JPH07190775A - Surveying device and laser emission unit - Google Patents

Abstract

PURPOSE:To ensure easy portability, and easily and quickly survey the three- dimensional position of a measurement point. CONSTITUTION:A laser emission means including a laser oscillation section 19, a half-mirror 20, the first rotary mirror 21 and a scanning drive section 22 is provided for scanning a laser beam on a vertical scanning plane PL1 within a box 15. In addition, the second rotary mirror 18 is provided so as to have the elevation axial center CT3 set horizontally within the vertical scanning plane PL1. A reflective plane 18a capable of reflecting a laser beam is formed on the mirror 18 along the elevation axial center CT3 and an elevating drive section 16 is provided so as to be capable of rotating the mirror 18 about the center CT3. Also, an elevation angle detection means 17 is provided so as to be capable of detecting the rotation angle position of the reflective plane of the mirror 18 about a rotation shaft. In addition, a scanning angle detection means 23 is provided so as to be capable of detecting the scanning angle psi 1 of the reflected laser beam within a reference plane after emission from the laser emission means, together with an emission angle detection section including a photosensor 25.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surveying instrument capable of suitably measuring the three-dimensional position of a survey point.

[0002]

2. Description of the Related Art Conventionally, when measuring the three-dimensional position of a measuring point, first a position indicator is installed at the measuring point and a position detecting device such as an angular distance measuring device is installed at a position facing the position indicator. Install. Therefore, the collimation line of the position detection device is accurately aimed at the position indicator by the operator's collimation, and the elevation angle detection means such as an elevation angle detection encoder provided in the position detection device causes the elevation angle of the collimation line with respect to the horizontal plane. By detecting the angle of the collimation line in the horizontal direction by a horizontal angle detecting means such as an encoder for horizontal angle detection, and by a distance measuring section such as a light wave distance measuring means provided in the position detecting device, Measure the distance between the position detector and the position indicator. Then, the three-dimensional position of the measurement point is determined based on the elevation angle of the collimation line, the horizontal angle, and the interval.

[0003]

However, it is a complicated and time-consuming task to accurately align the collimation line of the position detecting device with the position indicator according to the collimation of the worker. With the surveying instrument, it was not possible to easily and quickly perform the three-dimensional position surveying work of the survey points. Therefore, a surveying device using the principle of a digitizer using laser light has been proposed. According to this surveying instrument, laser light can be emitted and scanned onto a predetermined scanning plane. Therefore, it is not necessary to accurately align the collimation line of the position detection device with the position indicator according to the collimation of the worker, so that the position of the measurement point can be measured easily and quickly. However, this surveying device has a problem that it is difficult to survey the three-dimensional position of the measuring point because it can measure only the two-dimensional position in the scanning plane. The present invention has been made in view of the above circumstances, and an object thereof is to provide a surveying device that can easily and quickly measure a three-dimensional position of a survey point, and a laser emission unit used in the surveying device.

[0004]

