tilt angle and tilt direction of the housing 32 with respect to the horizontal. The detected tilt angle and tilt direction are input to the arithmetic control unit 26. The arithmetic control unit 26 corrects the measured distance, horizontal angle, and vertical right angle based on the detection result of the attitude detector 25. As the posture detector 25, the posture detector disclosed in Patent Document 1 can be used. Further, as the posture detector 25, a tilt sensor that detects the inclination of the housing 32 may be used. The housing 32 may be leveled horizontally based on the tilt sensor, and the measurement may be performed with the housing 32 leveled.

The image pickup unit 22 is, for example, a camera having an angle of view of 50 °, has an imaging optical axis 57 parallel to the reference optical axis O of the measuring machine main body 8, and includes a scanning range of the measuring machine main body 8. Get image data. The distances between the imaging optical axis 57, the emission optical axis 33, and the reference optical axis O are known, and the positional relationship is known. Further, the imaging unit 22 can acquire a still image, a moving image, or a continuous image.

The image pickup control unit 28 controls the image pickup of the image pickup unit 22. When the imaging unit 22 captures the still image, the moving image, or the continuous image, the imaging control unit 28 acquires the frame image constituting the still image, the moving image, or the continuous image, and the measurement. It is synchronized with the timing of scanning by the machine body 8. The arithmetic control unit 26 also executes the association between the image and the point cloud data.

The image sensor 58 of the image pickup unit 22 is a CCD or a CMOS sensor, which is an aggregate of pixels. The position of each pixel on the image element can be specified with reference to the point through which the imaging optical axis 57 passes. For example, each pixel has pixel coordinates in a coordinate system with the point through which the imaging optical axis 57 passes as the origin, and the position on the image element is specified by the pixel coordinates.

The image processing unit 29 performs image processing such as edge detection processing, feature point extraction, image tracking processing, and image matching on the image data acquired by the imaging unit 22.

The storage unit 27 emits a control program for executing distance measurement, a program for creating three-dimensional point group data based on the distance measurement result, and the distance measurement light 39 in a predetermined deviation angle and deflection direction. A program for causing the image pickup unit 22 to acquire an image, a program for causing the image processing unit 29 to perform predetermined image processing such as edge detection on the acquired image, and the optical axis deflection unit. A program such as a program that controls the rotation of 43 and executes a two-dimensional scan of the ranging light in a required pattern is stored.

Further, the storage unit 27 stores the acquired point cloud data as a result of distance measurement.

The display unit 30 can display the distance measurement result, the acquired point cloud data, the image captured by the imaging unit 22, and the like. In addition, the operation unit 31 can execute start instructions such as distance measurement, change of settings, and the like.

The communication unit 40 is configured by necessary means such as wired or wireless, and can communicate data such as various data and image data with the remote control device 4.

The remote control device 4 is capable of data communication with the communication unit 40, and can transmit a command for remote control from the remote control device 4 to the measuring device 2. Further, the remote control device 4 has a display unit (not shown), and can display image data transmitted from the measuring device 2 via the communication unit 40 on the display unit. As the remote control device 4, an external terminal device having a display unit such as a smartphone or a tablet may be used.

The arithmetic control unit 26 transmits various data to the remote control device 4 or the external terminal device via the communication unit 40, and transmits distance measurement results, point group data, images, etc. to the remote control device 4, the remote control device 4. Alternatively, it can be displayed on the external terminal device. Further, via the communication unit 40, it is possible to execute a start instruction such as distance measurement, a change in setting, and the like from the remote control device 4 or the external terminal device. That is, by transmitting an operation signal from the remote control device 4 or the external terminal device, the measuring machine main body 8 can be remotely controlled.

The deflection action and the scanning action of the optical axis deflection unit 43 will be described with reference to FIGS. 4 (A) to 4 (C).

