JPH06221850A - Slope measuring device - Google Patents

Abstract

PURPOSE:To measure the slope shape easily and quickly by providing a rotary driving control means for drive-controlling the ratating angle quantity centering the horizontal axis of a laser light scanning means. CONSTITUTION:When the scanning face of laser light is directed down a lower- limit boundary of measuring area of a slope, turn-up/down control parts 30 and 60 output a turn-up/down completion signal S11 to a main control part 36. The part 36 outputs a drive start instruction S5 to laser control parts 31 and 61 on the point where the normal of rotary mirror in a box is aligned with a horizontal axial center. Then, after respective lights have completed scanning on the lower-limit boundary, on the point where the normal of the rotary mirror is aligned with the horizontal axial center again, the control part 36 outputs a drive stop instruction S12 to control parts 31 and 61. The parts 31 and 61 terminate the operation of laser oscillating parts 19 and 49 based on the instruction S12. As a result, the measurement of slope shape in the measuring area is completed. Thus, since the specified measuring area is measured by scanning a laser light, the measurement can be performed easily and Quickly.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a slope surveying device capable of quickly and easily measuring the shape of a slope.

[0002]

2. Description of the Related Art For example, when a mountain is cut to form a slope to construct a dam, the shape of the slope is checked by a certain method in order to confirm whether the formed slope has a desired shape. Have to survey. When it is necessary to measure the shape of the slope in such a way, conventionally, measuring points were set on the slope at a specified density, and each set measuring point was individually measured by a surveying device such as an optical wave rangefinder. Then, the shape of the slope was calculated from the three-dimensional position of each measurement point.

[0003]

However, since the number of measuring points necessary for determining the shape of the slope is not small,
It is a time-consuming and complicated task to measure each of the measuring points one by one using a measuring device such as a light wave distance measuring device. The present invention has been made in view of the above circumstances, and an object thereof is to provide a slope surveying device capable of quickly and easily measuring the shape of a slope.

[0004]

According to the present invention, the present invention has supporting means (11, 12, 13, 41, 42, 43), and the supporting means (11, 12, 13, 41, 42, Four
3), the first laser light scanning means (15, 16, 30) and the second laser light scanning means (45, 46, 60) are provided in the horizontal direction at a predetermined distance (L1) from each other. And second laser light scanning means (15, 16, 30, 45, 46,
60) are each rotatably positioned about a horizontal axis (CT1, CT2), and the first laser beam scanning means (1) is provided.
5, 16, 30) is provided with a first rotation angle detection means (17, 26) capable of detecting a rotation angle position (β) about the horizontal axis (CT1), and the second laser light scanning means ( 45, 46, 60) is provided with a second rotation angle detecting means (47, 56) capable of detecting a rotation angle position (β) about the horizontal axis (CT2), and the first laser light scanning means ( 15, 16, 30), and the laser beam on the horizontal axis (C
First laser light emitting means (19, 20, 21,) capable of performing emission scanning around a first scanning axis (21b) perpendicular to T1).
22) is provided and the second laser light scanning means (45, 4
6, 60) is provided with a second laser light emitting means (49, 50, 51, 52) capable of emitting and scanning laser light around a second scanning axis (51b) perpendicular to the horizontal axis (CT2). , A reflection means (2) that can be installed on the slope (1) and can reflect the laser light on the same reflection path as the incident path.
A plurality of the first laser light scanning means (15, 1
6, 30), the first laser light emitting means (19, 20,
21, 22), and the emission angle (ψ1) around the first scanning axis (21b) of the laser light reflected by the reflection means (2) on the same reflection path as the incident path.
First injection angle detecting means (23, 25, 2) capable of detecting
7, 29), and the second laser beam scanning means (45,
46, 60) to the second laser light emitting means (49, 5
0, 51, 52), said reflecting means (2)
The emission angle (ψ) around the second scanning axis (51b) of the laser light reflected on the same reflection path as the incident path by
2) second emission angle detection means (53, 55,
57, 59) and the first laser beam emitting means (1
9, 20, 21, 22), and the first emission angle detection means (23, 2) of the laser light emitted by the reflection means (2) and reflected on the same reflection path as the incident path.
5, 27, 29) the ejection angle (ψ1) detected by
And at that time, the first rotation angle detecting means (17, 26)
The first laser beam scanning means (15, 16,
30) the rotation angle position (β) about the horizontal axis (CT1) and the reflection means (2) detected by the second emission angle detection means (53, 55, 57, 59), The second laser light emitting means (49, 50, 5
1, 52), and the emission angle (ψ2) of the laser light reflected on the same reflection path as the incident path, and at that time, detected by the second rotation angle detection means (47, 56). Second laser light scanning means (45, 46, 60)
Based on the rotation angle position (β) about the horizontal axis (CT2) of the position ((x
10, y10, z10)) and a reflection position detection calculation unit (33, 35) capable of detecting and calculating the range (S
The input means (37) capable of inputting A) as surveying information (α1, α2) is provided, and the first and second lasers are based on the surveying information (α1, α2) input by the inputting means (37). Optical scanning means (15, 16, 30, 45, 4
6, 60) is provided with rotation drive control means (30, 60) for driving and controlling the rotation angle amounts (α1, α2) about the horizontal axis (CT1, CT2). In addition,
Numbers in parentheses are for convenience of reference to corresponding elements in the drawings, and thus the present description is not limited to the description in the drawings. The same applies to the column of "action" below.

[0005]

With the above construction, the present invention provides the input means (3
The area (SA) to be surveyed by 7) is measured information (α1,
α2), and the rotation drive control means (30, 60) controls the horizontal axes (CT1, CT2) of the first and second laser light scanning means (15, 16, 30, 45, 46, 60). ) As the center of rotation angle (α1, α
2) can be drive-controlled based on the surveying information (α1, α2), and therefore the first and second laser light scanning means (1
5, 16, 30, 45, 46, 60) from which laser beams capable of being emitted and scanned around the first and second scanning axes (51b) perpendicular to the horizontal axes (CT1, CT2) are to be measured (the range to be measured). It is possible to scan over the entire area SA), so that when the reflection means (2) is installed within the area (SA) to be surveyed, the first laser beam scanning means (15, 16, 30). ) Of the laser light emitted by the first laser light emitting means (19, 20, 21, 22) and reflected by the reflecting means (2) on the same reflection path as the incident path. Injection angle detection means (23,
25, 27, 29) the ejection angle (ψ1) detected by
And the first laser beam scanning means (15, 16, 3) detected by the first rotation angle detection means (17, 26) at that time.
0) the rotation angle position (β) about the horizontal axis (CT1) and the reflection means (2), the second emission provided in the second laser beam scanning means (45, 46, 60). The second laser light emitting means (49, 50, 5) detected by the angle detecting means (53, 55, 57, 59).
1, 52) and the emission angle (ψ2) of the laser light reflected on the same reflection path as the incident path, and at that time, detected by the second rotation angle detection means (47, 56). Based on the rotation angle position (β) of the two laser beam scanning means (45, 46, 60) about the horizontal axis (CT2), the position of the reflection means (2) is calculated by the reflection position detection calculation unit ( 33, 35) so that detection and calculation can be performed.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a plan view showing a scene in which a slope is surveyed by a three-dimensional surveying apparatus to which the present invention is applied. Figure 2
It is a side view showing a scene where a slope is surveyed by a three-dimensional surveying device to which the present invention is applied. FIG. 3 is a front view showing a scene in which a slope is surveyed by a three-dimensional survey apparatus to which the present invention is applied. FIG. 4 is a front view showing a laser angle detection unit of the three-dimensional surveying device of FIG. FIG. 5 is a plan view showing a laser angle detection unit of the three-dimensional surveying device of FIG. FIG. 6 is a block diagram showing a control system of the three-dimensional surveying device of FIG.

