JPH0319486B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for measuring the displacement angle of a surveyed object from a reference line and the distance from the reference line to the surveyed object. This invention relates to a surveying method suitable for determining the rolling, pitching, or excavation distance of an object.

In modern tunnel construction, efforts are being made to improve construction efficiency as tunnel excavators such as shield excavators and tunnel boring machines become faster and more automated.

By the way, in order to increase tunnel construction efficiency and construction accuracy by taking advantage of the high speed of tunnel excavation machines, it is necessary to grasp the moment-by-moment movement of the tunnel excavation machine and make early direction corrections. We must ensure that we proceed along the planned route.

Conventionally, the current position of the shield excavator has been determined by measuring the displacement of the shield excavator from the planned route and the excavation distance by surveying using a tape measure or transit.

However, in the conventional surveying method, the tunnel excavator must be stopped to perform the survey, and moreover, the survey must be carried out many times in order to accurately know the position of the tunnel excavator, which is constantly moving. From this, it seems that the traditional surveying method was used.
The high-speed performance of the tunnel excavator is diminished, and there is a practical limit to the number of surveys, so it is necessary to accurately understand the movement of the tunnel excavator between each survey and the next survey. Therefore, there was a risk that the amount of meandering of the tunnel excavator, which has a high excavation speed, would increase.

Therefore, an object of the present invention is to provide a surveying method suitable for constantly monitoring a surveyed object such as a tunnel boring machine.

In addition, in the conventional surveying method, surveying is possible when the object to be surveyed is located in a position where it can be seen, but it is not possible to conduct a survey when the object to be surveyed is in a position where it can be seen. Points had to be relocated, making the survey complicated.

Therefore, another object of the present invention is to enable continuous surveying even when the object to be surveyed is located in a position that cannot be seen from the device for surveying the object.

Furthermore, another object of the present invention is to provide a surveying method that can be used for automatic operation of a tunnel boring machine.

The surveying method according to the present invention includes a movable device that is rotatable around two axes, which is installed between the installation position of a surveying device equipped with a light emitter and a photodetector, and a surveyed object to which a reflecting mirror is attached. The mirror is rotated so that the light emitted from the light emitter is reflected by the movable mirror and enters the aiming position of the photodetector, and the light emission is further performed using the rotated position of the movable mirror at this time as a reference position. The movable mirror is rotated so that the light emitted from the device passes through the movable mirror to the reflecting mirror, and the light that returns via the movable mirror is aimed at the photodetector. By detecting the rotation angle from the reference position of
The basic concept is to find the displacement angle of the object to be surveyed from a line connecting the installation position of the surveying device and the movable mirror.

In addition, a light wave distance meter is added to the surveying device in addition to the light emitter and the photodetector, and light is emitted from the light wave distance meter at a position where the rotation angle of the movable mirror is detected. The distance to the survey object is measured.

According to the present invention, when the object to be surveyed is a tunnel excavation machine, light is continuously emitted from the light emitter, and the light reflected by the reflector of the excavating tunnel excavation machine is transmitted to the center of the light receiving surface of the photodetector. By rotating the movable mirror and adjusting the position of its reflecting surface so that the beam is incident on the tunnel, the displacement angle is determined, and thereby the pitching and rolling of the tunnel boring machine can be known without interruption.

Further, even if the planned route is a curve, by installing a movable mirror at a directional displacement point of the planned route, it is possible to measure the distance and the displacement from the curve. Furthermore, since the displacement of the tunnel excavator is expressed by the amount of rotation of the movable mirror, this amount can be electrically transmitted to the propulsion mechanism of the tunnel excavator, which will facilitate automatic operation of the tunnel excavator. be able to contribute.

The features of the invention will become clearer from the following description of the illustrated embodiments.

In the surveying method according to the present invention, first, the first
As shown in the figure, a surveying device 10 equipped with a light emitter, a photodetector and, if necessary, an optical distance meter, and a movable mirror 12 rotatable around mutually orthogonal axes, preferably a horizontal axis and a vertical axis. , are installed on a straight line serving as a reference for measuring the displacement of the object to be surveyed 14, that is, on the reference line S, and a reflecting mirror 16 is installed on the object to be surveyed 14.