In FIG. 4A, the prism elements 47a and 47b and the prism elements 48a and 48b are shown separately for the optical prisms 46a and 46b for the sake of simplification of the description. Further, FIG. 4A shows a state in which the prism elements 47a and 47b and the prism elements 48a and 48b are located in the same direction, and in this state, the maximum declination can be obtained. Further, the minimum declination is a position where one of the optical prisms 46a and 46b is rotated by 180 °, and the mutual optical action of the optical prisms 46a and 46b is canceled out so that the declination becomes 0 °. Therefore, the optical axis of the laser beam emitted and received through the optical prisms 46a and 46b (the distance measuring optical axis 42) coincides with the reference optical axis O.

The distance measuring light 39 is emitted from the light emitting element 34, and the distance measuring light 39 is converted into a parallel light flux by the light projecting lens 35 and is transmitted through the distance measuring light deflecting portions 43a (the prism elements 47a and 47b). It is ejected toward the object to be measured or the measurement range. Here, by passing through the ranging light deflecting portion 43a, the ranging light 39 is deflected in a required direction by the prism elements 47a and 47b and emitted.

The reflected distance measuring light 41 reflected by the object to be measured or the measurement range is incident through the reflected distance measuring light deflection unit 43b, and is focused on the light receiving element 45 by the imaging lens 44.

When the reflected distance measuring light 41 passes through the reflected distance measuring light deflecting portion 43b, the optical axis of the reflected distance measuring light 41 is deflected by the prism elements 48a and 48b so as to coincide with the received light axis 37. (Fig. 4 (A)).

By combining the rotational positions of the optical prism 46a and the optical prism 46b, the deflection direction and declination angle of the distance measuring light 39 to be emitted can be arbitrarily changed.

Further, in a state where the positional relationship between the optical prism 46a and the optical prism 46b is fixed (in a state where the deviation angle obtained by the optical prism 46a and the optical prism 46b is fixed), the motors 52a and 52b When the optical prism 46a and the optical prism 46b are rotated integrally, the locus drawn by the distance measuring light 39 transmitted through the distance measuring light deflecting portion 43a becomes a circle centered on the distance measuring optical axis 42.

Therefore, if the optical axis deflection unit 43 is rotated while emitting a laser beam from the light emitting element 34, the distance measuring light 39 can be scanned in a circular locus. Needless to say, the reflected distance measuring light deflection unit 43b rotates integrally with the distance measuring light deflection unit 43a.

Next, FIG. 4B shows a case where the optical prism 46a and the optical prism 46b are relatively rotated. Assuming that the deflection direction of the optical axis deflected by the optical prism 46a is deflection A and the deflection direction of the optical axis deflected by the optical prism 46b is deflection B, the deflection of the optical axis by the optical prisms 46a and 46b is The combined deflection C is obtained as the angle difference θ between the optical prisms 46a and 46b.

Therefore, when the optical prism 46a and the optical prism 46b are reciprocally rotated at a constant speed in opposite directions, the distance measuring light 39 transmitted through the optical prisms 46a and 46b is scanned linearly. Therefore, by reciprocating the optical prism 46a and the optical prism 46b in opposite directions at a constant velocity, as shown in FIG. 4B, the distance measuring light 39 is subjected to a linear locus in the synthetic deflection C direction. A reciprocating scan can be performed at 59.

Further, as shown in FIG. 4C, if the optical prism 46b is rotated at a rotation speed slower than the rotation speed of the optical prism 46a, the angle difference θ gradually increases and the distance measuring light 39 Is rotated, so that the scan locus of the ranging light 39 has a spiral shape.

Furthermore, by individually controlling the rotation direction and rotation speed of the optical prism 46a and the optical prism 46b, the scan locus of the distance measuring light 39 can be set in the irradiation direction (radial direction) centered on the reference optical axis O. Various scan patterns can be obtained, such as scan) or horizontal or vertical.

Next, the target device 3 will be described with reference to FIGS. 5 (A) and 5 (B).

The lower end of the pole 11 is installed at the measurement point P. The target plate 12 is provided at the upper end of the pole 11.

In the figure, the target plate 12 is shown as a square, but the shape of the target plate 12 may be square or circular, and may be any known shape. The target plate 12 has the reference point 13, and in the figure, the center of the target plate 12 is the reference point 13. The reference point 13 is on the axis of the pole 11, and the distance between the lower end of the pole 11 and the reference point 13 is known.

