JP7139184B2 - Survey Systems, Measurement Modules, and Survey Methods - Google Patents

Description

The present invention relates to a surveying system, and more particularly to a surveying system using a surveying pole, a measuring module, and a surveying method.

2. Description of the Related Art Conventionally, when the coordinates of a measurement point are measured by a surveying instrument such as a total station, a method of using a reflecting target (for example, a prism) fixed to a support member (for example, a pole) is generally employed. Specifically, the tip of the support member to which the prism is fixed is brought into contact with the measurement point, the vertical state of the support member is secured using a bubble tube or the like, and the three-dimensional position coordinates of the reflection target are measured by a surveying instrument, The coordinates of the measurement point are calculated using the measurement result of the reflective target (see Patent Document 1, for example).

Such measurement methods assume that the reflective target is in line of sight, ie collimable, from the surveying instrument.

JP 2016-138802 A

In practice, however, the measurement point may be behind an obstacle or on an upright wall such that the reflective target is not visible to the surveying instrument. In such a case, a temporary measurement point is set near the measurement point at a position where the reflective target held vertically can be collimated, and the temporary measurement point is measured with a surveying instrument. It is common to separately measure parameters such as the horizontal angle, vertical angle and distance of the measurement point, and then perform eccentricity correction calculations.

Therefore, there is a problem that it is necessary to measure parameters for eccentricity correction, and the measurement takes time and effort. In addition, it was not possible to carry out the surveying work while confirming the coordinates of the measurement points in real time at the surveying site.

SUMMARY OF THE INVENTION The present invention has been made in view of such circumstances, and provides a technique that enables real-time confirmation of the coordinates of a measurement point at a surveying site where a reflective target cannot be directly collimated without taking time and effort. for the purpose.

In order to achieve the above object, a surveying system according to one aspect of the present invention comprises a reflective target, is arranged vertically when in use, the horizontal angle between the reflective target and the measurement point in the vertical state, the vertical A surveying system comprising: a measurement module capable of acquiring measurement data about the relationship between angles and distances; and a surveying device capable of surveying the three-dimensional position coordinates of the reflection target, wherein the measurement module is positioned at the center of the measurement module. An encoder pattern indicating an angle around an axis and a module communication unit for transmitting the measurement data to the surveying device, and the surveying device can communicate with a camera that acquires an image of the encoder pattern and the measurement module. a communication unit; and a calculation control unit that calculates a reading angle of the encoder pattern based on the image, and calculates three-dimensional position coordinates of the measurement point based on the measurement data and the reading angle. .

In addition, a surveying system according to another aspect of the present invention includes a reflective target, which is arranged vertically when in use, and the relationship between the horizontal angle, the vertical angle, and the distance between the reflective target and the measurement point in the vertical state. and a surveying device capable of surveying the three-dimensional position coordinates of the reflection target, wherein the measurement module indicates an angle about the central axis of the measurement module A module communication unit for transmitting an encoder pattern and the measurement data to the surveying instrument, and the surveying instrument transmits scanning light, receives light reflected by the encoder pattern, and determines the received light intensity distribution. , a communication unit capable of communicating with the measurement module, and a reading angle of the encoder pattern based on the received light intensity distribution, and based on the measurement data and the reading angle, the three-dimensional position of the measurement point It is characterized by comprising an arithmetic control unit for calculating coordinates.

In the above aspect, it is also preferable that the measurement module includes a spirit level for detecting the vertical state of the measurement module.

Further, in the above aspect, the measurement module includes an angle detector configured to acquire a horizontal angle between the reflection target and the measurement point, and a vertical angle between the reflection target and the measurement point. and an angle detector configured to obtain a distance between the reflective target and the measurement point.

In addition, a measurement module according to another aspect of the present invention includes a reflection target, an encoder pattern indicating an angle around a central axis, and a module communication unit configured to communicate with an external device. arranged, capable of acquiring measurement data on the relationship between the horizontal angle, vertical angle and distance between the reflection target and the measurement point in the vertical state, and capable of transmitting the measurement data to an external device; Characterized by

A surveying method according to still another aspect of the present invention is a surveying method that uses a measurement module having a reflective target and a surveying device that measures the distance and angle of the reflective target, wherein: (a) the measurement module (b) placing the measurement module vertically at a point different from the measurement point to read the encoder pattern; (c) a horizontal angle between the reflective target and the measurement point; (d) measuring the range and angle of the reflective target with a surveying device; (e) obtaining the measurement data of the relationship between the vertical angle and the distance; (f) calculating the three-dimensional position coordinates of the measurement point based on the distance measurement of the reflection target, the angle measurement data, the measurement data, and the calculation result of the azimuth angle of the surveying device; It is characterized by computing.

In this specification, the "encoder pattern" is a pattern having angle information with a reference point of 0°, and includes not only a pattern detectable by natural light but also a pattern detectable by polarized light.

Also, in this specification, the term “reference direction of the encoder pattern” means the 0° direction of the encoder pattern.

In this specification, the term "direction angle of the surveying instrument with respect to the reference direction of the encoder pattern" means "the angle between the center of the encoder pattern portion and the straight line connecting the surveying instrument with respect to the 0° direction of the encoder pattern". means, and this angle is the value obtained by reading the encoder pattern.

According to the above configuration, it is possible to check the coordinates of the measurement point in real time at the surveying site without taking time and effort, even for the measurement point where the reflective target cannot be directly collimated.

1 is a schematic external view of a surveying system according to a first embodiment of the present invention; FIG. It is a configuration block diagram of the same survey system. It is a perspective view of the measurement module which concerns on the same survey system. (a) is an enlarged perspective view of an encoder pattern portion of the same measurement module, and (b) is a view (partially omitted) of the encoder pattern of the encoder pattern portion cut open and developed on a plane. be. It is a top view of the same measurement module. It is a flow chart of the measurement operation of the measurement point by the same survey system. It is a flowchart of the reading operation|movement of the encoder pattern by the same survey system. (a) is a landscape image around the encoder pattern portion acquired by the camera of the survey system, (b) is an enlarged image of the encoder pattern portion cut out from (a), and (c) is ( b) is linearly read in the horizontal direction and is a graph showing the result of conversion into pixel values. (a) to (c) are diagrams for explaining reading directions by cameras of the survey system. (a) and (b) are diagrams for explaining the positional relationship between a reflection target and a measurement point when measuring a measurement point with no line of sight using the same survey system. It is a configuration block diagram of a surveying system according to a modification of the same embodiment. FIG. 11 is a perspective view of an encoder pattern portion according to another modification of the same embodiment; FIG. 11 is a configuration block diagram of a surveying system according to still another modification of the same embodiment; FIG. 2 is a configuration block diagram of a surveying system according to a second embodiment of the present invention; FIG. (a) and (b) are diagrams for explaining the direction of the scanner of the survey system. It is a flow chart of the reading operation of the encoder pattern according to the same survey system. FIG. 11 is a configuration block diagram of a surveying system according to a third embodiment of the present invention; It is a figure which shows the manufacturing method of the encoder pattern part of the same survey system. It is a flowchart of the reading operation|movement of the encoder pattern by the same survey system. It is a perspective view of the encoder pattern part of the survey system based on the 4th Embodiment of this invention. FIG. 11 is a configuration block diagram of a surveying system according to a fifth embodiment of the present invention; It is a perspective view of the measurement module which concerns on the same survey system. It is a flow chart of the measurement operation of the measurement point by the same survey system. FIG. 11 is a perspective view of a measurement module of a surveying system according to a sixth embodiment of the present invention; FIG. 14 is a perspective view of a measurement module of a surveying system according to a seventh embodiment of the present invention;