The surveying device 10 is located at the first reference point O ₁ on the reference line S.
In addition, the movable mirror 12 moves to the second reference point O ₂ on the reference line S between the first reference point O 1 and the object to be surveyed ₁₄ , and the reflecting mirror 16 moves to the second reference point O _2. They are placed towards each other.

For example, when the surveyed object 14 is a shield excavator, the reference line S is preferably the central axis of the tunnel behind the shield excavator.

After installing the surveying device 10, the movable mirror 12, and the reflecting mirror 16, move the movable mirror 12 so that the light emitted from the light emitter is reflected by the movable mirror 12 and enters the center of the light receiving surface of the photodetector. The movable mirror 12 is rotated around both horizontal and vertical axes.
The rotation position of is set as the rotation reference position. Next, the light emitted from the light emitter is reflected by the movable mirror 12 and enters the reflector 16, and the light reflected by the reflector 16 is reflected again by the movable mirror 12 and is reflected on the light receiving surface of the photodetector. Movable mirror 12 so that the light enters the center
Rotate. Thereafter, by detecting the rotation angle of the rotated movable mirror 12 from the rotation reference position, the displacement angle of the surveyed object 14 from the reference line S in the horizontal plane and in the vertical plane can be determined. In addition, when measuring the distance from the first reference point O ₁ to the object to be surveyed 14 via the second reference point O ₂ at this time, the light wave distance is measured when the movable mirror 12 is at the detection position of the displacement angle. Distance can be measured by emitting light from the meter.

By the way, the emitted light from the light emitter or the light wave rangefinder and the reflected light from the reflecting mirror 16 become smaller as the displacement from the reference line S of the object to be surveyed 14 becomes smaller.
The angle of incidence and the angle of reflection on the reflective surface of the movable mirror 12 become large, and there is a possibility that it becomes difficult to reliably supplement the light in the photodetector or the optical distance meter. To avoid this, as shown in _FIG .
4 is installed so that the light emitted from the light emitter is reflected by the reflection plate 24 and enters the movable mirror 12, that is, the installation point O ₃ is set to the first and second reference points O 1 and _{O 2} It is desirable to reduce the incident angle and reflection angle at the movable mirror 12 by using a relay point of the optical path between the movable mirrors 12 and 12 as a relay point of the optical path.

In this example, the surveying device 10
It is supported so as to be rotatable about the first reference point O ₁ at an angle between the reference line S and the straight line connecting O ₁ and the installation point O ₃ of the reflection plate 24 . The reflecting plate 24 may be rotatable about two orthogonal axes like the movable mirror 12 described above, or may be non-rotatable. FIG. 4 shows a movable reflecting plate 24, and it is desirable that the reflecting plate 24 is used together with the movable mirror 12 by being placed on a base plate (not shown).

In the movable mirror 12, an example of which is shown in FIG. 4, both sides of the mirror body 12a constituting the movable mirror 12 can be rotated around a horizontal axis 33a by a DC torque motor 29 and an encoder 31, respectively, via a horizontal shaft 27. The mirror body 12a, the DC torque motor 2
9 and the encoder 31 connect these to the vertical axis 33
It is attached to a DC torque motor 35 and an encoder 37 so as to be rotatable around b.

Further, although not shown, it is desirable to use a corner cube (also referred to as a corner reflector) as the reflecting mirror installed on the object to be surveyed 14, which is composed of three reflecting plates orthogonal to each other. According to this corner cube, the light incident on the corner cube is reflected in a direction parallel to the direction of incidence. When the distance between the movable mirror 12 and the object to be surveyed 14 is large, it is desirable to use a combination of a plurality of corner cubes.

Furthermore, referring to FIG. 3 as an example of the arrangement of the light emitter, the photodetector, and the optical distance meter,
Parallel to the straight line connecting the first reference point O ₁ and the installation point O ₃ of the reflection plate 24, a light emitter 18 consisting of a laser oscillator and an expander 26 for adjusting the diameter of the laser beam are arranged. . The laser light emitted backward from the light emitter 18 is reflected by a pair of reflecting plates 28 and enters the expander 26 , and the laser light emitted from the expander 26 is reflected by the expander 26 .
6 and a small-diameter reflector 32 placed on the straight line, and travel toward the reflector 24 with the straight line as the optical axis.