The front surface of the target plate 12 (the surface facing the measuring machine 2) is a reflective sheet, and a non-reflective pattern 61 is further formed. That is, the target plate 12 is composed of at least two members having different reflectances. The non-reflective pattern 61 indicates the reference point 13, for example, the center of the non-reflective pattern 61 is the reference point 13. The non-reflective pattern 61 in FIG. 15 shows an example thereof.

The non-reflective pattern 61 is composed of a vertical line 61a and a horizontal line 61b passing through the reference point 13, and diagonal lines 61c and 61d passing through the reference point 13, and the vertical line 61a, the horizontal line 61b, and the diagonal lines 61c and 61d are , Each is a non-reflective part. The vertical line 61a, the horizontal line 61b, and the diagonal lines 61c and 61d are each formed with known line widths, and may have the same line width or different line widths. The vertical line 61a coincides with the axis of the pole 11.

A notch 62 is formed at the center of the upper end of the target plate 12. The cutout portion 62 is formed on the vertical straight line 61a, and the upper end portion of the vertical straight line 61a is cut off by the cutout portion 62.

A reflecting mirror 63 as a deflection optical member is provided at the position of the cutout portion 62 on the back surface side of the target plate 12. The reflector 63 is larger than the cutout portion 62 and is provided so as to close the cutout portion 62. Further, the reflecting mirror 63 is inclined by 45 ° with respect to the front surface of the target plate 12 and the axial center of the pole 11, and the distance measuring that passes through the cutout portion 62 and is incident on the reflecting mirror 63. The light 39 is set to be reflected upward.

As the deflecting optical member, various optical members that deflect the optical axis, such as a prism and a pentaprism, can be used. Further, the deflection optical member may deflect the ranging light 39 at a required angle, not limited to 90 °, as long as the deflection angle is known.

Hereinafter, the operation of the surveying system 1 according to this embodiment will be described.

First, a case where the measurement point P is measured will be described.

The measuring machine main body 8 is installed at a known point or a predetermined point via the support device 5. The lower end of the pole 11 of the target device 3 is installed at the measurement point P, and the target plate 12 is directed toward the measuring machine 2.

The reference optical axis O (that is, the distance measuring optical axis 42 in a non-deflected state) is directed toward the target plate 12 and roughly collimated. The horizontal angle (left-right angle) of the reference optical axis O at this time is detected by the horizontal angle detector (not shown), and the inclination angle (vertical angle) of the reference optical axis O with respect to the horizontal is detected by the vertical angle detector. Detected by a vessel (not shown).

As a method of roughly collimating, the image acquired by the imaging unit 22 is displayed on the remote control device 4, and the operator operates the remote control device 4 while viewing the image to target the measuring machine main body 8. Aim toward the center of the plate 12 (the reference point 13). Alternatively, the arithmetic control unit 26 detects the target plate 12 from the image, controls the horizontal rotation unit 6 and the vertical drive unit 9 based on the detection result, and sets the reference optical axis O to the target plate 12. Aim at the center of.

Next, a two-dimensional scan pattern is set.

As the two-dimensional scan pattern, a required scan pattern such as a circular scan pattern, an elliptical scan pattern, a rectangular scan pattern, or a figure eight scan pattern is selected.

In the following description, the case where the circular scan pattern 71 is selected will be described.

When the scanning of the ranging light 39 is executed by the circular scan pattern 71, the ranging light 39 passes through each of the lines, that is, the vertical line 61a, the horizontal line 61b, and the diagonal lines 61c and 61d. Since it is not reflected, the light receiving element 45 of the light receiving unit 19 does not detect the reflected distance measuring light 41, and the amount of received light decreases at the scan line passing position of each line.

Further, when the scan line passes through the cutout portion 62, that is, when the scan line passes through the reflector 63, the light receiving element 45 receives the reflected ranging light 41. The case where the scan line passes through the cutout portion 62 will be described later.

FIG. 6A shows a change in the amount of received light on the scan line (circular scan line). In FIG. 6A, the position where the amount of light is reduced indicates the position where the circular scan line has passed each of the above lines.