Preferred embodiments of the present invention will be described with reference to the drawings. In the following description of the embodiments, the same components are denoted by the same reference numerals, and overlapping descriptions are omitted. In addition, in each figure, for convenience of explanation, the constituent parts are appropriately enlarged and schematically shown, and do not reflect actual ratios.

1. First Embodiment 1-1. Configuration of Surveying System The configuration of a surveying system 100 according to the first embodiment will be described with reference to FIGS. 1 to 4. FIG. As shown in FIGS. 1 and 2, the surveying system 100 includes a measurement module 10 and a surveying device 50 .

When surveying a point with line of sight from the surveying instrument 50 using the surveying system 100 according to the present embodiment, the tip 12A of the support member 12 is brought into contact with the point, and the vertical state of the support member 12 is adjusted. The measurement of the reflective target 11 is performed.

On the other hand, when surveying a measuring point P with no line of sight from the surveying instrument 50, as shown in FIG. The vertical state of the support member 12 is ensured while the tip 12A of the support member 12 is brought into contact with the reflection target 11. take measurements. Therefore, in the following description, the case of surveying the measuring point P with no line of sight from the surveying instrument 50 will be described.

As shown in FIGS. 2 and 3, the measurement module 10 has a pole as a support member 12 that supports a prism as a reflection target 11. The support member 12 is provided with an encoder pattern section 13, a distance measuring device 14, an inclination angle measuring device and an angle measuring device. A device 15, a spirit level 16, a control section 17, an input section 18, and a module communication section 19 are attached.

The reflective target 11 is, for example, a so-called omnidirectional prism configured by radially combining a plurality of triangular pyramidal prisms. reflect to That is, the reflective target 11 reflects the ranging light from the surveying device 50 toward the surveying device 50 . However, the reflective target 11 is not limited to an omnidirectional prism, and a normal prism used for surveying may be used.

The support member 12 extends with a certain length, and fixedly supports the reflective target 11 so that its central axis A passes through the center O of the reflective target 11 .

The encoder pattern portion 13 is configured by providing an encoder pattern 13B on the side peripheral surface of a short cylindrical base 13A, as shown in an enlarged view of FIG. 4(a).

The base 13A is a molded body made of metal or resin, and is fixed to the outer periphery of the support member 12 so as to be coaxial with the central axis A of the support member 12. As shown in FIG.

The encoder pattern 13B includes an angle information portion 131 and a width information portion 132 adjacent above the angle information portion 131 .

As shown in FIGS. 4A and 4B, the angle information section 131 includes, for example, a narrow black vertical line 131a having a width w1 and a wide black vertical line 131a having _a width w2 _on a white background. The lines 131b and 131b are bar code-like patterns arranged at an equal pitch p so as to generate an M-sequence cyclic random number code, with the vertical line 131a set to "0" and the vertical line 131b set to "1". The encoder pattern 13B has an angle calculated from the read pattern (hereinafter referred to as the "encoder pattern ) is the absolute angle θ _T is configured to correspond to

The angle information part 131 is configured to be able to achieve a desired resolution by changing the number of bits.

The bit pattern is not limited to the M-sequence code, and may be a gray code, a pure binary binary code, or the like, which can be generated by a known method. However, the use of the M-sequence code is advantageous because the number of bits can be increased without increasing the number of tracks, and high resolution can be achieved with a simple configuration.

The width information portion 132 includes a black band 132a having _a predetermined height h1 and a white band 132b having the same height. Each of the black band 132a and the white band 132b extends over the entire circumference of the encoder pattern portion 13 in the circumferential direction.

The encoder pattern 13B can be provided on the encoder pattern portion 13 by various known methods used for forming patterns. For example, the encoder pattern 13B may be printed on white paper by a general printing method such as inkjet printing, and attached to the side peripheral surface of the base 13A. According to such a method, the encoder pattern portion 13 can be formed by an extremely inexpensive and simple method. Alternatively, the encoder pattern 13B may be provided by printing directly on the resin base 13A. Alternatively, the encoder pattern 13B may be provided on the metal base 13A by a technique such as painting or vapor deposition.

In the illustrated example, the width information section 132 is arranged above and adjacent to the angle information section 131 . However, the positional relationship between the angle information section 131 and the width information section 132 is not limited to this, and the width information section 132 may be arranged below the angle information section 131 .

Further, the encoder pattern portion 13 is arranged below and adjacent to the reflective target 11 . However, the positional relationship between the encoder pattern portion 13 and the reflective target 11 is not limited to this. Other arrangements may be used as long as the

That is, the encoder pattern portion 13 may be arranged above the reflective target 11 . Also, the encoder pattern portion 13 and the reflective target 11 may be spaced apart from each other.

Distance measuring device 14 is a digital measuring rod. The distance measuring device 14 is configured to be telescopic in the direction of the double arrow B in FIG. The distance measuring device 14 is attached to the support member 12 so as to be rotatable in the direction of the double arrow C in FIG. installed. The distance measuring device 14 can measure the distance between its base point R and the tip 14A, that is, the distance l between the base point R and the measurement point P, and outputs the measurement result to the module communication section 19 .

Also, the distance d between the base point R of the rangefinder 14 and the center O of the reflective target 11 is known in advance. Further, the horizontal angle θ _B (see FIG. 5) of the distance measuring device 14 around the central axis A of the support member 12 with respect to the reference direction RD of the encoder pattern 13B is measured and known in advance.

When the distance measuring device 14 outputs the measurement result of the distance l to the module communication unit 19, the distance d between the center O of the reflection target 11 and the base point R of the distance measuring device 14 and Data of the horizontal angle θ _B around the central axis of the support member 12 is output to the module communication section 19 .

The tilt angle measuring device 15 is a tilt sensor. For example, a tilt sensor detects the level by detecting a change in the reflection angle of the reflected light of the detection light incident on the horizontal liquid surface, or detects the tilt by changing the position of the enclosed bubble. A detecting electronic bubble can be used.

The tilt angle measuring device 15 is attached to the distance measuring device 14 parallel to the distance measuring device 14 . The tilt angle measuring device 15 measures the tilt angle (that is, the angle in the vertical direction) φ of the distance measuring device 14 with respect to the horizontal plane (H1-H2 plane in FIG. 3) of the distance measuring device 14, and sends the measurement result to the module communication unit 19. Output.