The photodetector 20 is arranged with its light-receiving surface facing the reflection plate 24 and the center of the light-receiving surface being placed on the straight line. The photodetector 20 is composed of a semiconductor optical position detector, and the laser light that passes through a condensing lens 34 disposed in front of the photodetector 20 and heads toward the photodetector 20 is concentrated at one point on its light receiving surface. The laser light incident on the semiconductor optical position detector is photoelectrically exchanged, and a voltage is output according to the distance from the center of the incident position in the vertical and horizontal directions of the light receiving surface of the semiconductor optical position detector. Instead of the semiconductor optical position detector, the photodetector may be a four-part optical position detector in which the light-receiving surface is divided into four sections and a photoelectric exchange element is disposed in each divided section.

The optical distance meter 22 is arranged at right angles to the straight line. The light wave distance meter 22 has a transmitting section that emits a laser beam for distance measurement and a receiving section that receives the laser beam reflected by the reflecting mirror. When the switching mirror 36, which is movable to block the laser beam, is positioned on the straight line, the laser beam is reflected by the switching mirror 36 and travels along the straight line as the optical axis, and the reflected laser beam is reflected by the switching mirror 36 and is received. incident on the part. Distance measurement by the light wave distance meter 22 is performed by measuring the phase difference between the light emitted from the transmitter and the light incident on the receiver.

In the example shown in FIGS. 2 and 3, the surveying device 1
0 is rotated to direct it toward the movable mirror 12, and then the movable mirror 12 is rotated so that light is emitted from the light emitter 18, reflected by the movable mirror 12, and returned to the center of the light receiving surface of the photodetector 20. Next, the surveying station 10 is rotated to face the reflector 24, and then the light from the light emitter 18 is reflected by the reflector 24 and enters the movable mirror 12, and the light reflected by the movable mirror 12 is reflected again. Board 2
4 and returns to the center of the light receiving surface of the photodetector 20. Next, the rotation angle of the movable mirror 12 around the two axes at this time is detected. Thereafter, the light emitted from the light emitter is sequentially reflected by the reflector 24 and the movable mirror 12 and enters the reflector 16, and the light reflected by the reflector 16 is again sequentially reflected by the movable mirror 12 and the reflector 24. The movable mirror is rotated so that the light is incident on the center of the light receiving surface of the photodetector 20. By detecting the rotation angle at this time and finding the sum of the detected rotation angle and the rotation angle detected earlier, the displacement angle of the surveyed object pair 14 from the reference line S can be determined. be able to.

The distance between the first reference point O ₁ and the second reference point O ₂ , from the first reference point O ₁ to the second reference point O ₃ via the said point O 3
and the distance to the first reference point O ₂ and the first reference point O ₁
The distance from the point O ₃ to the second reference point O ₂ to the object to be measured 14 is determined by emitting light from the optical distance meter 22 at each position after the rotation of the movable mirror 12. It is required by

In the above description, the surveying device 10 is set at the reference line S.
The case where it is installed on top is explained. However, the second reference point O ₂ and the installation point O ₃ of the reflecting plate 24
are the first known point and the second known point, respectively, and the straight line connecting them is the reference line _S1 , then the surveying device 10 does not necessarily need to be installed on the reference line S. In this case, the surveying device 10 is installed facing the second known point.

Next, when measuring the displacement of the object to be surveyed 14 from S ₁ according to this example, the laser beam emitted from the light emitter 18 is reflected by the reflection plate 24 and enters the movable mirror 12, and then the movable mirror The laser beam reflected by 12 is reflected by the reflection plate 24 and is transmitted to the semiconductor optical position detector 2
The movable mirror 12 is rotated so that the light enters the center of the light receiving surface. Here, as shown in the block diagram in FIG. 5, the converted voltage ΣV corresponding to the total amount of laser light incident on the detector 20, and the converted voltages Vx and Vy corresponding to the distance from the center of the light receiving surface are analog, It is input to a controller 42 via a digital converter 38 and a computer input/output unit 40. On the other hand. The readings of the encoders 31, 37 of the rotation angle of the movable mirror 12 about both horizontal and vertical axes are transmitted to the controller 42 via output units 43, 45 and an input unit 44, and the converted voltages Vx, When Vy is positive or negative, the movable mirror 12
encoder 3 so that it rotates by the minimum unit.
The difference or sum between the read value of 1, 37 and the minimum unit is transmitted from the controller 42 to the subtracters 52, 54 via the output unit 46 and input units 48, 50 as an instruction value. The subtracters 52 and 54 calculate the difference between the encoder reading value and the indicated value, and the calculation results in the horizontal and vertical directions are sent to digital and analog converters 56 and 58, preamplifiers 60 and 62, and power output, respectively. DC torque motor 2 via amplifiers 64 and 66
9,35, DC torque motor 29,3
5 are tachogenerators 29a and 35a, respectively.
The mirror body 12a is rotated around both horizontal and vertical axes until the voltages Vx and Vy become zero.