The first aspect of the present invention is to provide a laser device having a reflecting means (2) installed at a measuring point and capable of reflecting laser light on the same reflection path as the incident path. First laser light emitting means (19, 20, 21, 22) for scanning light on the first reference scanning plane (PL1) is provided, and the first rotary reflecting member (on the first reference scanning plane (PL1). 1
8) is provided such that the first rotation axis (CT3) of the first rotary reflecting member (18) is set within the first reference scanning plane (PL1), and the first rotary reflecting member (18) is provided with , A first reflecting surface (18a) capable of reflecting laser light is provided along the first rotation axis (CT3), and the first rotation reflecting member (18) is provided with the first rotation reflecting member (18). Is provided with a first rotation drive means (16) capable of rotationally driving the first rotation axis (CT3) as a center, and the first reflection surface (18a) of the first rotation reflection member (18) is provided with A first rotation angle detecting means (17) capable of detecting a rotation angle position (θ3) around one rotation axis (CT3) is provided, and the first laser light emitting means (19, 20, 21, 22) is provided. Is emitted by the first laser beam emitting means (19, 20, 21, 22), Scanning in the first reference scanning plane (PL1) of the laser light reflected by the reflecting means (2) on the same reflection path as the incident path through the first reflection surface (18a) of the member (18). First ejection angle detection means (23, 25, 27, 29) capable of detecting the angle (ψ1).
And the first laser beam emitting means (19, 20, 2).
1, 22) is provided with a second laser light emitting means (49, 50, 51, 52) for scanning the laser light on the second reference scanning plane (PL2) at a position having a predetermined distance (L1),
On the second reference scanning plane (PL2), the second rotary reflecting member (48) and the second rotation axis (CT4) of the second rotary reflecting member (48) are placed on the second reference scanning plane (PL2). And a second reflection surface (48a) capable of reflecting laser light is provided on the second rotation reflection member (48) along the second rotation axis (CT4). The two-rotation reflection member (48) is provided with a second rotation drive means (46) capable of rotating the second rotation reflection member (48) about the second rotation axis (CT4), and the second rotation Second rotation angle detection means (47) capable of detecting the rotation angle position (θ3) of the second reflection surface (48a) of the reflection member (48) about the second rotation axis (CT4) is provided, The second laser light emitting means (49, 50, 51, 52) is connected to the second laser light emitting means ( 9, 50, 51, 52) and is reflected by the reflection means (2) on the same reflection path as the incident path through the second reflection surface (48a) of the second rotation reflection member (48). Second emission angle detection means (53, 55, 57, 59) capable of detecting the scanning angle (ψ2) of the laser beam generated in the second reference scanning plane (PL2).
And the first laser beam emitting means (19, 20, 2).
1, 22), and the first rotary reflection member (1
The reflecting means (2) is provided through the reflecting surface (18a) of 8).
The first emission angle detection means (23, 25, 27, of the laser light reflected on the same reflection path as the incident path by the
29) detected by the first reference scanning plane (PL
1) the scanning angle (ψ1) and the first reflection surface (18a) of the first rotation reflection member (18) detected by the first rotation angle detection means (17) at that time. Rotational angle position (θ3) around one rotation axis (CT3)
And the reflection means (2) is detected by the second emission angle detection means (53, 55, 57, 59),
Second laser light emitting means (49, 50, 51, 52)
The second reference scanning plane (PL) of the laser light emitted from the second rotary reflection member (48) and reflected on the same reflection path as the incident path via the second reflection surface (48a) of the second rotation reflection member (48).
2) the scanning angle (ψ2) and the second reflection surface (48a) of the second rotation reflection member (48) detected by the second rotation angle detection means (47) at that time. The position ((x10, y) of the reflection means (2) is based on the rotation angle position (θ3) about the two rotation axis (CT4).
10, z10)) and is provided with a reflection position detection calculation unit (26, 33, 35, 56). A second aspect of the present invention is a laser beam emitting means (1) for scanning a laser beam on a reference scanning plane (PL1, PL2).
9, 20, 21, 22, 49, 50, 51, 52), and the rotary reflecting members (18, 48) on the reference scanning planes (PL1, PL2).
The rotation axis (CT3, CT4) of 8) is provided so as to be set within the reference scanning plane (PL1, PL2), and the rotary reflecting member (18, 48) has a reflecting surface (18a) capable of reflecting laser light. , 48a) to the rotational axis (CT3, CT
4) provided along the rotation reflection member (18, 48)
Is provided with rotation driving means (16, 46) capable of rotating the rotation reflecting member (18, 48) about the rotation axis (CT3, CT4).
8, 48) of the reflection surface (18a, 48a) about the rotational axis (CT3, CT4) of the rotational angle position (θ
3) is provided with a rotation angle detecting means (17, 47), and the laser beam emitting means (19, 20, 21, 22,
49, 50, 51, 52), the laser beam emitting means (1
9, 20, 21, 22, 49, 50, 51, 52), and then the scanning angle (ψ1, ψ2) of the reflected laser light in the reference scan plane (PL1, PL2).
Angle detection unit (23, 25, 53, 5 that can detect
5) is provided. The numbers in () are
It is to be understood that the corresponding elements in the drawings are shown for convenience and the present description is not limited to the description of the drawings. The same applies to the column of "action" below.