The level 16 is, for example, a bubble tube in which bubbles and liquid are enclosed in a cylindrical container. The spirit level 16 is attached to the support member 12 so that the vertical state of the central axis A of the support member 12 can be confirmed by locating the air bubble within the central marked line.

The control unit 17 is, for example, an MPU (Micro Processing Unit). The control section 17 is connected to the distance measuring device 14 , the tilt angle measuring device 15 , the input section 18 and the module communication section 19 . The connection may be made by means of wireless communication. The control unit 17 performs the measurement of the distance measuring device 14 and the tilt angle measuring device 15 according to the instruction such as measurement execution input from the input unit 18 . Also, the measurement data is transmitted to the surveying device 50 via the module communication unit 19 .

The input unit 18 is, for example, a button switch, and is pressed by the operator U to input instructions such as power ON/OFF and start of measurement.

The module communication unit 19 enables wireless communication between the measurement module 10 and the surveying device 50 . The module communication unit 19 transmits measurement data acquired by the measurement module 10 to the communication unit 57 of the surveying device 50 .

In this specification, measurement data means the distance l between the base point R of the distance measuring device 14 and the measuring point P obtained by the distance measuring device 14, and the distance measuring device with respect to the horizontal plane obtained by the tilt angle detector 15. 14 tilt angle φ, the previously known distance d between the center O of the reflective target 11 and the reference point R of the rangefinder 14, and the angle of the support member 12 with respect to the reference direction RD of the encoder pattern 13B of the rangefinder 14. including the angle θ _B about the central axis A;

Note that the control unit 17, the input unit 18, and the module communication unit 19 may be attached to the support member of the measurement module 10 in an appropriate form as in the illustrated example, or may be provided as separate units like a remote controller. may be configured.

Next, the surveying device 50 will be described.
As shown in FIG. 1, the surveying instrument 50 is mounted on a tripod at a known point, and from below, a leveling section, a base on top of the leveling section, and a base on top of the leveling section. It has a horizontally rotating frame 2a and a telescope 2b vertically rotating at the center of the frame 2a.

The surveying instrument 50 is a total station. As shown in FIG. 2, the surveying device 50 includes an EDM 51, a horizontal angle detector 52, a vertical angle detector 53, a camera 55, a tracking unit 56, a communication unit 57, a horizontal rotation driving unit 58, a vertical rotation driving unit 59, and a storage unit. 61 , an input unit 62 , a display unit 63 , and an arithmetic control unit 64 . EDM 51, horizontal angle detector 52, vertical angle detector 53, camera 55, tracking unit 56, communication unit 57, horizontal rotation driving unit 58, vertical rotation driving unit 59, storage unit 61, input unit 62, and display unit 63 , is connected to the arithmetic control unit 64 .

The horizontal angle detector 52, the vertical angle detector 53, the communication section 57, the horizontal rotation driving section 58, the vertical rotation driving section 59, the storage section 61, and the arithmetic control section 64 are accommodated in the mounting section 2a. The input section 62 and the display section 63 are provided outside the support section 2a. EDM 51 and tracking unit 56 are housed in telescope 2b, and camera 55 is attached to the top of telescope 2b.

The EDM 51 has a light emitting element, a range finding optical system and a light receiving element. The EDM 51 measures the distance of the reflective target 11 by emitting distance measuring light from the light emitting element and receiving the reflected light from the reflective target 11 with the light receiving element.

The horizontal angle detector 52 and the vertical angle detector 53 are rotary encoders, and the rotation angles around the rotation axes of the mounting section 2a and the telescope 2b driven by a horizontal rotation driving section 58 and a vertical rotation driving section 59, respectively, will be described later. is detected, and the horizontal and vertical angles of the collimation optical axis A are obtained.

The EDM 51 , horizontal angle detector 52 , and vertical angle detector 53 form a surveying section 54 that is a main part of the surveying device 50 .

The camera 55 includes an optical system known as a camera and a light receiving element. A camera 55 is mounted above the telescope 2b in parallel with the telescope 2b. The camera 55 is configured to collimate the encoder pattern portion 13 whose positional relationship with the reflective target 11 is fixed while the telescope 2b is collimating the reflective target 11 .

For this reason, the camera 55 may be configured to be rotatable vertically and horizontally when photographing. An image sensor such as a CCD sensor or a CMOS sensor is used as the light receiving element. The camera 55 receives light through its optical system using a light receiving element and picks up an image of the light.

The tracking unit 56 includes a light-emitting element that emits tracking light and a light-receiving element that is an image sensor such as a CCD sensor or a CMOS sensor, and includes a tracking optical system that shares optical elements with the distance measuring optical system. The tracking unit 56 projects an infrared laser beam having a wavelength different from that of the ranging light onto a tracking object (target), receives reflected light from the tracking object, and tracks the tracking object based on the received light result. is configured to perform

The tracking unit 56 is not essential and can be omitted when the tracking function is not required. Moreover, when the tracking unit 56 is provided, the function of the camera 55 can be incorporated in the tracking unit 56, and the independent camera 55 can be omitted.

The communication unit 57 enables wireless communication with the module communication unit 19 of the measurement module 10 . The communication unit 57 receives measurement data from the module communication unit 19 .

A horizontal rotation drive unit 58 and a vertical rotation drive unit 59 are motors, and are controlled by the arithmetic control unit 64 to horizontally rotate the mount 2a and vertically rotate the telescope 2b.

The storage unit 61 includes a ROM (Read Only Memory) and a RAM (Random Access Memory).

The ROM stores programs and data necessary for the operation of the surveying instrument 50 as a whole. These programs are read into the RAM and executed by the arithmetic control unit 64 to perform various processes of the surveying instrument 50 .

The RAM temporarily holds data for calculating the three-dimensional position coordinates of the center point O of the reflection target, the three-dimensional position coordinates of the measurement point P, and the directional angle _θT of the surveying instrument.

The input unit 62 is, for example, an operation button. The operator can input commands to the input unit 62 for the surveying instrument 50 to execute, and select settings.

The display unit 63 is, for example, a liquid crystal display, and displays various information such as measurement results and calculation results according to commands from the calculation control unit 64 . Further, the input unit 62 displays setting information for input by the operator and commands input by the operator.

Note that the input unit 62 and the display unit 63 may be integrally configured to form a touch panel display.

The arithmetic control unit 64 includes a CPU (Central Processing Unit) and a GPU (Graphical Processing Unit). The arithmetic control unit 64 performs various processes for the function of the surveying instrument 50 to be exhibited. Specifically, the rotation driving units 58 and 59 are controlled, and the tracking unit 56 performs automatic tracking. In addition, the EDM 51 is controlled to obtain distance measurement data of the reflection target. Further, angle measurement data of the reflection target 11 is acquired from the values of the horizontal angle detector 52 and the vertical angle detector 53 . Also, the three-dimensional position coordinates of the center O of the reflection target 11 are calculated from the distance measurement data and the angle measurement data. It also controls the camera 55 to acquire an image.