XYZ coordinates are set in the space including the slope 1 to be surveyed, as shown in FIGS. 1 and 2, and at a position facing the slope 1, three-dimensional surveying is performed as shown in FIG. A device 100 is provided. Three-dimensional surveying device 100
Has two laser angle detection units 10 and 40, and the two laser angle detection units 10 and 40 are juxtaposed in such a manner that their front surfaces 15a and 45a face the slope 1. . In addition, the laser angle detection unit 10,
The respective machine centers CP1 and CP2 of 40 are the XY
Known coordinate points Pt1 and Pt2 on the X axis in the Z coordinate
And the machine centers CP1 and CP2 have a predetermined interval L1 in the horizontal direction. Also,
The laser angle detection unit 10, 40 has a machine center CP
1. Horizontal axis center CT1 and CT2 including CP2 are front surface 15
a and 45a are set in parallel and horizontal directions, respectively, and their respective horizontal axis centers CT1 and CT2 coincide with the X axis which is set substantially parallel to the slope 1 and horizontal. . Further, the horizontal axis centers CT1 and CT2 have a predetermined distance L2 from the rising portion of the slope 1. Also,
As shown in FIG. 4, the laser angle detection unit 10 (40) has a tripod 11 (41), and the tripod 11 (4).
It is supported on the ground 3 by 1). Tripod 11 (4
At the upper end of 1), a rectangular board 12 (42) is horizontally provided so that its longitudinal direction is parallel to the horizontal axes CT1 and CT2, and at both ends of the board 12 (42) in the longitudinal direction. Are rectangular support plates 13 (43) and 13 (4), respectively.
3) are erected so as to face each other. Both support plates 1
Horizontal axis center CT at the upper part of 3 (43), 13 (43)
1 (CT2) intersects the horizontal axis CT1.
Axial holes 13a (33a), 13a centered on (CT2)
(33a) is provided, and the supporting plate 13 (4
Between the boxes 3) and 13 (43), a box-shaped box 15 (4
5) has its bottom surface 15b (45b) at the horizontal axis CT1.
It is provided in parallel with (CT2). The box 15 (45) includes horizontal shafts 15d (45d) and 15d (45d) formed on the left and right side surfaces 15c (45c) and 15c (45c) of the box 15 (45) in FIG. 4, respectively.
Is pivotally attached to the shaft hole 13a (33a) so as to be rotatably supported around the horizontal axis CT1 (CT2), that is, in the directions of arrows A1 (A2) and B1 (B2) as shown in FIGS. 2 and 4. The support plate 13 (43) on the left side of the figure has the shaft 15d (45d) and the box 15 (45) around the horizontal axis CT1 (CT2), that is, the arrow A1 in FIG.
In the (A2) and B1 (B2) directions, the elevation drive unit 16 (46) that can be rotationally driven is provided so as to be connected to the horizontal shaft 15d (45d). In addition, the support plate 13 on the right side in the drawing
In (17), elevation angle detecting means 17 (47) capable of detecting the elevation angle β of the box 15 (45) is provided in a form connected to the horizontal shaft 15d (45d) as shown in FIG. In the box 15 (45), the machine center CP1 (CP
Scan plane P including 2) and parallel to the bottom surface 15b (45b)
L1 (PL2) is set. The box 1
5, 45, as shown in FIG.
As shown in FIG. 1, the scanning planes PL1 and PL2 that are synchronously lifted and driven in a manner that the PL and PL2 are aligned with each other have the AB coordinate plane on the A axis and the X axis on the XYZ coordinates. And the origin of the AB coordinate and X
The origin 0 of the YZ coordinates is set to match. Further, inside the box 15 (45), as shown in FIG. 4, a laser oscillator 19 (49) capable of oscillating laser light.
However, the scanning plane PL is set such that the laser beam is set parallel to the bottom surface 15b (45b) so as to include the mechanical center CP1 (CP2).
1 (PL2) on the front 15a of the box 15 (45)
It is installed so that it can oscillate toward (45a).
A half mirror 2 is provided in front of the laser oscillator 19 (49).
0 (50) causes the laser light oscillated by the laser oscillating unit 19 (49) to scan the scanning plane PL1 as shown in FIG.
The half mirror 20 (50) is provided so that it can be reflected along the horizontal axis CT1 (CT2) in (PL2), that is, it can be reflected in the right angle direction (right side in FIG. 5). A plate-shaped rotating mirror 21 (51) having a reflecting surface 21 a (51 a) is provided on the right side of the center of FIG.
1a (51a) allows the light beam to be reflected in an arbitrary direction within a predetermined angular range γ in the scan plane PL1 (PL2), that is, at a position including the machine center CP1 (CP2).
1 (PL2) is provided with a rotary shaft 21b perpendicular to
Around (51b), that is, arrows G1 (G2) and H1 in FIG.
It is rotatably provided in the (H2) direction. As shown in FIG. 4, the rotating mirror 21 (51) has a rotating shaft 21b.
The scanning drive unit 22 (52) causes the rotary mirror 21 (51) to move through (51b) to the direction indicated by arrows G1 (G2) and H1 (H).
As shown in FIG. 5, the scanning drive unit 22 (52) has a normal line LH1 to the reflecting surface 21a (51a) of the rotating mirror 21 (51).
Of the angular position θ with respect to the horizontal axis CT1 (CT2)
The scanning angle detecting means 23 (53) shown in FIG. 4 capable of instantaneously detecting 1 (θ2) is provided. Half mirror 20
The optical sensor 25 (55) is placed at a position facing the rotating mirror 21 (51) with the rotating mirror 21 (5) interposed therebetween.
The laser beam reflected along the horizontal axis CT1 (CT2) according to 1) can be detected, and the front surface 15a (45a) of the box 15 (45) is
It is formed so that laser light can be transmitted. Further, the two laser angle detection units 10 and 40 are both connected to the control unit 70 as shown in FIG. 1, and the control unit 70
As shown in FIG. 6, the elevation angle detection unit 26 and the optical sensor 25 connected to the elevation angle detection means 17 of the laser angle detection unit 10.
Light receiving time detecting unit 27 and scanning angle detecting means 23 connected to
, A scan angle detection unit 29 connected to, a elevation control unit 30 connected to the elevation drive unit 16, a laser control unit 31 connected to the laser oscillator unit 19, a scan drive unit control unit 32 connected to the scan drive unit 22, and another. The elevation angle detection unit 56 connected to the elevation angle detection unit 47 of the two laser angle detection units 40, the light reception time detection unit 57 connected to the optical sensor 55, the scanning angle detection unit 59 connected to the scanning angle detection unit 53, and the elevation / depression drive unit 46. The elevation control unit 60 connected, the laser control unit 61 connected to the laser oscillation unit 49, the scan drive unit control unit 62 connected to the scan drive unit 52, the scan plane position detection calculation unit 33, and the three-dimensional position detection calculation unit 35. , Difference detection calculation unit 66, main control unit 3
6, has a keyboard 37, a display 39,
Elevation angle detection units 26, 56, light receiving time detection units 27, 57, scanning angle detection units 29, 59, elevation control units 30, 60, laser control units 31, 61, scanning drive unit control units 32, 62, and scanning surface. Inner position detection calculation unit 33, three-dimensional position detection calculation unit 35, coordinate position memory 34, difference detection calculation unit 66,
The keyboard 37 and the display 39 are connected to the bus line 6
It is connected to the main control unit 36 via 5.