[0005]

With the above construction, the first aspect of the present invention is that the first and second laser light emitting means (19, 20,
21, 22, 49, 50, 51, 52), and the laser light is applied to the first and second reference scanning planes (PL1, PL2), respectively.
When the injection scanning is performed inward, the first and second reference scanning planes (P
L1 and PL2) first and second rotary reflecting members (18 and 48) provided in the first and second reflecting surfaces (18a and 48a).
The laser beam to the first and second reference scanning planes (P
L1 and PL2) to the first and second rotary reflecting members (1
(8, 48) the first and second rotation axes (CT3, CT4) can be injection-scanned in the respective scanning planes (PL3, PL4) bent to form the first and second rotation driving means. (16, 46) The first and second reflecting surfaces (18a, 48a) of the first and second rotary reflecting members (18, 48).
By rotating the scanning plane (PL3, PL
4) can be rotationally positioned about the first and second rotation axes (CT3, CT4), and thereby the laser beam can be scanned in a predetermined survey area (SA) without exception. Therefore, by providing the reflection means (2) at a measurement point in the survey area (SA), the reflection means (2) can be irradiated with laser light. The first and second rotation angle detecting means (17, 47) are respectively the first and second reflection surfaces (18a, 48a) of the first and second rotation reflection members (18, 48), respectively. 1. Rotational angle position (θ about the second axis of rotation (CT3, CT4)
3) can be detected, and the first and second emission angle detection means (23, 25, 27, 29, 53, 55, 57, 5).
9) is the first and second laser light emitting means (19, 2)
0, 21, 22, 49, 50, 51, 52) and is emitted through the first and second reflecting surfaces (18a, 48a) of the first and second rotary reflecting members (18, 48). The first and second reference scanning planes (PL1, PL2) of the laser light reflected by the reflecting means (2) on the same reflection path as the incident path.
The scanning angle (ψ1, ψ2) in PL2) can be detected, and the reflection position detection calculation unit (26, 33, 35, 56) is the first rotary reflection member provided in the first reference scanning plane (PL1). The first emission angle detection means (23, 2) of the laser light reflected on the same reflection path as the incident path by the reflection means (2) via the reflection surface (18a) of (18).
5, 27, 29), the scanning angle (ψ1) in the first reference scanning plane (PL1), and the first rotation angle detecting means (17) at that time, the first The rotation angle position (θ3) of the first reflection surface (18a) of the rotation reflection member (18) about the first rotation axis (CT3) and the second emission angle of the reflection means (2). The second laser light emitting means (49, 50, 5) detected by the detecting means (53, 55, 57, 59).
1, 52), and the second rotary reflection member (4
8) The scanning angle (ψ2) in the second reference scanning plane (PL2) of the laser light reflected on the same reflection path as the incident path via the second reflection surface (48a), and at that time A rotation angle position of the second reflection surface (48a) of the second rotation reflection member (48) detected by the second rotation angle detection means (47) about the second rotation axis (CT4). The position ((x10, y10, z10)) of the reflecting means (2) is detected and calculated based on (θ3). A second aspect of the present invention is the laser light emitting means (19, 20, 21, 22, 49, 50,
51, 52), the laser beam is applied to the reference scanning plane (PL1,
When injection scanning is performed in (PL2), the reference scanning plane (PL
1, PL2) provided in the rotary reflecting member (18, 4)
The reflection surface (18a, 48a) of 8) causes the laser beam to bend in the reference scanning planes (PL1, PL2) at the rotational axes (CT3, CT4) of the rotary reflecting member (18, 48). Ejection scanning can be performed in the scanning plane (PL3, PL4), and the rotation driving means (16, 46)
By the reflecting surface (18) of the rotary reflecting member (18, 48).
a, 48a), the scanning plane (P
(L3, PL4) can be rotationally positioned about the rotation axis (CT3, CT4), which allows the laser beam to be thoroughly scanned within a predetermined survey area (SA). Therefore, by providing the reflection means (2) at a measurement point in the survey area (SA), the reflection means (2) can be irradiated with laser light. Further, the rotation angle detecting means (17, 47) includes a rotation reflecting member (18,
Rotational angle position (θ3) of the reflection surface (18a, 48a) of 48) about the rotation axis (CT3, CT4)
Can be detected by the injection angle detection means (23, 2
5, 27, 29, 53, 55, 57, 59) are the laser beam emitting means (19, 20, 21, 22, 49, 5).
0, 51, 52), and through the reflecting surface (18a, 48a) of the rotary reflecting member (18, 48),
The reference scanning planes (PL1, P1) of the laser light reflected by the reflecting means (2) on the same reflection path as the incident path.
It acts so as to be able to detect the scanning angle (ψ1, ψ2) in L2).