The calculation control section 64 also includes an encoder pattern reading section 65, a direction angle calculation section 66, and a measurement point coordinate calculation section 67 as functional sections.

The encoder pattern reading unit 65 reads encoder patterns from the image acquired by the camera 55 .

The directional angle calculator 66 calculates the directional angle θ _T of the surveying instrument 50 with respect to the reference direction RD of the encoder pattern 13B based on the reading result of the encoder pattern reader 65 .

The measurement point coordinate calculation unit 67 calculates the center O of the reflection target 11 calculated from the measurement data of the measurement module 10, the direction angle _θT of the surveying instrument 50 with respect to the reference direction RD of the encoder pattern 13B, and the distance measurement data and the angle measurement data. The three-dimensional position coordinates P (X, Y, Z) of the measurement point P are calculated from the three-dimensional position coordinates O (x _p , y _p , z _p ).

Each functional unit may be configured as software, or may be configured by a dedicated arithmetic circuit. Also, a functional unit configured in software and a functional unit configured by a dedicated arithmetic circuit may coexist.

1-2. Surveying of Measurement Points FIG. 6 shows the operation of the surveying device 50 and the measurement module 10 when surveying a measuring point P with no line of sight from the surveying device 50 using the surveying system 100 according to the present embodiment. It is a flow chart.

First, when a measurement start button is pressed to start measurement in a mode for measuring measurement points without line of sight, the surveying unit 54 measures the center O of the reflection target 11 in step S101.

Specifically, the EDM 51 transmits distance measuring light toward the reflective target 11 and receives the reflected distance measuring light reflected from the reflective target 11 to measure the distance from the surveying instrument 50 to the reflective target 11 . A horizontal angle detector 52 and a vertical angle detector 53 also measure the angle of the reflective target 11 .

Next, in step S102, based on the distance data and the angle data acquired in step S101, the arithmetic control unit 64 uses a known method to calculate the coordinates O(x _p , y _p , z _p ). A calculation result is stored in the storage unit 61 .

Next, in step S103, the camera 55 captures an image in the sighting direction of the telescope 2b and reads the encoder pattern 13B of the measurement module 10. FIG. Reading of the encoder pattern 13B will be described later.

Next, in step S104, the calculation control unit 64 calculates the direction angle θ _T of the surveying instrument 50 with respect to the reference direction RD of the encoder pattern 13B based on the reading result of the encoder pattern 13B in step S103. A calculation result is stored in the storage unit 61 .

Next, in step S<b>105 , the arithmetic control unit 54 waits for reception of measurement data from the measurement module 10 .

On the other hand, in the measurement module 10, measurement is started when the operator U on the measurement module side presses a measurement start button of the measurement module in response to a signal from the operator on the surveying instrument side. Next, in step S201, the distance measuring device 14 measures the distance l from the base point R of the distance measuring device 14 to the measuring point P, and the measurement result data is obtained from the center O of the reflection target 11 and the base point of the distance measuring device 14. It is output to the module communication unit 19 together with the data of the distance d from R and the angle θ _B around the central axis of the support member 12 .

Next, in step S<b>202 , the tilt angle measuring device 15 measures the tilt angle φ of the distance measuring device 14 with respect to the horizontal plane passing through the reference point R of the distance measuring device 14 and outputs measurement result data to the module communication section 19 .

Note that the processes of steps S201 and S202 do not necessarily have to be performed in this order, and may be performed at the same time or in the reverse order.

Next, in step S203, the module communication unit 19 outputs the distance l between the base point R of the distance measuring device 14 and the measuring point P, the inclination angle φ of the distance measuring device 14 with respect to the horizontal plane, The distance d between the center O of the reflective target 11 and the base point R of the rangefinder 14 and the angle θ _B about the central axis A of the support member 12 with respect to the reference direction RD of the encoder pattern 13B of the rangefinder 14 are measured by a surveying instrument. Send to 50.

It should be noted that the transmission of data in step S203 does not necessarily require transmission of all the measurement data after the processing of both steps S201 and S202. may be transmitted to the surveying instrument 50 .

Then, when the measurement data transmitted from the measurement module 10 is received by the surveying instrument 50, in step _S106 , the arithmetic control unit 64 calculates the measurement point coordinates P ( X, Y, Z). Calculation of the measurement point coordinates will be described in detail later.

Next, in step S107, the surveying device 50 displays the calculated measurement point coordinates P (X, Y, Z) on the display unit 63, and finishes the measurement.

1-3. Reading of Encoder Pattern An example of the reading operation of the encoder pattern will be described. In the surveying instrument 50, when reading of the encoder pattern is started in step S103, the following operations shown in FIG. 7 are performed.

When the surveying instrument 50 starts reading the encoder pattern 13B, in step S301, the camera 55 acquires a scenery image 80 around the encoder pattern portion 13 including the encoder pattern portion 13 (FIG. 8(a)).

Next, in step S302, the encoder pattern reading unit 65 reads the image based on the distance measurement data of the reflection target 11 acquired in step S101 and the known dimensions of the encoder pattern unit 13 stored in the storage unit 61. A range 81 of the encoder pattern 13B in is specified and cut into a rectangle (FIGS. 8A and 8B).

Next, in step S303, the encoder pattern reading unit 65 scans the image of the range 81 of the encoder pattern 13B cut out in step S302 with the height h ₁ of the black band 132a and the white band 132b of the width information unit 132 ( b)) and shorter than half h ₂ / ₂ of the height h ₂ of the vertical lines 131a and 131b (FIG. 4(b)). Convert to For example, as shown in FIG. 8B, linear reading is performed at positions IV. Since the pixel values are smaller when darker (black) and larger when brighter (white), the results of reading at each position of IV (hereinafter referred to as "pixel columns IV") are as follows. For example, it can be expressed as shown in FIG. 8(c).

Next, in step S304, the read result of the width information part 132 is extracted from the read result of step S303. Specifically, at least one of a black portion having a pixel value smaller than a predetermined threshold and a white portion having a pixel value larger than a predetermined threshold corresponds to the distance measurement of the reflective target 11 acquired in step S101. If the pixel row continues for a length corresponding to the diameter L of the encoder pattern calculated from the data and the known size of the encoder pattern, it is determined that the pixel row corresponds to the width information portion 132 .

Therefore, it can be seen that the pixel columns I and II correspond to the width information section 132 in FIG. 8(c). Then, from the detected width L of the encoder pattern 13B (diameter of the encoder pattern portion 13), the central position of the encoder pattern 13B that coincides with the central axis A of the support member 12 is specified. In this way, if the width information section 132 is composed of two color bands, ie, the black band 132a and the white band 132b, it is advantageous because even if the background is black or white, either band can be detected. .