Further, as shown in FIG. 1, the slope 1 is provided with a survey area SA (hatched portion in the figure) set on the slope 1, and the survey area SA is a cubic region as shown in FIG. It is set so that a rectangular shape is formed and the upper limit boundary line BLu and the lower limit boundary line BLd are horizontal when viewed from the original survey apparatus 100. In the survey area SA, as shown in FIG.
A plurality of reflecting means 2 having a predetermined length L3 in the direction of the axial center CT3 and capable of reflecting laser light incident perpendicularly to the axial center CT3 on the same reflection path as the incident path are shown in FIG. As shown in FIG. 2, the laser beams scanned from the laser angle detection units 10 and 40 in a form in which the respective axial centers CT3 of the laser angle detection units 10 and 40 are oriented in the vertical direction. The laser angle detection unit 1
It is installed so that it can reflect toward 0 and 40.

Since the three-dimensional surveying apparatus 100 has the above-mentioned configuration, it is detected whether or not the slope 1 shape in the survey area SA is formed in the assumed slope shape in the preset XYZ coordinate space. When attempting to do so, first, as shown in FIG. 6, the keyboard 37 is used to control the elevation control units 30 and 60 to set the elevation angles range of the boxes 15 and 45 to be elevated, that is, the maximum elevation angle α1 and the minimum elevation angle α2. input. The maximum elevation angle α1 and the minimum elevation angle α2 are angles with respect to the horizontal plane PH, as shown in FIG. Then,
The depression / elevation control units 30 and 60 shown in FIG. 6 set the depression / elevation angle range of the boxes 15 and 45 by the depression / elevation drive units 16 and 46 to α1 to α2 based on the maximum elevation angle α1 and the minimum elevation angle α2. As a result, as shown in FIG.
Scanning planes PL1 and PL of laser light emitted from 45
2 is the upper limit boundary line BLu of the survey area SA on the slope 1
To the lower limit boundary line BLd. Next, using the keyboard 37, as shown in FIG. 6, in the coordinate position memory 34, the shape of the slope 1 to be formed in the survey area SA, the three-dimensional coordinates for each point where the reflecting means 2 is left unattended. Information D (x, y, z)
Enter as. Then, the coordinate position memory 34 stores the three-dimensional coordinate information D (x, y, z). Therefore,
A survey start command S is sent to the main control unit 36 by the keyboard 37.
Enter 1. Then, based on the command S1, the main control unit 36 first causes the depression / elevation control units 30 and 60 to set the elevation angles of the boxes 15 and 45 shown in FIG. 2, that is, the elevation angles β of the scanning planes PL1 and PL2 to the maximum elevation angle α1. Thus, the elevation command S2 shown in FIG. 6 is output. Then, as shown in FIG. 6, the elevation angle control units 30 and 60 direct the front surfaces 15a and 45a of the boxes 15 and 45 upward based on the elevation command S2, that is, upward around the horizontal axis centers CT1 and CT2. The elevation drive units 16 and 46 are controlled so as to rotate in the vertical direction. Here, the elevation angle detecting means 17 and 47 constantly detect the elevation angle β of the scanning planes PL1 and PL2 of FIG. 2, and the elevation angle detecting unit 2 shown in FIG.
Reference numerals 6 and 56 indicate the elevation angle β every second.
It outputs to 0. Therefore, the elevation control units 30 and 60 are
The elevation angle β of the scan planes PL1 and PL2 can always be recognized. Therefore, the elevation control units 30 and 60 are controlled by the scanning plane P.
When it is recognized that the elevation angle β of L1 and PL2 has reached the maximum elevation angle α1, the depression / elevation drive units 16 and 46 are stopped. As a result, the elevation angles of the boxes 15 and 45 shown in FIG. 2, that is, the elevation angles β of the scanning planes PL1 and PL2 are both positioned at the position of the highest elevation angle α1. At this time, as described above, the horizontal axis C
Since T1 and CT2 coincide with each other, the scanning planes PL1 and PL2 of both detection units 10 and 40 completely coincide with each other. Further, the scanning planes PL1 and PL2 have the highest elevation angle α1.
By being positioned at the position S, the survey area S set on the slope 1 is set on the slope 1 as shown in FIG.
It coincides with the upper limit boundary line BLu of A.