[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 sectional view taken along line VV of the laser angle detection unit of FIG. FIG. 7 is a block diagram showing a control system of the three-dimensional surveying apparatus of FIG. FIG. 8 is a VV sectional view of the laser angle detection unit shown in FIG. 4, showing the elevation angle range of the laser light.

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 axes CT1 and CT2 have a predetermined distance L2 from the slope 1. As shown in FIG. 4, the laser angle detection unit 10 (40) has a tripod 11 (41), and is supported on the ground 3 by the tripod 11 (41). At the upper end of the tripod 11 (41), a box-shaped box 15 (45) has a bottom surface 15b.
(45b) is provided so as to be parallel to the horizontal axis CT1 (CT2). Further, inside the box 15 (45), as shown in FIG. 4, a laser oscillation unit 19 (49) capable of oscillating laser light emits the laser light to the mechanical center CP1.
The vertical scanning plane PL1 (PL2), which includes (CP2) and is parallel to the front surface 15a (45a), and is thus set vertically, can be oscillated upward. A half mirror 20 is provided above the laser oscillator 19 (49).
(50) supplies the laser light oscillated by the laser oscillator 19 (49) to the vertical scanning plane PL as shown in FIG.
1 (PL2) is provided so that it can be reflected along the horizontal axis CT1 (CT2), that is, in a direction perpendicular to the horizontal axis (left in FIG. 4), and the half mirror 20 (50) is provided.
4, a plate-shaped first rotating mirror 21 (51) having a reflecting surface 21a (51a) is provided with a vertical scanning plane PL1 (PL) for reflecting the laser beam by the reflecting surface 21a (51a).
2) A rotation axis provided so as to be able to reflect light in an arbitrary direction within a predetermined angle range γ, that is, at a position including the machine center CP1 (CP2) and perpendicular to the vertical scanning plane PL1 (PL2). Around 21b (51b), that is, an arrow G1 in FIG.
It is provided rotatably in the (G2) and H1 (H2) directions. As shown in FIG. 5, the scanning drive unit 22 is attached to the first rotary mirror 21 (51) via a rotary shaft 21b (51b).
(52) indicates the first rotary mirror 21 (51) by an arrow G in the figure.
The scanning drive unit 22 (52) is provided so as to be rotationally driven in the 1 (G2) and H1 (H2) directions, and as shown in FIG. 21a
The horizontal axis C of the normal line LH1 (LH2) of (51a)
A scanning angle detecting means 23 (53) capable of instantaneously detecting the angular position θ1 (θ2) with respect to T1 (CT2) is provided. The optical sensor 25 (5) is placed at a position facing the first rotating mirror 21 (51) with the half mirror 20 (50) interposed therebetween.
5) is provided so that the laser beam reflected by the first rotating mirror 21 (51) along the horizontal axis CT1 (CT2) can be detected. Further, the laser angle detection unit 10 (40) includes a vertical scanning plane PL1 (PL
In 2), the elevation axis center CT3 (CT4) is set parallel to the horizontal axis center CT1 (CT2) by a predetermined distance L3 from the horizontal axis center CT1 (CT2). Above (CT4), the elevation drive unit 16 (46)
However, the rotation drive shaft 16a (46a) of the elevation axis CT3
Centering on (CT4), arrows A1 (A2) and B1 in the figure
It is rotatably driven in the (B2) direction. The rotary drive shaft 16a (46a) is provided with a rectangular plate-shaped second rotary mirror 18 (48) centered on the elevation axis center CT3 (CT4).
8) is provided so that its longitudinal direction coincides with the direction of the elevation axis CT3 (CT4). The second rotating mirror 18 (48) has a flat reflecting surface 18a (48a).
Is provided parallel to the elevation axis center CT3 (CT4) with the elevation axis center CT3 (CT4) as the center.
a (48a) is provided from one end (left end in FIG. 4) of the second rotation mirror 18 (48) in the vertical axis CT3 (CT4) direction to the other end (right end in FIG. 4). There is. Also,
The center of the second rotating mirror 18 (48) is located directly above the first rotating mirror 21 (51). Further, the rotation drive shaft 16a (46a) of the elevation drive unit 16 (46) has a structure shown in FIG.
As shown in, the rotation angle of the rotary drive shaft 16a (46a), and thus the reflecting surface 18 of the second rotary mirror 18 (48).
a (48a) normal LH3 (LH4) vertical scanning plane P
Elevation angle detection means 17 (47) capable of instantaneously detecting the angular position θ3 with respect to L1 (PL2) is provided.