In the figure, the positions where the amount of light is reduced are evenly spaced, indicating that the center of the circular scan pattern 71 and the center of the non-reflective pattern 61 (the reference point 13) coincide with each other.

As a method of accurately matching the center of the circular scan pattern 71 with the reference point 13, three-dimensional coordinates are obtained for two points through which the circular scan pattern 71 passes through the vertical straight line 61a, and further, the vertical straight line 61a Find the midpoint. Further, the midpoint of the horizontal line 61b may be obtained in the same manner, and the collimation direction of the distance measuring optical axis 42 may be adjusted so that the coordinates of both midpoints match.

Further, if the midpoints are similarly obtained for the diagonal lines 61c and 61d and the collimation direction of the distance measuring optical axis 42 is adjusted so that all the midpoints match, the accuracy of collimation direction setting is improved.

The collimation direction may be adjusted so that the positions where the amount of light decreases are evenly spaced.

Next, measurement of the inclination of the target plate 12 (inclination in the front-rear direction (hereinafter, inclination)) and rotation around the pole 11 (hereinafter, rotation)) will be described.

When the distance measuring light 39 is scanned on the target plate 12 with the circular scan pattern 71, the target plate 12 is three-dimensionally measured along the circular scan pattern 71. When the target device 3 is in a vertical state and the target plate 12 is perpendicular to the reference optical axis O (that is, when the target plate 12 faces the measuring machine 2), a circle. The distance measurement results when scanning are the same. Further, the three-dimensional coordinates of the measurement point P can be obtained based on the distance measurement result at this time.

Next, when the target plate 12 is tilted or rotated, the distance measurement result is small at a portion of the target plate 12 that is close to the surveying instrument 2, and is large at a portion that is far away. Become. Therefore, when the rotation angle of the circular scan is on the horizontal axis and the distance measurement result is shown on the vertical axis, a sine curve 73 is obtained as shown in FIG. 6 (B).

The magnitude of the inclination and rotation appears as the amplitude A of the sine curve 73, and the angle of rotation appears as the phase shift θ of the sine curve 73. Therefore, the inclination and rotation of the target plate 12 can be detected by measuring the amplitude A and the phase shift θ.

By detecting the inclination and rotation of the target plate 12, the reference point 13 of the target plate 12 can be measured. Further, the measurement point P can be accurately measured based on the inclination of the target plate 12 (that is, the inclination of the pole 11) and the distance between the lower end of the pole 11 and the reference point 13.

Since the measuring machine main body 8 is provided with the posture detector 25 and can detect the posture of the measuring machine main body 8, the measuring machine main body 8 is removed from the horizontal rotating portion 6 and the measuring machine main body 8 is manually operated. The measurement result may be corrected by the detection result of the attitude detector 25 by measuring with the measuring machine main body 8 while holding the measuring machine.

In this surveying system, the measuring machine main body 8 can be used as a total station, and the measuring machine main body 8 can be used as a laser scanner. For example, if the distance measuring light 39 is irradiated to a predetermined measurement point by the optical axis deflection unit 43 to measure the measurement point, the measuring machine main body 8 can be used as a total station, and the optical axis deflection unit 43 measures the measurement. If a predetermined measurement range is measured while scanning the distance light 39, point group data can be acquired for the measurement target, and the measuring machine main body 8 can be used as a laser scanner.

Further, since the target plate 12 can be tracked by performing image tracking on the image acquired by the imaging unit 22, the target device 3 can be moved to move the target device 3 to a necessary part and a point cloud of the necessary part. Data can be obtained.

Further, a case where the surveying system 1 measures a plane parallel to the reference optical axis O or a measurement object existing in a direction orthogonal to the reference optical axis O will be described. FIG. 1 shows a case where the ceiling 65 is measured.

The target device 3 is installed at a known point or a point P measured by the measuring machine 2 and made known.

Set the required 2D scan pattern. In the illustration, a circular scan pattern is selected.