Further, as shown in FIG. 6, the elevation / reduction control units 30 and 60 have the elevation angle β input from the elevation angle detection units 26 and 56.
Recognizes that the maximum elevation angle α1 has been reached, the main control unit 3
The elevation positioning completion signals S3 and S3 are output to 6. Then, the main controller 36 outputs a drive start command S4 to the scan driver controller 32, 62. Then, the scan drive control units 32 and 62 drive the scan drive units 22 and 52 in the boxes 15 and 45 shown in FIG. 4 based on the command S4. At this time, the scan drive control units 32 and 62 control the scan drive units 22 and 52 so as to rotate the rotation shafts 21b and 51b at a constant angular velocity ω. Therefore, the rotating shaft 2
Revolving mirrors 21 and 51 fixed to 1b and 51b, respectively.
Starts to rotate at a constant angular velocity ω around the rotary shafts 21b and 51b perpendicular to the scanning planes PL1 and PL2, that is, in the directions of arrows H1 and H2 in FIG. Here, FIG.
The scanning angle detecting means 23 and 53 shown in FIG.
As shown in, the reflecting surfaces 21a of the rotating mirrors 21 and 51,
51a normals LH1 and LH2, horizontal axis centers CT1 and CT
The angles θ1 and θ2 with respect to 2 are constantly detected, and the scanning angle detection units 29 and 59 shown in FIG. 6 output the angles θ1 and θ2 to the main control unit 36 moment by moment. Therefore, the main controller 36 can always recognize the angles θ1 and θ2. Therefore, the main controller 36 controls the angles θ1 and θ2.
Becomes zero, that is, the normal LH of the reflecting surfaces 21a and 51a of the rotating mirrors 21 and 51 as shown by the dotted line in FIG.
1, when LH2 coincides with the horizontal axes CT1 and CT2,
A drive start command S5 is issued to the laser control units 31 and 61 shown in FIG.
Is output. Then, the laser control units 31 and 61 drive the respective laser oscillation units 19 and 49 provided inside the boxes 15 and 45 based on the drive start command S5.
Then, as shown in FIG. 5, each of the laser oscillators 19 and 49 has a front surface 15a, 45 of the box 15, 45.
Laser light is emitted toward a. Then, the laser light is scanned by the half mirrors 20 and 50 provided on the horizontal axis centers CT1 and CT2, respectively, to scan surfaces PL1 and P shown in FIG.
The light is reflected at a right angle in L2 and travels along the horizontal axis CT1 and CT2 toward the machine centers CP1 and CP2 set on the rotation axes 21b and 51b of the rotation mirrors 21 and 51. Therefore, first, as shown in FIG.
When the normals LH1 and LH2 coincide with the horizontal axes CT1 and CT2, the rotary mirrors 21 and 51 are irradiated. Therefore,
The laser light is reflected in the horizontal axis directions CT1 and CT2, and is not emitted from the boxes 15 and 45. The normal LH of the reflecting surfaces 21a and 51a of the rotating mirrors 21 and 51
Since 1 and LH2 rotate in the opposite direction to the box front surfaces 15a and 45a from the positions coincident with the horizontal axis centers CT1 and CT2, the laser beams applied to the rotating mirrors 21 and 51 are
The rotating mirrors 21 and 51 rotate about 3/4 rotation, and the laser beams that have traveled along the horizontal axes CT1 and CT2 are front surfaces 15a and 45a of the box (formed so that the laser beams can be transmitted). Is not ejected until it rotates to a predetermined angle position where it can be ejected toward the slope 1. Then, when the rotating mirrors 21 and 51 are rotated to the predetermined angular positions, the laser light is directed from the box front surfaces 15a and 45a to the insides of the scanning surfaces PL1 and PL2 shown in FIG. 2 toward the slope 1 as shown in FIG. Is ejected at the same time as the rotating shaft 2
The scanning is performed around 1b and 51b, that is, in the directions of arrows H1 and H2 in FIG. The scanning angle range of each laser beam is a predetermined angle range γ set in front of each box 15, 45.
Further, since the boxes 15 and 45 are installed at predetermined positions separated from the slope 1 by a predetermined distance L2, the laser light emitted from the boxes 15 and 45 is shown in FIG. In the survey area SA shown, the survey area S
It starts from the left boundary line BLl of A and ends at the right boundary line BLr. However, at this time, the scanning planes PL1 and PL shown in FIG.
Since 2 coincides with the upper limit boundary line BLu of the survey area SA shown in FIG. 3 set on the slope 1 on the slope 1, the laser beams emitted from the boxes 15 and 45 are It is possible to scan on the boundary line BLu at the upper end of the SA from the left end (BLl) to the right end (BLr).

In the main controller 36 shown in FIG. 6, the angles θ1 and θ2 of the rotary mirrors 21 and 51, which are constantly input from the scanning angle detectors 29 and 59, are zero again as shown by the dotted lines in FIG. That is, the left side of FIG. 3 shows that the respective laser beams match the scanning planes PL1 and PL2 with the boundary line BLu at the upper end of the surveying area SA of the slope 1 as shown in FIG. From edge (BLl) to right edge (BLr)
When the scanning is completed up to, the elevation control units 30, 60 shown in FIG.
Further, a depression command S6 is shown in FIG. 6 so that the scanning planes PL1 and Pl2 of the laser beams emitted from the boxes 15 and 45 can be moved down by a predetermined pitch P1 in the directions of arrows B1 and B2 in FIG.
Output as shown in. Then, the elevation control unit 30, 60
Is a scan plane PL1 shown in FIG.
The elevation drive unit 1 rotates the boxes 15 and 45 around the horizontal axes CT1 and CT2 so that the PL2 faces downward.
6 and 46 are driven. Here, as described above, since the elevation / depression control units 30 and 60 shown in FIG. 6 input the elevation angles β of the scanning planes PL1 and PL2 from the elevation angle detection units 26 and 56 momentarily, the scanning planes PL1 and PL2 of the scanning planes PL1 and PL2 are detected. As soon as the elevation angle β recognizes that the user has receded by the predetermined pitch P1, the depression / elevation drive units 16 and 46 are immediately stopped. As a result, as shown in FIG. 2, the scanning planes PL1 and PL2 are both arranged at a predetermined pitch P.
You can go down only one. Therefore, the scanning plane PL
1 and PL2 are a predetermined pitch P on the slope 1 from the boundary line BLu at the upper end of the surveying area SA set on the slope 1.
It is moved and positioned to a position lowered by one. Therefore, as shown in FIG. 3, by scanning the laser beams from the respective boxes 15 and 45 in the same manner as described above,
On the slope 1, at a position lower than the boundary line BLu by a predetermined pitch P1, the boundary line BLl on the left side of the survey area SA
To the right boundary line BLr can be scanned.