Next, in step S305, the correlation between the pixel rows is calculated from the linear reading result of step S303, and the correlation higher than a predetermined value is extracted as the reading result of the angle information section 131. FIG.

In the example of FIG. 8(c), the pixel value patterns of the pixel columns III to V are highly correlated, so it can be seen that the pixel columns III to V are the read results of the angle information section 131. .

Then, the pixel values of the extracted pixel columns III to V are added in the vertical direction to calculate an average value. If the result is smaller than a predetermined threshold value, it is determined as a black area, and the width of the black area is obtained. Next, it is determined whether the obtained width value corresponds to a narrow width or a wide width. read as By calculating the pixel value as an average value from a plurality of pixel columns in this way, even if a pixel column with a positional deviation occurs, for example, pixel column IV, the effect of the positional deviation can be reduced, and the reading accuracy can be improved. can be improved.

Since the encoder pattern portion 13 has a columnar shape, the vertical line widths w ₁ and w ₂ and the pitch p are observed to be narrower than the actual width as the distance from the center increases. For example, in FIG. 4(a), the wide vertical line 131b ₁ near the center has a width w _2a equal to the width (actual width) w ₂ of the wide vertical line 131b in the developed view shown in FIG. 4(b). observed in the same width as On the other hand, the width _w2b of the wide vertical line _131b2 farthest from the central portion is observed to be narrower than the actual width _w2 . The same is true for width _w1 and pitch p. Therefore, widths _w1 and w2 _are preferably set so that the range of variation of widths _w1 and _w2 does not overlap, taking into account the effect of observed width variation due to placement.

After that, the process proceeds to step S104, and the direction angle calculation unit 66 calculates the code pattern of the area of the predetermined width R extending left and right with the center position A of the encoder pattern 13B obtained in step S304 as the center, that is, the area of the predetermined width R. By comparing the code pattern of vertical lines with a predetermined number of bits (for example, 10) and the code pattern of angles stored in the storage unit 61, the position of the surveying instrument 50 with respect to the reference direction RD of the encoder pattern 13B is determined. Find the directional angle θ _T .

As an example of the encoder pattern reading operation, the extraction of the angle information portion 131 in step S305 is performed by calculating the frequency spectrum of each pixel row from the result of reading the horizontal linear image in step S303, If the location of the peak in the frequency corresponds to the pitch of the black lines of the barcode pattern, the pixel row may be extracted as the data of the angle information section 131 .

Further, the camera 55 is configured to have a zoom function, and if the distance obtained from the distance measurement data of the reflective target 11 acquired in step S101 is short, the wide-angle side is selected. By switching the focal length to the side, the size of the image of the encoder pattern 13B may be constant regardless of the distance.

Alternatively, as disclosed in Japanese Patent Application Laid-Open No. 2016-138802, a narrow-angle camera that shares the optical system with the optical system of the surveying unit is further provided, and the reflection calculated based on the ranging data obtained by the surveying unit According to the distance of the target 11, the camera 55 and the narrow-angle camera may be configured to be switchable.

With this configuration, regardless of the distance from the surveying instrument 50 to the measurement module 10, it is possible to cut out an image of a size suitable for reading the encoder pattern 13B in step S302, thereby preventing the occurrence of errors due to the distance. can do.

Further, the linear reading in the horizontal direction in step S303 is performed linearly in the example of FIG. In this case, if the camera 55 is positioned higher than the encoder pattern section 13, as shown in FIG. 9A, if the camera 55 is positioned lower than the encoder pattern section 13, b) may result in an incomplete read. Also, there is a possibility that an error may occur in the width of the read pattern.

Therefore, using the angle measurement data acquired in step S101, the side shape of the encoder pattern portion 13 in the acquired image is obtained, and as shown in Ia to Va in FIG. It may be configured to read in a curved line parallel to the rim.

1-4. Calculation of Measuring Point Coordinates Next, a method of calculating the measuring point coordinates P (X, Y, Z) will be described. FIG. 10(a) is a diagram showing the relationship between the center O of the reflection target 11, the base point R of the rangefinder 14, and the measurement point P on a vertical plane passing through the center O of the reflection target and the surveying instrument 50. FIG.

FIG. 10(b) is a diagram showing the relationship between the center O of the reflective target 11, the reference point R of the rangefinder 14, and the measurement point P on the horizontal plane.

Here, the x-axis indicates the horizontal direction extending from the base point R of the distance measuring device 14 toward the surveying instrument 50, the y-axis indicates the horizontal direction orthogonal to the x-axis, and the z-axis indicates the central axis of the support member 12. The A direction, ie the vertical direction, is indicated.

First, from FIG. 10(a), the distance l′ in the x-axis direction between the center O of the reflection target and the measurement point P is the angle φ of the measurement point with respect to the x-axis and the reference point R of the distance measuring device 14. Using the distance l between the point P, it is obtained by Equation 1.
l′=l·cosφ Expression 1

Also, the distance in the z-axis direction between the center O of the reflection target and the measurement point P is obtained by d+l·sin φ.

Next, from FIG. 10(b), the directional angle θ of the measuring point P with respect to the x-axis is the directional angle θT of the surveying instrument with respect to the reference direction RD of the encoder pattern 13B and the directional angle _θT of the distance measuring device 14 with respect to the reference direction RD of the encoder pattern 13B. It is obtained by Equation 2 using the directional angle _θB .
θ=θ _T +θ _B Equation 2

Therefore, if the offset value of the measurement point P with respect to the center _O of the reflection target is (xo, _yo , _zo ), the values of ( _xo , _yo , _zo ) are given by equations 3, 4, and It is calculated from 5.
_xo =l'=l·cosφ Expression 3
y _o = l′·sin θ Equation 4
z _o =d+l·sin φ Expression 5

_{Coordinates P ( X , _} Y, Z) are obtained as in Equation 6.
_P (X, Y, Z)=(xp+ _xo , _yp + _yo , _zp + _zo ) Equation 6

As described above, according to the surveying system 100 according to the present embodiment, simultaneously with the measurement of the reflection target, the horizontal angle, the vertical angle, and the distance relationship between the reflection target and the measurement point are measured. Since the correction calculation is automatically performed by the measuring instrument, even if the measuring point cannot be directly collimated from the surveying instrument, the coordinates of the measuring point can be confirmed in real time at the surveying site.

1-5. Modification 1
FIG. 11 is a configuration block diagram of a surveying system 100a according to one modification of the surveying system 100 according to the above embodiment.

The surveying system 100 a includes a measurement module 10 a and a surveying device 50 similar to the surveying system 100 . However, while the distance measuring device 14 of the measuring module 10a is a digital measuring rod, the distance measuring device 14a of the measuring module 10a is configured to be extendable and is a direct-reading measuring device with a length scale displayed. It differs in that it is a stick.

The input unit 18a of the measurement module 10a includes keys for inputting numerical values in addition to the start button and the like, and the measurement module 10a includes a display unit 21 such as a liquid crystal display for confirming the input.