When the scan line passes through the cutout portion 62, the ranging light 39 is reflected by the reflecting mirror 63, irradiates the ceiling 65 as sub-ranging light 39', is further reflected by the ceiling 65, and further. It is reflected by the reflecting mirror 63 and received by the light receiving element 45 as sub-reflected distance measuring light 41'(see FIGS. 8 and 9), and distance measurement is performed.

The distance measurement result of the ceiling 65 is obtained as a peak value 74 protruding from the sin curve 73 shown in FIG. 6 (B). When the point irradiated by the sub-distance measuring light 39'is the point to be measured, the obtained distance measuring result is the distance measuring value up to the point to be measured.

When it is desired to measure the height of the ceiling 65 (the vertical distance from the measurement point P to the ceiling 65), the inclination of the pole 11 is measured by measuring the target plate 12, and the inclination of the pole 11 is adjusted. By correcting the measurement result based on the above, the height of the ceiling 65 can be accurately measured (see FIG. 1).

Further, with the target device 3 installed at a known point P, any point on the ceiling 65, for example, a corner of the ceiling 65 can be measured. In this case, the ranging light 39 is preferably visible light.

While performing a circular scan of the distance measuring light 39, the operator tilts the target device 3 about the measurement point P and adjusts the irradiation position of the sub distance measuring light 39'to the measurement point. .. Distance measurement from the measuring machine 2 to the point to be measured can be performed. Further, when measuring the horizontal distance between the measurement point P and the sub-distance measuring light 39', the inclination of the pole 11 can be measured by circularly scanning the target plate 12 with the distance measuring light 39. The horizontal distance can be measured based on the inclination angle of the pole 11, the three-dimensional coordinates of the measurement point P, and the distance measurement result from the measuring machine 2 to the irradiation position.

FIG. 7 shows the target device 76 according to the second embodiment. In FIG. 7, those equivalent to those shown in FIG. 5 (A) are designated by the same reference numerals, and the description thereof will be omitted.

In the target device 76, the illumination lamp 77 is provided at the position of the reference point 13. By providing the illumination lamp 77, the position of the reference point 13 can be easily recognized from the image. Further, the illuminating lamp 77 is blinked, an image is acquired in synchronization with the illuminating lamp 77 when it is lit and when it is extinguished, and an image when the illuminating lamp 77 is lit and an image when the illuminating lamp 77 is extinguished are displayed. By obtaining the difference, it is possible to acquire an image of only the illumination lamp 77, and it is possible to easily and accurately identify the target plate 12 and the reference point 13 by image processing.

8 (A) and 8 (B) show the target device 78 according to the third embodiment. In FIGS. 8 (A) and 8 (B), those equivalent to those shown in FIGS. 5 (A) and 5 (B) are designated by the same reference numerals, and the description thereof will be omitted. Further, in the third embodiment, the illumination lamp 77 is provided at the position of the reference point 13 as in the second embodiment.

The surface of a natural object such as a ceiling surface usually has a lower reflectance than the reflective surface of the target plate 12. In the third embodiment, the sub-distance measuring light 39'is placed on the optical path of the distance measuring light 39 reflected by the reflecting mirror 63 so that a sufficient amount of light can be obtained even if the reflectance of the surface of the object to be measured is low. A condenser lens 79 is provided for forming an image on the ceiling 65 or substantially forming an image. Here, the height of the ceiling indoors such as a building is substantially constant, and the focal length of the condenser lens 79 may be determined based on a general ceiling height. Alternatively, the condenser lens 79 may be attached and detached, and a plurality of the condenser lenses 79 having different focal lengths may be prepared and replaced as appropriate according to the measurement environment.

By forming an image on the ceiling 65 with the condenser lens 79, the total amount of light reflected by the ceiling 65 is incident on the light receiving element 45 as sub-reflection ranging light 41', which is sufficient for measurement. The amount of light can be obtained. The irradiation point of the sub-distance measuring light 39'and the condensing lens 79 can be used to form retroreflection.

9 (A) and 9 (B) show the target device 81 according to the application example of the third embodiment. In FIGS. 9 (A) and 9 (B), those equivalent to those shown in FIGS. 8 (A) and 8 (B) are designated by the same reference numerals, and the description thereof will be omitted.