Further, similarly, in the surveying area SA in which the scanning planes PL1 and PL2 are set on the inclined surface 1, the scanning planes PL1 and PL2 are moved downward from the height position by a predetermined pitch P1 and positioned at each height position, Border line B on the left side of area SA
By scanning from Ll to the right boundary line BLr,
Each of the laser beams can be scanned over the entire survey area SA shown in FIG. Also, the scanning plane PL1,
On the slope 1, the movement pitch P1 of the PL2 is set to be shorter than the length L3 of the reflection means 2 in the surveying area SA of the slope 1 in the vertical direction (axial center CT3 direction) as shown in FIG. It is possible to irradiate each of the laser beams to all of the reflecting means 2 installed in the survey area SA.

Therefore, in the survey area SA on the slope 1,
Both scanning planes PL1 and PL2 are lowered at a fixed pitch P1.
While scanning each laser beam, as shown in FIG.
The scanning planes PL1 and PL2 are positioned at an elevation angle β.
The laser light is being scanned on the slope 1
Then, the reflection means 2 is irradiated. Then, the reflecting means 2
As shown in FIG.
Since it is provided so that it can be reflected on the shooting path, each
Of the laser beam of each laser beam
It reflects toward the output units 10 and 40. In addition, two records
Both lasers emitted from the laser angle detection units 10 and 40
As described above, the light scans the scanning planes PL1 and PL2,
In the survey area SA of the slope 1 shown in FIG.
While being moved and positioned downward by a predetermined pitch P1,
At each height position, the boundary line BLl on the left side of the survey area SA
To the boundary line BLr on the right side, the above-mentioned respective lines are scanned.
The reflection means 2 that the laser light first irradiates is
Set in a position closest to the upper limit boundary line BLu in the area SA.
The reflection means 2 is placed, and a plurality of reflections are provided at the same height position.
If means 2 is provided, the leftmost boundary among them
The reflection means 2 is close to the line BLl. Also, next
The reflection means 2 that the light irradiates is the reflection that has already been irradiated.
Other than the means 2, the reflection means 2 closest to the upper limit boundary line BLu
Among these, it is the one closest to the left limit boundary line BLl. Also,
The same applies to the next. That is, both laser lights are set in the survey area SA.
The order of irradiating the plurality of reflected reflection means 2 is the same.
Is one. Therefore, according to the order, each reflected ray is
It is possible to identify which reflecting means 2 the light has been reflected to.
I can. Now, each laser light reflected by the reflection means 2
First, as shown in FIG. 5, each laser beam was emitted.
Machine center CP1 of the laser angle detection unit 10, 40,
CP2, that is, reflected toward the rotating mirrors 21 and 51
It By the way, each of the laser beams is transmitted again to the rotating mirror 2
When returning to 1, 51, the rotation of the rotating mirrors 21, 51
At the angular positions θ1 and θ2, the reflecting means 2 is irradiated with laser light.
Almost no movement from the angular position. Because the rotation
The rotational angular velocity ω of the mirrors 21 and 51 is the same when the laser light reciprocates.
This is because it is set so slow that the interval can be ignored.
Therefore, the laser light is generated by the rotating mirrors 21 and 51.
Half mirrors 20 and 50 in the form of returning to the same path as when ejecting
The laser light is reflected toward the half mirror 20,
The light passes through 50 and is received by the optical sensors 25 and 55. You
Then, the optical sensors 25 and 55 receive the light as shown in FIG.
A pulsed laser light detection signal S is sent to the time detection units 27 and 57.
7 and S8 are output. The light receiving time detection units 27 and 57 are
Based on the laser light detection signals S7 and S8
No. S9 and S10 are output to the scanning angle detectors 29 and 59.
It Then, the scanning angle detection units 29 and 59 are configured to detect the light receiving time.
Rotating mirror at the moment when the detection signals S9 and S10 are input
The angles θ1 and θ2 of 21, 51 are the scanning angle detecting means 23,
53, and the angles θ1 and θ2 are detected in the scanning plane position.
It outputs to the detection calculation unit 33. Then, position detection in scanning plane
The calculation unit 33 is shown in FIG. 1 based on the angles θ1 and θ2.
At the moment when the laser light is applied to the reflecting means 2
The scanning angles ψ1 and ψ2 are calculated and detected. still,
As shown in FIG. 5, proceed on the horizontal axes CT1 and CT2,
Irradiate the reflecting surfaces 21a and 51a of the rotating mirrors 21 and 51.
The laser light has the same incident angle and reflection angle as the optical one.
According to the law, the reflecting surface 21 for the horizontal axes CT1 and CT2
a, 51a, the normals Lh1 and Lh2 of the angles θ1 and θ2
The reflected laser light is reflected in the double angle direction.
Scan angle, which is the angle with respect to the horizontal axes CT1 and CT2
Degrees ψ1 and ψ2 are obtained by doubling the angles θ1 and θ2.
It can be detected more easily. Position detection in scanning plane
When the calculation unit 33 detects the scanning angles ψ1 and ψ2, the calculation unit 33 updates the values.
Based on the scanning angles ψ1 and ψ2,
1, coordinate position on the AB coordinate plane set in PL2
(A10, b10) is detected and calculated. Here shown in FIG.
As you can see, in the AB coordinate plane (and the XYZ coordinate space)
Machine center CP1 of the laser angle detection unit 10 (Fig.
5 From the coordinate point Pt1 where the middle rotating mirror 21) is installed,
Aiming at the reflecting means 2 with an angle ψ1 with respect to the A axis
The emitted laser light and the other laser angle detection unit
40 machine center CP2 (rotating mirror 51 in Fig. 5) is installed
From the coordinate point Pt2 that has been created, has an angle ψ2 with respect to the A axis.
The laser light emitted toward the reflecting means 2 in the form of
Both are straight lines on the same plane (AB coordinate plane).
Well, the intersection of both straight lines, that is, the position of the reflection means 2 is unique.
It is self-evident. Therefore, the scanning angles ψ1, ψ
2 based on the position of the reflection means 2 on the AB coordinate plane (a1
0, b10) can be calculated using some arithmetic expression
Is clear. Used in the scanning plane position detection calculation unit 33
The arithmetic expression used is as follows. a10-a1 = | S1 | * cosψ1. ． ． i a10-a2 = | S2 | * cosψ2. ． ． ii | S1 | = √ ((a10-a1)²+ B10²). ． iii | S2 | = √ ((a10-a2)²+ B10²). ． iv where a10: the AB coordinate position of the reflecting means 2 (a10, b
A coordinate b10 in 10): AB coordinate position (a10, b10) of the reflection means 2
B coordinate a1: at the installation point of machine center CP1 installed on the A axis
At the AB coordinate position (a1, 0) of a certain coordinate point Pt1
A coordinate. a2: At the installation point of the machine center CP2 installed on the A axis
At the AB coordinate position (a2,0) of a certain coordinate point Pt2
A coordinate. S1: opposite to the coordinate point Pt1 where the machine center CP1 is located
A line segment that connects the shooting means 2. S2: It is opposite to the coordinate point Pt2 where the machine center CP2 is located.
A line segment that connects the shooting means 2. | S1 |: Length of line segment S1. | S2 |: Length of line segment S2. ψ1: The angle of the line segment S1 with respect to the A axis, that is, the machine center
Of the laser light emitted from CP1 and applied to the reflection means 2.
Scan angle. ψ2: angle of the line segment S2 with respect to the A axis, that is, the machine center
Of the laser light emitted from CP2 and applied to the reflection means 2.
Scan angle. Formula i is the A-axis direction of the coordinate point Pt1 known as the reflection means 2.
Is a coordinate point P which is known as the reflection means 2.
It is cos ψ1 times the distance | S1 | of the line segment S1 connecting t1.
Indicates that Formula ii is a coordinate point P that is known as the reflection means 2.
The distance a10-a2 in the A-axis direction of t2 is equal to
C of the distance | S2 | of the line segment S2 connecting the known coordinate points Pt2
osφ2 times. Formula iii is the reflection means 2 and
Distance of line segment S1 connecting known coordinate points Pt1 | S1 |
Is the AB coordinates a10 and b10 of the reflection means 2 and the machine center C.
It is an expression represented by the A coordinate a1 of P1 (coordinate point Pt1).
Formula iv is a line segment connecting the reflection means 2 and the known coordinate point Pt2.
The distance | S2 | of S2 is defined as the AB coordinate a10 of the reflecting means 2,
b10 and A coordinate a2 of machine center CP2 (coordinate point Pt2)
Is the formula expressed by. According to the formulas i to iv, the center of the reflecting means 2
The AB coordinate position (a10, b10) of line CL1 is
It can be shown like the formulas v and vi. a10 = [a1 * sin²ψ1 * cos²ψ2-a2 * cos²ψ1 * sin²ψ2 + √ {(a1 * sin²ψ1 * cos²ψ2-a2 * cos²ψ1 * sin ² ψ2)²-Sin (ψ1-ψ2) * sin (ψ1 + ψ2) * (a1²* Sin²ψ 1 * cos²ψ2-a2²* Cos²ψ1 * sin²ψ2)}] / {sin (ψ1-ψ2) * sin (ψ1 + ψ2)}. ． ． v b10 = (a10−a1) * tan ψ2. ． ． vi Therefore, the scanning plane position detection calculation unit 33 determines that the scanning angle is
When ψ1 and ψ2 are calculated and detected, the scanning angles ψ1 and ψ
By substituting 2 into the above equations v and vi,
It is possible to detect and calculate the AB coordinate position (a10, b10).
I can. Then, the scanning plane position detection calculation unit 33 detects
The AB coordinate position (a10, b10) of the reflecting means 2
It is output to the three-dimensional position detection calculation unit 35 shown in FIG.