When the surveying system 100a is used, instead of the distance measuring device 14 outputting the measured value l to the module communication unit 19 in step S201, the operator U on the measurement module side visually reads the scale of the distance measuring device 14a. , the measured value is input from the input unit 18 a and output to the module communication unit 19 .

1-6. Modification 2
FIG. 12 is a perspective view of an encoder pattern portion 13b according to another modification of the above embodiment. As shown in FIG. 12, the encoder pattern portion 13b does not include the width information portion 132. As shown in FIG. Thus, the width information section 132 is not essential, and the width information section 132 may not be provided. In this case, in step S303, horizontal linear reading is performed at an interval shorter than _half the height h2 of the vertical lines 131a and 131b of the angle information section 131. , and find the center of the encoder pattern 13B.

However, if the width information section 132 is provided, for example, even if the background of the barcode pattern section 13 is black or white and the boundary between the barcode pattern 13B and the background is unclear, the barcode pattern 13B can be displayed. Advantageously, the center position of the can be accurately determined.

1-7. Modification 3
FIG. 13 is a configuration block diagram of a surveying system 100c according to another modification of the above embodiment. The surveying device 50c of the surveying system 100c includes a reading correction section 68 in the arithmetic control section 64c.

As described above, since the encoder pattern portion 13 has a cylindrical shape, the vertical line widths w ₁ and w ₂ and the pitch p are observed to be narrower than the actual width from the center toward the outside.

The reading corrector 68 corrects the read values of the widths of the vertical lines 131 a and 131 b that occur based on the shape of the encoder pattern portion 13 . Specifically, the reduction ratio of the widths w1 and w2 with respect to the distance from the center position A in the direction of the straight line L of the encoder pattern portion 13 in the direction of the straight line L of the encoder pattern portion 13 is stored as coefficients in advance in the storage unit 61, and the width values obtained by measurement are stored as coefficients. , by the corresponding reduction ratio, thereby performing correction for developing the encoder pattern 13B on the plane.

According to such a configuration, it is possible to obtain a pixel row with the ratio of the actual widths w1 and _w2 in the developed view shown in _FIG . do.

2. Second Embodiment FIG. 14 is a configuration block diagram of a surveying system 200 according to a second embodiment of the present invention.

The surveying system 200 includes a measurement module 10 and a surveying device 250 in the same manner as the surveying system 200 . However, the surveying instrument 250 is different in that it does not have a camera and instead has a scanner 70 .

The scanner 70 includes a rotating mirror, a mirror rotation driving section, a mirror rotation angle detector, a light transmitting section, a light receiving section, and a control section. ing.

The scanner 70 transmits, for example, infrared laser light as scanning light toward the encoder pattern section 13, and rotates the rotating mirror by the mirror rotation driving section, thereby scanning the scanning light multiple times at least in the horizontal direction. Then, the reflected light from the encoder pattern 13B is received by a light receiving portion such as a photodiode, and the received light amount distribution is obtained as scan data.

The controller of the scanner 70 is electrically connected to the arithmetic controller 264 of the surveying instrument 250 , and the scanner 70 performs scanning under the control of the arithmetic controller 264 .

The vertical scanning pitch is at least shorter than the height h ₁ (FIG. 4B) of the black band 132a and the white band 132b of the width information section 132 and the height h ₂ (FIG. 4B) of the vertical lines 131a and 131b. shorter than half h ₂ /2 in 4(b)). By doing so, the angle information portion 131 and the width information portion 132 can be reliably scanned.

Further, the scanner 70 scans the scan light along the horizontal direction. However, in scanning in the horizontal direction, as in the reading example with the camera shown in FIG. , the scan may be incomplete. Also, there is a possibility that an error may occur in the width of the read pattern. The same is true when the encoder pattern portion 13 is positioned higher than the scanner 70 . Therefore, as indicated by an arrow F in FIG. 15B, even if the encoder pattern portion 13 is at a height different from that of the scanner 70, scanning is performed in a curved line along the surface of the cylinder at the same height. may be configured. That is, the trajectory of the scanning light may be changed according to the measured value of the vertical angle of the reflective target 11 . With such a configuration, the angle information portion 131 and the width information portion 132 can be reliably scanned, and reading accuracy is improved.

In the operation of using the surveying system 200 to survey a measurement point P that is out of line of sight from the surveying device 250, the encoder pattern reading unit 265 replaces steps S301 to S305 of the first embodiment with the steps shown in FIG. 16 actions are performed.

When the surveying instrument 50 starts reading the encoder pattern 13B, the scanner 70 scans the encoder pattern section 13 with scanning light under the control of the encoder pattern reading section 265 in step S401.

Next, in step S<b>402 , the light receiving unit of the scanner 70 acquires the received light amount distribution as scan data and outputs it to the encoder pattern reading unit 65 .

Next, in step S403, the encoder pattern reading unit 265 detects the encoder pattern by judging that the portion of the received light amount distribution in which the received light amount is greater than a predetermined first threshold value is a white portion, and detects the encoder pattern in step S304. As in S305, width information and angle information code patterns are read.

After that, the process proceeds to step S104, and the direction angle calculation unit 66 calculates the code pattern of the predetermined width area extending left and right with the center line A of the encoder pattern obtained in step S304 as the center, that is, the predetermined width included in the predetermined width area. of the number of bits (for example, 10) of the polarizing filter and the code pattern of the angles stored in the storage unit 61, the directional angle θ of the surveying instrument 50 with respect to the reference direction RD of the encoder pattern 13B _{Find T.}

Thus, even if the scanner 70 is used instead of the camera 55, the same effect as the surveying system 100 of the first embodiment can be obtained. Further, when the scanner 70 is used, the reflected light of the laser beam is used to read the encoder pattern 13B, so the amount of received light increases, and sufficient contrast can be obtained even in the measurement at a long distance or in a situation where the amount of light is small. .

Further, when the scanner 70 is used, reading is performed by scanning multiple times, so depending on the purpose, the reading accuracy can be improved by increasing the number of times of scanning.

3. Third Embodiment FIG. 17 is a configuration block diagram of a surveying system 300 according to a third embodiment, and FIG. . The surveying system 300 includes a measurement module 310 and a surveying device 350 similar to the surveying system 100 .

However, the encoder pattern unit 313 of the measurement module 310 and the surveying device 350 are different as follows.

The encoder pattern portion 313 is manufactured as shown in FIGS. 18(a) to (c).

(a) First, a short cylindrical base 313A is prepared.

(b) Next, on the outer peripheral surface of the base 313A, a reflective sheet 313C that reflects incident light in a direction opposite to the direction of incidence is attached. Here, as the reflective sheet 313C, a known reflective sheet such as a prism lens type or an enclosed lens type can be used. On the other hand, a first polarizing filter that transmits a polarized component in a first direction and attenuates a polarized component in a second direction perpendicular to the first direction and a polarized component in the second direction that transmits a polarized component in the first direction. Encoder pattern 313B is prepared by combining a second polarizing filter that attenuates the polarization component in the direction of .