In the application example of the third embodiment, a multifocal lens, preferably a multifocal Fresnel lens 82, is used instead of the condenser lens 79. As a result, the depth of focus becomes large by using a multifocal lens, and a sufficient amount of light can be obtained even when the ceiling height is different, which enables measurement in various environments and makes the surveying system versatile. Will increase.

FIG. 10 shows the target device 84 according to the fourth embodiment. In FIG. 10, those equivalent to those shown in FIG. 7 are designated by the same reference numerals, and the description thereof will be omitted.

In the target device 84, the notch 62a is provided at the upper end of the vertical line 61a, and the notch 62b and the notch 62c are provided at both ends of the horizontal line 61b. Further, although not shown, reflectors are provided on the back side of the target plate 12 corresponding to the positions of the cutout portion 62a, the cutout portion 62b, and the cutout portion 62c, and each reflector is provided with the target plate. It is tilted 45 ° with respect to 12.

Therefore, when the distance measuring light 39 is circularly scanned with respect to the target plate 12 in a state where the pole 11 is in a vertical state and the reference optical axis O is horizontal, when the distance measuring light 39 passes through the cutout portion 62a. The ranging light 39 is reflected vertically upward by the reflecting mirror, and when the ranging light 39 passes through the cutout portion 62b and the cutout portion 62c, the ranging light 39 is horizontally leftward. It is also reflected horizontally to the right.

Further, the sub-distance measuring lights 39a', 39b', 39c'reflected by each reflecting mirror are applied to the measurement object located above and the measurement object located on the side, and the irradiation point (measurement point) is measured. Distance is done.

Further, when the target device 84 is tilted or rotated, the target plate 12 is determined by the distance measurement result of a circular scan excluding the cutout portion 62a, the cutout portion 62b, and the cutout portion 62c. Since the tilt and rotation of the can be detected, the distance measurement result can be corrected based on the detected tilt and rotation angle.

FIG. 11 shows the target device 86 according to the fifth embodiment. In FIG. 11, those equivalent to those shown in FIG. 10 are designated by the same reference numerals, and the description thereof will be omitted.

The target device 86 is vertically erected on the traveling device 87.

In the target device 86, the cutout portions 62 (cutout portions 62a, 62b, 62c, 62d, 62e, 62f, 62g) are provided at positions where the circle centered on the reference point 13 and the non-reflective pattern 61 intersect. Has been done. In the figure, the circular scan pattern 71 and the circle provided with the cutout portion 62 coincide with each other, but they do not have to match.

Further, on the back side of each of the cutout portions 62a, 62b, 62c, 62d, 62e, 62f, 62g, reflectors (not shown) inclined by 45 ° with respect to the target plate 12 are provided. The distance measuring light 39 passing through the cutouts 62a, 62b, 62c, 62d, 62e, 62f, 62g is used as the sub-distance measuring light 39a', 39b', 39c', 39d', 39e', 39f'39g'. It reflects in each of the 61a direction, the two directions of the horizontal line 61b, the two directions of the diagonal line 61c, and the two directions of the diagonal line 61d.

Therefore, seven points excluding the lower part in the direction orthogonal to the reference optical axis O are measured substantially simultaneously by the sub-distance measuring lights 39a', 39b', 39c', 39d', 39e', 39f'39g'. Can be done. Further, since the distance from the measuring machine 2 to the target device 86 and the inclination and the angle of rotation of the target device 86 can be measured, the three-dimensional coordinates of seven points with respect to the measuring machine 2 can be measured.

Further, by performing measurement at seven points while moving the traveling device 87, the surface parallel to the traveling direction of the traveling device 87 can be measured, or a three-dimensional measurement object existing along the traveling direction can be measured. Measurements can be made.

Further, the target plate 12 is provided with a target plate rotating device (not shown) for rotating the target plate 12 around the reference point 13 so as to rotate the target plate 12 and detect the rotation angle of the target plate 12. By rotating the target plate 12 and measuring the distance with the sub-distance measuring lights 39a', 39b', 39c', 39d', 39e', 39f'39g', the object to be measured exists along the traveling direction. 3D point group data can be acquired.