Further, the elevation angle detection units 26 and 56 shown in FIG.
2 always outputs the elevation angle β of the scanning planes PL1 and PL2 shown in FIG. 2 detected by the elevation angle detection means 17 and 47 to the three-dimensional position detection calculation unit 35. Therefore, the three-dimensional position detecting / calculating unit 35 informs the AB coordinate (a10, a,
b10) and the elevation angle β of the scanning planes PL1 and PL2 when the reflection means 2 is scanned with laser light, that is, the elevation angle β of the AB coordinate plane with respect to the XY coordinate plane in the XYZ coordinates. The AB coordinate plane is XY in XYZ coordinates.
Rotate the coordinate plane around the X axis by an elevation angle β, and set the X axis to A
An axis and a coordinate plane in which the Y axis is called the B axis again. Therefore, the three-dimensional position detection calculation unit 35 determines the slope 1 as shown in FIGS. 1 and 2 based on the AB coordinates (a10, b10) of the reflecting means 2 and the elevation angle β of the AB coordinate plane with respect to the XY coordinate plane. XYZ coordinates (x10, y10, z1) of the reflecting means 2 in an XYZ coordinate space preset in a space including
0) can be detected and calculated by using the following equations vii, viii, and ix. x10 = a10 ... vii y10 = b10 * cosβ ... viii z10 = b10 * sinβ ... ix where a10: AB coordinates of the reflection means 2 (a10, b1)
A coordinate in 0). b10: B coordinate at the AB coordinate (a10, b10) of the reflection means 2. β: elevation angle of the AB coordinate plane with respect to the XY coordinate plane. The expression vii is self-evident because the X axis in the XYZ coordinate space and the A axis in the AB coordinate plane match as shown in FIG. In the formulas viii and ix, the X-axis and the A-axis coincide with each other, and as shown in FIG.
This can be derived from the fact that the angle of the coordinate plane, that is, the angle between the Y axis and the B axis is the elevation angle β.

Therefore, in the three-dimensional surveying apparatus 100, in the three-dimensional position detecting / calculating section 35 shown in FIG. 6, the XYZ coordinates (x10, y1) of the reflecting means 2 provided in plural on the slope 1 are provided.
0, z10) are sequentially input to the three-dimensional position detection calculation unit 35, and the AB coordinates (a10, b10) of the reflecting means 2 and the elevation angle β of the AB coordinate plane when the reflecting means 2 is scanned with laser light. Based on and, it is possible to sequentially detect and calculate. That is, in the three-dimensional position detection calculation unit 35, the slope 1
The shape can be detected and calculated. Further, the three-dimensional position detection calculation unit 35 sequentially detects the detected XYZ coordinates (x10, y10, z10) of the reflection means 2 in the difference detection calculation unit 6.
Output to 6.