Specifically, for example, first polarizing filters 331a and 331b that transmit light in the vertical direction are provided at locations corresponding to the black vertical lines 131a and 131b and the black band 132a of the encoder pattern 13B according to the first embodiment. , and 332a, and second polarizing filters 331c and 332b, which transmit light in the horizontal direction, are arranged at positions corresponding to the white background portion and the white band 131b of the angle information portion 131, to form the encoder pattern 313B.

(c) Finally, the encoder pattern portion 313 is formed by attaching the encoder pattern 313B to the outside of the reflection sheet 313c.

As a material for the polarizing filter, for example, a polarizing film prepared by coating a polyvinyl alcohol (PVA) film with iodine can be used.

Also, the surveying device 350 includes a camera 355 instead of the camera 55 and a reading light transmitting unit 69 .

The camera 355 has a polarizing filter 355a in front of the image sensor. The polarizing filter 355a is a polarizing filter having the same polarizing characteristics as one of the first polarizing filters 331a, 331b, 332a and the second polarizing filters 331c, 332b.

For example, if the polarizing filter 355A is a horizontal polarizing filter arranged at a portion corresponding to the white color of the encoder pattern 13, that is, the second polarizing filters 331c and 332b, only the horizontal polarizing component is detected by the polarizing filter 355A pass through.

The reading light transmitting section 69 includes a light emitting element, shares an optical system with the EDM 51 , and emits light toward the encoder pattern section 313 .

In this embodiment, when the encoder pattern 313 is read in step S103, the encoder pattern reading unit 65 executes the flowchart of FIG. 19 instead of steps S301 to S305. That is, first, reading light is transmitted in step S501. Next, in step S502, the light reflected by the encoder pattern is received by the camera 355. FIG.

As a result, the image sensor acquires an image of the encoder pattern 313B in which the portion corresponding to the first polarizing filter with weak reflected light is dark and the portion corresponding to the second polarizing filter with strong reflected light is bright. After that, in steps S503 to S506, the same processing as in steps S302 to S305 is performed on the image of the encoder pattern _313B . Calculate.

In this way, even when the encoder pattern 313B is composed of a polarizing filter, the same effect as in the first embodiment can be obtained. Also, in combination with the second embodiment, a scanner having substantially the same configuration as the scanner of the second embodiment may be used instead of the camera 355 .

Also when using the scanner 70, it is preferable to provide a polarizing filter in front of the light receiving portion of the scanner.

4. Fourth Embodiment A surveying system 400 (not shown) according to a fourth embodiment includes a measurement module and a surveying device similar to the surveying system 100 .

However, the encoder pattern section 413 of the measurement module is different as follows.

That is, as shown in FIG. 20, the encoder pattern portion 413 according to the present embodiment includes the encoder pattern portion 13 according to the first embodiment and the encoder pattern portion 313 according to the third embodiment. are integrated above and below.

According to such a configuration, regardless of which of the surveying device 50 related to the surveying system 100, the surveying device 250 related to the surveying system 200, and the surveying device 350 related to the surveying system 300 is used as the surveying device used in the surveying system 400, Effects similar to those of the first embodiment can be obtained. That is, the versatility of the measurement module is improved.

The arrangement of the encoder pattern portion 13 and the encoder pattern portion 313 in the encoder pattern portion 413 is not limited to this. may be placed

5. Fifth Embodiment FIG. 21 is a block diagram of a surveying system 500 according to a fifth embodiment. The surveying system 500 includes a measurement module 510 and a surveying device 50 similar to the surveying system 100 .

However, as shown in FIG. 22, the distance measuring device 514 of the measurement module 510 is attached to the support member 12 so as to be rotatable around the horizontal axis passing through the point R with the point R on the central axis A of the support member 12 as the base point. In addition to being attached, the distance measuring device 514 of the measurement module 510 is different in that it is also rotatable around the vertical axis passing through the point R, that is, the central axis A of the support member 12 .

The measurement module 510 also includes the rotation angle measuring device 22 . The rotation angle measuring device 22 is a rotary encoder.

The angle around the central axis of the support member 12 between the direction corresponding to 0° of the rotation angle measuring device 22 and the reference direction RD of the encoder pattern 13B when the distance measuring device 514 is attached to the support member 12 is the distance measurement. When the device 514 is assembled, it is determined and set in the rotation angle measuring device 22 as a correction value. As a result, the rotation angle measuring device 22 can measure the rotation angle _θB of the distance measuring device 514 about the central axis A of the support member 12 with respect to the reference direction RD of the encoder pattern 13B.

As described above, in the measurement module 510, the angle θ _B about the central axis A of the support member 12 with respect to the reference direction RD of the encoder pattern 13B of the distance measuring device 514 is a fixed value. , which can be measured by providing the rotation angle measuring device 22 .

Then, as shown in FIG. 23, in the surveying operation for the measurement point P, the measurement module 510 measures the distance l from the base point R of the distance measuring device 514 to the measurement point P (step S601), the inclination angle φ of the rangefinder 514 with respect to the horizontal plane passing through the reference point R of the rangefinder 514 is measured (step S602). The angle θ _B about the central axis A of the support member 12 with respect to the reference direction RD of the pattern 13 B is measured and output to the module communication section 19 .

According to such a configuration, since the distance measuring device 514 is attached to the support member 12 so as to be rotatable around the central axis A of the support member 12, the vertical state of the support member 12 is ensured. Workability when bringing the tip of the distance measuring device 514 into contact with the measuring point P is improved. In addition, since a point at an arbitrary angle with respect to the measuring point P can be set as the borrowing measuring point Q, the degree of freedom in setting the temporary measuring point Q increases.

6. Sixth Embodiment A surveying system 600 (not shown) according to a sixth embodiment includes a measurement module 610 and a surveying device 450 (not shown) similar to the surveying system 400 .

However, as shown in FIG. 24, the tilt angle measuring device 15 of the measurement module 10 is a tilt sensor attached to the distance measuring device 14 parallel to the distance measuring device 14, whereas the tilt angle measuring module 610 Measuring instrument 615 differs in that it is a rotary encoder. The tilt angle measuring device 615 measures the tilt angle of the distance measuring device 614 (the angle corresponding to the angle φ in FIG. 3) by measuring the rotation angle around the horizontal axis passing through the reference point R of the range measuring device 614 .

According to the above configuration, the tilt angle φ of the distance measuring device 614 can be measured, and the same effects as those of the first to fifth embodiments can be obtained.

7. Seventh Embodiment A surveying system 700 (not shown) according to a seventh embodiment includes a measurement module 710 and a surveying device 50 (not shown) similar to the surveying system 100 .