For example, if the three-dimensional data is acquired while traveling in the tunnel, the cross-sectional data of the tunnel wall surface can be acquired and the condition of the tunnel wall surface can be measured.

Further, in the target device 86 shown in FIG. 11, it is not necessary to rotate the target plate 12 all around, and the target plate 12 may be reciprocated by 45 ° around the reference point 13.

Further, when the target plate 12 is rotated all around, the cutout portion 62 may be provided at only one place.

The non-reflective pattern may have a shape that intersects the scan line at three or more points in the process of the two-dimensional scan, and the pattern of the two-dimensional scan is not limited. Further, the vertical line 61a, the horizontal line 61b, and the diagonal lines 61c, 61d may be formed of members having different reflectances. In this case, the intersecting straight lines can be specified based on the amount of reflected light at each intersection position.

As described above, in the present invention, not only the direction of the reference optical axis O but also the direction orthogonal to the reference optical axis O can be measured. There is no need to re-install, which improves workability and versatility of the surveying system.

1 Surveying system 2 Measuring machine 3 Target device 4 Remote control device 5 Support device 6 Horizontal rotating part 7 Standing part 8 Measuring machine body 9 Vertical drive part 11 Pole 12 Target plate 13 Reference point 18 Distance measuring light emitting part 19 Light receiving part 21 Distance measurement calculation unit 22 Imaging unit 26 Calculation control unit 28 Imaging control unit 29 Image processing unit 33 Emission optical axis 37 Received optical axis 39 Distance measurement light 40 Communication unit 41 Reflected distance measurement light 42 Distance measurement optical axis 43 Optical axis deflection unit 46a , 46b Optical prism 47a, 47b Prism element 48a, 48b Prism element 52a, 52b Motor 61 Non-reflective pattern 62 Notch 63 Reflector 65 Ceiling 71 Circular scan pattern 74 Peak value 76 Target device 77 Illumination light 78 Target device 79 Condensing Lens 81 Target device 82 Multifocal Fresnel lens 84 Target device 87 Traveling device

Claims (9)

A distance measuring unit that emits distance measuring light, receives reflected distance measuring light from an object to be measured, and performs distance measuring, an optical axis deflection unit capable of scanning the distance measuring light in two dimensions, the distance measuring unit, and the above. The target has a measuring machine having an arithmetic control unit that controls an optical axis deflection unit and measures three-dimensional data of an irradiation point of ranging light, and a pole and a target plate provided at the upper end of the pole. A measuring system including a target device in which a notch is formed on a plate and a deflection optical member is provided on the back side of the notch.
The measuring machine circularly scanning the target plate in a circle scan pattern passing through said cutouts,
A non-reflective pattern having a reflectance different from that of the surface of the target plate is formed on the target plate, and the non-reflective pattern is formed so as to intersect the circular scan line excluding the cutout portion at at least three points in the process of circular scanning.
The tilt and rotation of the target plate are measured with the three-dimensional data of at least three locations, the distance of the measurement point irradiated with the distance measuring light via the deflection optical member is measured, and the tilt and rotation of the target plate are measured. A surveying system that measures the position of the measurement point based on the distance measurement result. The surveying system according to claim 1, wherein the front surface of the target plate is made of a retroreflective member. A condenser lens is provided for the deflection optical member, the distance measuring light is imaged or substantially imaged at the measurement point by the condenser lens, and retroreflection is configured by the measurement point and the condenser lens. The surveying system according to claim 1. The surveying system according to claim 3 , wherein the condenser lens is a multifocal lens or a multifocal Fresnel lens. The surveying system according to claim 1, wherein the deflecting optical member is a reflecting mirror. The surveying system according to claim 1, wherein the deflection optical member is a pentaprism. The surveying system according to claim 1 or claims 4 to 6 , wherein the cutouts are provided at a plurality of locations, the distance measuring light is deflected in a plurality of directions, and the plurality of locations are measured. The surveying system according to claim 1, wherein the target plate is rotatably configured. The surveying system according to claim 1, further comprising a traveling device, wherein the target device is provided in the traveling device.

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