As shown in FIG. 6, the difference detection calculation section 66 is arranged such that the XYZ of the reflection means 2 is calculated by the three-dimensional position detection calculation section 35.
When the coordinates (x10, y10, z10) are sequentially input,
From the coordinate position memory 34, the XYZ coordinates (x10, y10, z1) of the reflecting means input to the difference detection calculation unit 66.
0) three-dimensional coordinate information D (x,
y, z), and the three-dimensional coordinate information D (x, y,
z) and the XYZ coordinates (x10, y10,
The difference (dx, dy, dz) from z10) is sequentially detected and calculated. Then, the respective differences (dx, dy, dz) are output to the display 39. Then, the display 39
The respective differences (dx, dy, dz) are sequentially displayed. As a result, the surveying engineer of the slope 1 can estimate the slope 1
The shape, that is, the three-dimensional coordinate information D (x, y, z), and the actual shape of the slope 1, that is, the XYZ coordinates (x10,
It is possible to quantitatively know the difference between y10 and z10).
Now, when the scanning planes PL1 and PL2 of the laser light emitted from the laser angle detection units 10 and 40 respectively are lowered to the lower limit boundary line BLd of the surveying area SA of the slope 1 shown in FIG. 3, the elevation control unit 30, 60 is the elevation angle detection unit 2
The elevation angle β that is always input from 6, 56 is the minimum elevation angle α2
Recognize that Then, the elevation control unit 30,
Reference numeral 60 stops the elevation drive units 16 and 46 with the boxes 15 and 45 positioned at that position, and outputs the elevation completion signal S11 to the main control unit 36, as shown in FIG. Then, the main controller 36 causes the rotating mirror 21,
When the normal lines LH1 and LH2 of 51 coincide with the horizontal axis centers CT1 and CT2, a drive start command S5 is output to the laser control units 31 and 61, and each laser beam finishes scanning on the lower limit boundary line BLd, and again. Normal LH of the rotating mirrors 21 and 51
When 1 and LH2 coincide with the horizontal axes CT1 and CT2, the drive stop command S12 is output to the laser control units 31 and 61. Then, the laser control units 31 and 61 stop the laser oscillation units 19 and 49 based on the drive stop command S12. This completes the survey of the slope 1 shape in the survey area SA. Therefore, when surveying the shape of the slope 1, a plurality of position indicating means (for example, the reflecting means 2) provided on the slope 1 to be surveyed are measured one by one by a surveying device such as a lightwave rangefinder as in the conventional case. Since it is not necessary to carry out the survey and the survey is performed by scanning the set survey area SA with a laser beam, the survey can be performed easily and quickly.

Further, in the apparatus 100 in the above-mentioned embodiment, the control unit 70 repeats the same surveying area SA after the surveying of one slope 1 shape within a predetermined surveying area SA is completed.
By providing the survey area SA, the survey area SA
It is possible to detect changes in the shape of the inner slope 1 over time, which is effective when monitoring the precursors of landslides on the slope.
In the above embodiment, the box 15 of the laser angle detection unit 10 is supported on the ground 3 by the support means such as the tripod 11, the board 12, and the support plate 13, and the box 45 of the laser angle detection unit 40 is mounted on the tripod 41. The box 1 is supported on the ground 3 by supporting means such as the board 42 and the support plate 43.
As a matter of course, 5 and 45 may be supported by one common support means, as long as they have a predetermined distance L1. Further, the boxes 15 and 45 may be integrated so that they are driven to rotate about a horizontal axis by a single depression / elevation drive unit or the like, and the elevation angle detection means, the elevation angle detection unit, etc. may be unified. .

[0018]

As described above, according to the present invention,
It has a support means such as tripods 11, 41, boards 12, 42, support plates 13, 43, and the like, and a box and a first laser beam scanning means such as a elevation drive section 16, a elevation control section 30, and a box. Second laser beam scanning means such as 45, elevation drive section 46, elevation control section 60 and the like are provided in the horizontal direction at a predetermined distance such as an interval L1 and the first and second laser beam scanning means are respectively provided on the horizontal axis. An elevation angle detecting means 17 and an elevation angle which are provided so as to be rotationally positionable around a horizontal axis such as the hearts CT1 and CT2 and capable of detecting a rotation angle position such as an elevation angle β around the horizontal axis of the first laser light scanning means. An elevation angle detection unit 47 and an elevation angle detection unit 56, which are provided with a first rotation angle detection unit such as the detection unit 26 and can detect a rotation angle position of the second laser beam scanning unit such as an elevation angle β around the horizontal axis. Second rotation angle detection means such as On the other hand, the first laser light scanning means is provided with a laser beam 21b which is perpendicular to the horizontal axis and which is a laser beam.
Laser oscillator 1 capable of performing emission scanning around the first scanning axis of
9, half mirror 20, rotary mirror 21, scan drive unit 2
A laser oscillating unit capable of emitting and scanning laser light around the second scanning axis such as a rotation axis 51b perpendicular to the horizontal axis in the second laser light scanning means by providing first laser light emitting means such as 2 and the like. 49, a half mirror 50, a rotary mirror 51, a scanning drive unit 52, and other second laser light emitting means can be provided and installed on an inclined surface such as the inclined surface 1, and the laser light can be provided on the same reflection path as the incident path. A plurality of reflecting means such as reflecting means 2 capable of reflecting light is provided, and the first laser light scanning means emits the light by the first laser light emitting means, and the reflecting means forms the same reflection path as the incident path. The first emission of the scanning angle detection means 23, the optical sensor 25, the light receiving time detection unit 27, the scanning angle detection unit 29, etc., capable of detecting the emission angle of the reflected laser light around the first scanning axis such as the scanning angle ψ1. The angle detection means is provided, and A laser beam emitted from the second laser beam emitting unit to the second laser beam scanning unit and reflected by the reflecting unit on the same reflection path as the incident path such as a scanning angle ψ2 around the second scanning axis. A second emitting angle detecting means such as a scanning angle detecting means 53 capable of detecting an emitting angle, an optical sensor 55, a light receiving time detecting section 57, a scanning angle detecting section 59 and the like is provided, and emitted by the first laser beam emitting means.
The emission angle of the laser beam reflected on the same reflection path as the incident path by the reflection means, detected by the first emission angle detection means, and at that time detected by the first rotation angle detection means The rotation angle position of the first laser beam scanning unit about the horizontal axis and the reflection unit, which is detected by the second emission angle detection unit, is emitted by the second laser beam emission unit, and the incident path The emission angle of the laser light reflected on the same reflection path as
At that time, based on the rotation angle position of the second laser beam scanning means about the horizontal axis detected by the second rotation angle detection means, the XYZ coordinates (x1
(0, y10, z10) etc., a reflection position detection calculation section such as a scanning in-plane position detection calculation section 33 and a three-dimensional position detection calculation section 35 capable of detecting and calculating the position of Input means such as a keyboard 37 that can be input as surveying information such as the maximum elevation angle α1 and the minimum elevation angle α2 is provided, and the horizontal of the first and second laser light scanning means is based on the surveying information input by the input means. Since the rotation drive control means such as the elevation control sections 30 and 60 for driving and controlling the rotation angle amounts such as the maximum elevation angle α1 and the minimum elevation angle α2 around the axis are provided, the range to be measured by the input means is set. A rotation angle amount that can be input as the surveying information and that is based on the input surveying information is a rotation angle amount of the first and second laser light scanning units about the horizontal axis by the rotation drive control unit. Since it can be driven and controlled, the first and second laser light emitting means provided in the first and second laser light scanning means perform ejection scanning around the first and second scanning axes respectively perpendicular to the horizontal axis. The obtained laser light can be scanned over the entire range to be measured. Therefore, when the reflecting means is installed within the range to be surveyed, it is emitted by the first laser light emitting means provided in the first laser light scanning means and is reflected by the reflecting means in the same path as the incident path. The emission angle of the laser light reflected on the path detected by the first emission angle detection means, and the horizontal axis of the first laser light scanning means detected by the first rotation angle detection means at that time. With respect to the rotation angle position around the center and the reflecting means, the second laser light emitting means detects the second emission angle detecting means provided in the second laser light scanning means, and the light is emitted by the second laser light emitting means. The emission angle of the laser light reflected on the same reflection path as the incident path and the horizontal axis of the second laser light scanning means detected by the second rotation angle detection means at that time It was based on the the rotational angle position,
The position of the reflection means can be detected and calculated by the reflection position detection calculation unit. Therefore, if a plurality of reflecting means are installed within the range to be surveyed, the shape of the slope can be detected from the positions of the respective reflecting means detected as described above. As described above, it is not necessary to measure a plurality of position indicating means (for example, reflecting means) provided on the slope to be surveyed one by one using a surveying device such as a lightwave rangefinder, and therefore the slope shape Can be easily and quickly measured.