Note that numerals 68 and 70 in the figure are connected to the optical distance meter 22 and to the input/output unit 40, respectively.
The input/output unit and the serial/parallel converter are shown connected to the computer 72 via.

After the above-described operations have been performed, or after the distance from the surveying device 10 to the movable mirror 12 via the reflector 24 is measured by the light wave distance meter 22, the laser beam emitted from the light emitter 18 is transmitted to the reflector 24 and The laser beam is reflected by the movable mirror 12 and enters the reflecting mirror 16, and the laser beam further reflected by the reflecting mirror 16 is reflected again by the movable mirror 12 and the reflecting plate 24 and enters the center of the light-receiving surface of the detector 20. The movable mirror 12 is rotated. At this time as well, the rotation operation is performed in the same manner as described above until the voltages Vx and Vy in the detector 20 become zero. Next, by detecting the rotation angle of the movable mirror, the displacement angle of the object to be surveyed 14 from the reference line S ₁ can be determined. The distance on the optical path from to the object to be surveyed 14 can be determined.

When part of the planned line of the tunnel to be excavated is a curve, the movable mirror 12 is installed at a point where the reference line S or _S1 intersects with an arbitrary tangent in the curved part of the planned line, that is, a directional displacement point, If there are multiple directional displacement points, as shown in _FIG . will be installed respectively.

When a plurality of directional displacement points C, C ₁ exist in this way, in order to reduce the angle of incidence and reflection angle on the movable mirror 12 or the reflection plate 24 installed at the directional displacement point, the directional displacement points C, C ₁ It is desirable to arrange the reflecting plate 25 at a point near the point in the same manner as described above.

The surveying device 10 is installed facing toward the reflective plate 24 closest to the surveying device 10 when the reflective plate 25 is not interposed, and toward the reflective plate 25 closest to the surveying device 10 when the reflective plate 25 is interposed. do.

The reference point S ₂ in this example is a straight line connecting the directional displacement point C ₁ closest to the surveyed object 14 and its neighboring point n ₁ , and the displacement angle of the surveyed object 14 from this reference line S ₂ may be performed according to the example described above. At this time, the installation points of the reflectors 24 and 25 serve as relay points of the optical path with the surveying device 10. Also, between the surveying device 10 and the directional displacement point C closest to it, between other directional displacement points C, and between the directional displacement points C and
Since the distance between C1 and _C1 can be measured by the method described above, the distance between the surveying device 10 and the object to be surveyed 14 can be determined.

According to the method described above, referring to FIG. 7, the distance L ₁ between the directional displacement point C ₁ and the surveying object 14, and the displacement angle α _o of the measured object 14 from the reference line S ₂ in the horizontal direction, vertical Find the displacement angle β _o in the direction, and further calculate the distance L ₂ between the direction displacement point C ₁ and any point P ₀ , and the said arbitrary point from the reference line S _2.
By finding the displacement angle α ₀ in the horizontal direction and the displacement angle β ₀ in the vertical direction of P ₀ , the above arbitrary point P ₀
The position of the object to be surveyed 14 can be expressed in three-dimensional orthogonal coordinates using the origin as the origin. In this case, by installing a reflecting mirror (not shown) at any point and measuring the displacement angle and distance of the object to be surveyed 14, the distance L ₂ and Angles α ₀ and β ₀ can be detected.

From FIG. 7, the position of the object to be surveyed 14 is illustrated.
_If Pn _{( Xn , Yn} , _{Zn ) , then} )−L ₂ cosβ ₀ .