However, as shown in FIG. 25, the range finder 14 of the measurement module 10 is a digital measuring rod, while the range finder 714 of the measurement module 710 is a compact light wave range finder. different in Distance measuring device 714 is connected to control section 17 and module communication section 19 of measurement module 710 .

Distance measuring device 714 includes a distance measuring unit and a laser pointer. The distance measuring unit includes a light transmitting unit that pulse-oscillates laser light and a light receiving unit that receives reflected light from the object to be measured. It shall be possible to measure the non-prism distance measurement. Assume that the laser pointer linearly emits visible laser light, for example. The optical axis of the distance measuring unit coincides with the central axis L of the distance measuring device 714 and also coincides with the optical axis of the laser pointer.

When measuring the distance l between the base point R of the distance measuring device 714 and the measurement point P, the tip 12a of the support member 12 of the measurement module 710 is brought into contact with the provisional measurement point Q to ensure the vertical state of the support member 12. Then, the distance measuring device 714 is directed to the measuring point P, the measuring point P is pointed by the laser pointer, and the distance l from the base point R to the measuring point P is measured in this state.

According to the above configuration, the distance l between the reference point R of the distance measuring device 714 and the measurement point P can be measured, and the same effects as those of the first to sixth embodiments can be obtained. Moreover, if a laser rangefinder is used, the provisional measurement point Q can be set without being restricted by the physical length, so the degree of freedom in setting the measurement point Q is improved.

Preferred embodiments of the present invention have been described above. forms are also included in the scope of the present invention.

10, 10a, 310, 510, 610, 710 measurement module 11 reflection targets 13B, 313B encoder pattern 19 module communication units 50, 50c, 250, 350, 450 surveying equipment 55, 355 camera 57 communication unit 64 arithmetic control unit 70 scanner 100 , 100a, 100c, 200, 300, 400, 500, 600, 700 Survey system

Claims (7)

a reflective target, and a supporting member that extends with a certain length and supports the reflective target so that its central axis passes through the center of the reflective target. It is secured in a vertical state in which the central axis is vertical while contacting a temporary measurement point different from the point, and the center of the reflection target on the central axis in the use state with respect to the reference direction around the central axis Measurement of the angle of the direction of the measurement point from a base point set at a predetermined distance, the angle of the direction of the measurement point from the base point with respect to the horizontal plane passing through the base point, and the distance between the base point and the measurement point. a measurement module capable of acquiring data;
A surveying system comprising a surveying device capable of surveying the three-dimensional position coordinates of the reflection target,
The measurement module is
an encoder pattern having the reference direction and indicating an angle about the central axis ; and
A module communication unit for transmitting the measurement data to the surveying instrument,
The surveying device is
a camera that acquires an image of the encoder pattern;
a communication unit capable of communicating with the measurement module; and
A surveying system, comprising: an arithmetic control unit that calculates a reading angle of an encoder pattern based on the image, and calculates three-dimensional position coordinates of the measurement point based on the measurement data and the reading angle. a reflective target, and a supporting member that extends with a certain length and supports the reflective target so that its central axis passes through the center of the reflective target. It is secured in a vertical state in which the central axis is vertical while contacting a temporary measurement point different from the point, and the center of the reflection target on the central axis in the use state with respect to the reference direction around the central axis Measurement of the angle of the direction of the measurement point from a base point set at a predetermined distance, the angle of the direction of the measurement point from the base point with respect to the horizontal plane passing through the base point, and the distance between the base point and the measurement point. a measurement module capable of acquiring data;
A surveying system comprising a surveying device capable of surveying the three-dimensional position coordinates of the reflection target,
The measurement module is
an encoder pattern having the reference direction and indicating an angle about the central axis ; and
A module communication unit for transmitting the measurement data to the surveying instrument,
The surveying device is
a scanner that transmits scanning light, receives the light reflected by the encoder pattern, and acquires the received light intensity distribution;
a communication unit capable of communicating with the measurement module; and
A surveying system, comprising: an arithmetic control unit that calculates a reading angle of an encoder pattern based on the received light amount distribution, and calculates three-dimensional position coordinates of the measurement point based on the measurement data and the reading angle. . 3. The surveying system according to claim 1, wherein said measuring module comprises a spirit level for detecting the vertical state of said measuring module. The measurement module measures the angle of the direction of the measurement point from a base point set at a predetermined distance on the central axis from the center of the reflection target with respect to a reference direction around the central axis in the use state. an angle detector for measuring the angle of the direction from the base point to the measurement point with respect to a horizontal plane passing through the base point; and a distance measuring device for measuring the distance between the base point and the measurement point. The surveying system according to any one of claims 1 to 3, characterized by: The angle of the direction of the measurement point from a base point set at a predetermined distance on the central axis from the center of the reflective target with respect to a reference direction around the central axis is known, and the measurement module and an angle detector for measuring the angle of the direction of the measuring point from the base point to the horizontal plane passing through the base point, and a distance measuring device for measuring the distance between the base point and the measuring point. The surveying system according to any one of claims 1 to 3. a reflective target;
a support member that extends with a certain length and supports the reflective target so that its central axis passes through the center of the reflective target;
an encoder pattern having a reference direction and indicating an angle about the central axis ;
A module communication unit configured to communicate with an external device,
In the state of use, the tip of the support member abuts on a temporary measurement point different from the measurement point and is secured in a vertical state in which the central axis is vertical, and the reference direction around the central axis in the state of use. , the angle of the direction of the measurement point from a base point set at a position at a predetermined distance on the central axis from the center of the reflection target, the angle of the direction of the measurement point from the base point to the horizontal plane passing through the base point, and the base point and the measurement point, and is configured to transmit the measurement data to an external device. A measuring module comprising a reflective target and a supporting member extending with a certain length and supporting the reflective target so that its central axis passes through the center of the reflective target, and distance measurement and angle measurement of the reflective target. (a) The measurement module is provided with an encoder pattern having a reference direction and indicating an angle in the circumferential direction of the central axis, and the surveying device is provided with an image of the encoder pattern A camera that acquires a scan light or a scanner that receives the light reflected by the encoder pattern and acquires the received light amount distribution, and the encoder pattern reading angle based on the image or the received light amount distribution is computable, and
(b) The measurement module is arranged in a vertical state in which the tip of the support member is in contact with a temporary measurement point different from the measurement point and the central axis is vertical, and the encoder pattern is read by the surveying device. ,
(c) the angle of the direction of the measurement point from a reference point set by the measurement module at a predetermined distance on the central axis from the center of the reflection target with respect to the reference direction; obtaining measurement data about the angle of the direction of the measurement point from a base point and the distance between the base point and the measurement point;
(d) measuring the range and angle of the reflective target with the surveying device;
(e) calculating the reading angle of the encoder pattern from the result of reading the encoder pattern;
(f) A surveying method, wherein the three-dimensional position coordinates of the measurement point are calculated based on the results of calculation of the distance measurement and angle measurement data of the reflection target, the measurement data, and the reading angle of the encoder pattern. .

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