[Brief description of drawings]

FIG. 1 is a plan view showing a scene in which a slope is surveyed by a three-dimensional surveying device to which the present invention is applied.

FIG. 2 is a side view showing a scene in which a slope is surveyed by a three-dimensional surveying device to which the present invention is applied.

FIG. 3 is a front view showing a scene in which a slope is surveyed by a three-dimensional survey apparatus to which the present invention is applied.

FIG. 4 is a front view showing a laser angle detection unit of the three-dimensional surveying apparatus of FIG.

FIG. 5 is a plan view showing a laser angle detection unit of the three-dimensional surveying device of FIG.

FIG. 6 is a block diagram showing a control system of the three-dimensional surveying apparatus of FIG.

[Explanation of symbols]

1 ... Slope (slope) 2 ... Reflecting means (reflecting means) 11,41 ... Supporting means (tripod) 12,42 ... Supporting means (board) 13,43 ... Supporting means (supporting plate) 15 ... First laser light scanning means (box) 16 ... First laser light scanning means (depression / elevation drive section) 17 ... First rotation angle detection means (elevation angle detection means) 19 ... First laser light emission means (laser oscillation section) ) 20 ... First laser light emitting means (half mirror) 21 ... First laser light emitting means (rotating mirror) 21b ... First scanning axis (rotating axis) 22 ... First laser light emitting means (scan drive) Part) 23 ... first ejection angle detection means (scanning angle detection means) 25 ... first ejection angle detection means (optical sensor) 26 ... first rotation angle detection means (elevation angle detection part) 27 ... first ejection Angle detecting means (light receiving time detecting section) 29 ... First injection Degree detecting means (scanning angle detecting section) 30 ... First laser beam scanning means, rotational drive control means (elevation / elevation control section) 33 ... Reflection position detection calculation section (scanning plane position detection calculation section) 35 ... Reflection position Detection calculation unit (three-dimensional position detection calculation unit) 37 ... Input means (keyboard) 45 ... Second laser light scanning means (box) 46 ... Second laser light scanning means (elevation drive unit) 47 ... Second Rotation angle detecting means (elevation angle detecting means) 49 ... Second laser light emitting means (laser oscillating section) 50 ... Second laser light emitting means (half mirror) 51 ... Second laser light emitting means (rotating mirror) 51b ...... Second scanning axis (rotation axis) 52 ...... Second laser light emitting means (scanning drive section) 53 ...... Second emission angle detecting means (scanning angle detecting means) 55 ...... Second emission angle detecting means (light Sensor) 56 …… Second rotation angle Detecting means (elevation angle detecting section) 57 ...... Second emitting angle detecting means (light receiving time detecting section) 59 ...... Second emitting angle detecting means (scanning angle detecting section) 60 ...... Second laser beam scanning means, rotation drive control Means (elevation control unit) CT1, CT2 ... Horizontal axis (horizontal axis) β ... Rotation angle position (elevation angle) ψ1, ψ2 ... Injection angle (scanning angle) α1, α2 ... Surveying information (maximum elevation angle, minimum) Elevation angle L1 ... Predetermined distance (interval) (x10, y10, z10) ... Position (xyz coordinates)

Claims (1)

[Claims] 1. A support means, wherein the support means is provided with a first laser light scanning means and a second laser light scanning means in a horizontal direction at a predetermined distance from each other. Each of the scanning means is provided so as to be rotatable and positionable about a horizontal axis, and a first rotation angle detecting means capable of detecting a rotation angle position of the first laser light scanning means about the horizontal axis is provided. A second rotation angle detection unit capable of detecting a rotation angle position of the laser beam scanning unit about the horizontal axis is provided, and the first laser beam scanning unit is configured to emit a laser beam perpendicular to the horizontal axis. A second laser light emitting means capable of emitting and scanning around one scanning axis is provided, and the second laser light scanning means is capable of emitting and scanning laser light around a second scanning axis perpendicular to the horizontal axis. Laser light emitting means is installed and installed on the slope A plurality of reflecting means capable of reflecting laser light on the same reflection path as the incident path are provided, and the first laser light scanning means emits the first laser light emitting means, and the reflecting means By providing a first emission angle detection means for detecting the emission angle of the laser light reflected on the same reflection path as the incident path around the first scanning axis, the second laser light scanning means, Second emission angle detection means for detecting the emission angle around the second scanning axis of the laser light emitted by the two laser light emission means and reflected by the reflection means on the same reflection path as the incident path is provided. An emission angle of the laser beam emitted by the first laser beam emission means and reflected by the reflection means on the same reflection path as the incident path, detected by the first emission angle detection means; To The rotation angle position of the first laser light scanning means about the horizontal axis detected by the first rotation angle detection means, and the reflection means, the second emission angle detection means, the second The emission angle of the laser light emitted by the laser light emission means and reflected on the same reflection path as the incident path, and the second laser light scanning means of the second laser light scanning means detected by the second rotation angle detection means at that time. A reflection position detection calculation unit capable of detecting and calculating the position of the reflection unit based on a rotation angle position about a horizontal axis is provided, and an input unit capable of inputting a range to be measured as surveying information is provided. A surveying instrument provided with a rotation drive control means for drivingly controlling a rotation angle amount of the first and second laser light scanning means about the horizontal axis based on the surveying information inputted by the surveying means. apparatus.