Needless to say, the arbitrary point P ₀ can also be placed at the light input/reflection point of the mirror body 12a of the movable mirror 12.

According to the present invention, when the object to be surveyed is a tunnel boring machine, its directional displacement and excavation distance can be measured without stopping the machine, unlike conventional surveying methods. Therefore, the current position of the tunnel excavator can be constantly monitored, and even if it deviates from the planned route, its direction can be immediately corrected.

In addition, even if the tunnel excavated by a tunnel excavation machine has a curved part with no visibility,
By installing a movable mirror at the directional displacement point, surveying can be carried out in the same way as when the line of sight is clear.Furthermore, according to the present invention, it is easy to link this to the propulsion system of the tunnel excavator, This makes it possible to significantly promote automatic operation of tunnel excavators.

Furthermore, when a light emitting device is installed in a tunnel excavation machine and its tail portion moves vertically and horizontally, there is a possibility that the light emitted from the light emitting device cannot reach the movable mirror. However, according to the present invention, the light emitting device is not built into the object to be surveyed but is built into the device for surveying the object, so the light emitted from the light emitting device is arranged so that it always reaches the movable mirror. can do.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram showing an outline of the surveying method according to the present invention, FIG. 2 is an explanatory diagram showing an outline of another example, and FIG.
The figure is a schematic diagram showing an example of the arrangement of a surveying device, a movable mirror, and a reflecting mirror, Figure 4 is a schematic diagram of a movable mirror and a reflecting plate, Figure 5 is a block diagram showing the operation of detecting displacement, and Figure 6 is a multiple FIG. 7 is an explanatory diagram showing an outline of the surveying method when there are directional displacement points, and FIG. 7 is an explanatory diagram for determining the three-dimensional coordinate position of the object to be surveyed. 10: Surveying device, 12: Movable mirror, 14: Object to be surveyed, 16: Reflector, 18: Light emitter, 20: Photodetector, 22: Light wave distance meter, 24, 25: Reflector plate,
S, S ₁ , S ₂ : Reference line, O ₁ , O ₂ : First reference line and second reference line, C, C ₁ : Directional displacement point.

Claims (1)

[Claims] 1. A method for measuring the displacement angle of an object to be surveyed from a reference line, the method comprising: a first reference point on the reference line;
A surveying device equipped with a light emitter and a photodetector is directed toward a second reference point on the reference line between the first reference point and the object to be surveyed, and installing a movable mirror rotatable around two axes, and a reflecting mirror facing the second reference point on the object to be surveyed;
Thereafter, rotating the movable mirror so that the light emitted from the light emitter is reflected by the movable mirror and enters the center of the light receiving surface of the photodetector, and then the light is reflected by the movable mirror. rotating the movable mirror so that the light that is incident on the reflective mirror and reflected by the reflective mirror is again reflected by the movable mirror and incident on the center of the light receiving surface of the photodetector;
A surveying method comprising detecting rotation angles of the movable mirror around the two axes at this time. 2. A method for measuring the distance from a first reference point on a reference line to an object to be surveyed, the method comprising: measuring the distance from a first reference point on the reference line to a second reference point on the reference line between the first reference point and the object to be surveyed; a surveying device equipped with a light emitter, a photodetector, and a light wave distance meter; a movable mirror rotatable around two orthogonal axes at the second reference point; Installing each reflector toward the reference point,
Thereafter, the light emitted from the light emitter is reflected by the movable mirror and enters the reflecting mirror, and the light reflected by the reflecting mirror is again reflected by the movable mirror and is reflected on the light receiving surface of the photodetector. surveying, comprising rotating the movable mirror so that the light is incident on the center, and then detecting the distance from the first reference point to the object to be surveyed via the second reference point using the light wave distance meter. Method. 3. A method for measuring the degree of displacement of an object to be surveyed from a reference line, the method comprising: a first reference point on the reference line;
A surveying device equipped with a light emitting device and a photodetector capable of rotating the angle formed by the reference line and a straight line connecting the first reference point and a point angularly separated from the first reference point is connected to the first reference point. and the object to be surveyed, two movable mirrors rotatable around an axis are orthogonally arranged at a second reference point on the reference line between the object to be surveyed and the second reference point. reflector,
and installing a reflecting plate at a point on the straight line so that the point becomes a relay point of the optical path between the first reference point and the second reference point, and then,
The light emitter and the photodetector are directed toward the movable mirror, and the movable mirror is rotated so that the light emitted from the light emitter is reflected by the movable mirror and enters the center of the light receiving surface of the photodetector. Then, the light emitter and the photodetector are directed toward the reflector, and the light emitted from the light emitter is reflected by the reflector and enters the movable mirror, and the reflected light is reflected by the reflector. rotating the movable mirror so that the light is reflected at the center of the light-receiving surface of the photodetector, detecting the rotation angle of the movable mirror around the two axes at this time; The light emitted from the reflector is reflected by the reflector and the movable mirror and enters the reflector, and the light reflected by the reflector is again reflected by the movable mirror and the reflector to detect the photodetector. A surveying method comprising: rotating the movable mirror so that the light enters the center of a light-receiving surface; and detecting rotation angles of the movable mirror about the two axes at this time. 4. A method for measuring the distance from a first reference point on a reference line to an object to be surveyed, which involves connecting the first reference point to a point angularly separated from the first reference point. A surveying device equipped with a light emitting device, a photodetector, and a light wave distance meter that can rotate the angle formed between a straight line and the reference line, is installed at a point on the reference line between the first reference point and the object to be surveyed. A movable mirror rotatable around two orthogonal axes is placed at the second reference point, a reflecting mirror is placed on the object to be surveyed pointing toward the second reference point, and a point on the straight line is provided with a movable mirror rotatable around two orthogonal axes. installing a reflector plate between the first reference point and the second reference point so as to serve as a relay point of the optical path; Then, the light emitted from the light emitter is reflected by the reflector and the movable mirror and enters the reflector, and the light reflected by the reflector is directed again to the movable mirror and the movable mirror. rotating the movable mirror so that it is reflected by a reflector and incident on the center of the light-receiving surface of the photodetector, and then using a light wave distance meter to detect a point on the straight line from the first reference point and the second point. A surveying method comprising detecting a distance to the surveyed object via a reference point. 5 A method for measuring the displacement angle of an object to be surveyed from a straight line having a first known point and a second known point separated from the first known point, the method comprising: A surveying device equipped with a light emitter and a photodetector is directed toward the second known point.
a movable mirror rotatable around two axes at the known point, a reflecting mirror on the object to be surveyed pointing toward the first known point, and a mirror at the second known point. respectively install a reflecting plate so that the point becomes a relay point of the optical path between the point and the first known point, and then the light emitted from the light emitter passes through the reflecting plate and the movable mirror. The movable mirror is configured such that the light reflected by the movable mirror and the reflecting plate is reflected again by the movable mirror and the reflecting plate and enters the center of the light-receiving surface of the photodetector. A surveying method comprising rotating the movable mirror and detecting the rotation angle of the movable mirror at this time. 6 A method for measuring the distance from a point other than a point on a straight line having a first known point and a second known point separated from the first known point to an object to be surveyed, the method comprising: A surveying device equipped with a light emitter, a photodetector, and a light wave distance meter is directed toward the second known point, a movable mirror rotatable around two axes is directed toward the first known point, and a movable mirror is mounted toward the object to be surveyed. A reflecting mirror is directed toward the first known point, and is reflected to the second known point so that the second known point becomes a relay point of the optical path between the point and the first known point. board,
After that, the light emitted from the light emitter is reflected by the reflector and the movable mirror and enters the reflector, and the light reflected by the reflector is reflected again by the movable mirror and the movable mirror. rotating the movable mirror so that it is reflected by a reflector and incident on the center of the light-receiving surface of the photodetector, and then moving from the point to the second known point and the first known point using the optical distance meter; A surveying method comprising measuring a distance to the object to be surveyed through the. 7 The displacement angle of the surveyed object from the reference line connecting the directional displacement point closest to the surveyed object and the next directional displacement point of the surveyed object separated by a plurality of directional displacement points from the reference point. A method of surveying, wherein a surveying device equipped with a light emitter and a light detector is set at the reference point toward a directional displacement point that is closest to the reference point among the directional displacement points, and A movable mirror rotatable around two orthogonal axes is placed at the directional displacement point; A reflecting plate is installed at each direction displacement point other than the displacement point so that the other direction displacement point serves as a relay point of the optical path between the reference point and the direction displacement point closest to the surveyed object. Then, the light emitted from the light emitter is reflected by each of the reflecting plates and enters the movable mirror, and the light reflected by the movable mirror is reflected again by each of the reflecting plates to detect the light. rotating the movable mirror so that the light enters the center of the light receiving surface of the device;
Next, the light emitted from the light emitter is reflected by each of the reflecting plates and the movable mirror and enters the reflecting mirror, and the light reflected by the reflecting mirror is reflected again by the movable mirror and each of the reflecting plates. A surveying method comprising rotating the movable mirror so that the light is incident on the center of the light receiving surface of the photodetector, and detecting the rotation angle of the movable mirror at this time. 8 A method for measuring the distance from a reference point to an object to be measured separated by a plurality of directional displacement points, wherein the directional displacement point closest to the reference point among the directional displacement points is added to the reference point. A movable mirror rotatable around two orthogonal axes is placed at a directional displacement point closest to the object to be surveyed among the directional points. A reflector is directed toward the directional displacement point closest to the object to be surveyed, and the other directional displacement point is directed to the directional displacement point other than the directional displacement point closest to the object to be surveyed. installing reflectors so as to serve as relay points of the optical path between the point and the directional displacement point closest to the object to be surveyed; and then, the light emitted from the light emitter passes through each of the reflectors; and the light reflected by the movable mirror and incident on the reflecting mirror is further reflected by the movable mirror and the reflecting mirror, and is incident on the center of the light receiving surface of the photodetector. A surveying method comprising rotating the movable mirror, and then detecting a distance from the reference point to the object to be surveyed via the direction displacement point using the light wave distance meter. 9. From the reference line connecting the directional displacement point closest to the surveyed object and the neighboring point of the directional displacement point of the surveyed object separated from the reference point through multiple directional displacement points and points near these directional displacement points. A method for measuring a displacement angle, wherein a surveying device equipped with a light emitting device and a photodetector is placed at the reference point toward a point in the vicinity of the directional displacement point closest to the reference point among the directional displacement points. A movable mirror rotatable about two orthogonal axes is placed at the directional displacement point closest to the object to be surveyed, a reflecting mirror is directed toward the directional displacement point closest to the object to be surveyed, and other direction displacement points other than the direction displacement point closest to the surveyed object and each of the neighboring points, the other direction displacement points and the neighboring points are the direction displacement point closest to the reference point and the surveyed object a reflector plate is installed so as to serve as a relay point of the optical path between the light emitters, and then the light emitted from the light emitter is reflected by the reflector plate and enters the movable mirror; rotating the movable mirror so that the reflected light is again reflected by the reflector and enters the center of the light receiving surface of the photodetector; and then the light emitted from the light emitter is reflected by the reflector and the light detector; the light reflected by the movable mirror and incident on the reflecting mirror; A surveying method comprising rotating a movable mirror and detecting rotation angles of the movable mirror about the two axes at this time. 10 A method for measuring the distance from a reference point to an object to be surveyed separated by a plurality of directional displacement points and their neighboring points, the method comprising: A surveying device equipped with a light emitter, a photodetector, and a light wave distance meter is directed toward a point in the vicinity of the nearest directional displacement point, and two axes orthogonal to the directional displacement point closest to the object to be surveyed among the directional displacement points. A movable mirror that can be rotated around the
A reflector is directed toward the directional displacement point closest to the surveyed object, and a reflecting mirror is directed toward the directional displacement point other than the directional displacement point closest to the surveyed object and each of the neighboring points. reflective plates are respectively installed so as to serve as relay points of the optical path between the directional displacement point of rotating the movable mirror so that the light incident on the movable mirror and reflected by the movable mirror is again reflected by the reflector and incident on the center of the light receiving surface of the photodetector; and then the light is emitted from the light emitter. The light is reflected by the reflecting plate and the movable mirror and enters the reflecting mirror, and the light reflected by the reflecting mirror is reflected again by the movable mirror and the reflecting plate to reach the light receiving surface of the photodetector. A surveying method comprising rotating the movable mirror so that the light is incident on the center, and then detecting the distance from the reference point to the object to be surveyed via the direction displacement point and the neighboring points using the light wave distance meter. .