Also, the two laser angle detection units 1
0 and 40 are both connected to the control unit 70 as shown in FIG. 1, and the control unit 70 is connected to the elevation angle detection means 17 of the laser angle detection unit 10 as shown in FIG. , The light receiving time detection unit 2 connected to the optical sensor 25
7. Scanning angle detector 2 connected to scanning angle detector 23
9, elevation / depression control unit 30 connected to the elevation / depression drive unit 16, laser control unit 31 connected to the laser oscillation unit 19, scanning drive unit 2
2, the scanning drive unit control unit 32, the elevation angle detection unit 56 connected to the elevation angle detection unit 47 of the other laser angle detection unit 40, the light reception time detection unit 57 connected to the optical sensor 55, and the scanning angle detection unit 53. A scanning angle detection unit 59 connected to the, a elevation control unit 60 connected to the elevation drive unit 46, a laser control unit 61 connected to the laser oscillation unit 49, a scan drive unit control unit 62 connected to the scan drive unit 52, and a scanning surface. Inner position detection calculation unit 33, coordinate position memory 34, three-dimensional position detection calculation unit 35, difference detection calculation unit 66, main control unit 36,
It has a keyboard 37 and a display 39, and includes elevation angle detection units 26 and 56, light reception time detection units 27 and 57, scanning angle detection units 29 and 59, elevation control units 30 and 60, laser control units 31 and 61, and scanning drive. Section control sections 32, 62, and
Scanning plane position detection calculation unit 33, three-dimensional position detection calculation unit 3
5, the coordinate position memory 34, the difference detection calculation unit 66, the keyboard 37, and the display 39 are bus lines 65.
It is connected to the main control unit 36 via.

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. The rectangular shape is set when viewed from the original survey apparatus 100. As shown in FIG. 2, the survey area SA has a predetermined length L5 in the direction of the axial center CT5, and the laser light incident perpendicularly to the axial center CT5 is reflected on the same reflection path as the incident path. A plurality of reflecting means 2 capable of reflecting, as shown in FIG. 3, the respective axial center CTs of the respective laser angle detecting units 10 and 40.
5 in the vertical direction, and in a form capable of reflecting the laser light scanned from each laser angle detection unit 10, 40 toward each laser angle detection unit 10, 40 as shown in FIG. is set up.

Since the three-dimensional surveying apparatus 100 has the above-mentioned configuration, each laser angle detecting unit 10, 40
Then, as shown in FIG. 4, after rotating the first rotary mirrors 21 and 51 in the directions of arrows H1 and H2 in the figure by the scan driving units 22 and 52, laser beams are oscillated by the respective laser oscillation units 19 and 49. Then, each of the laser beams first travels vertically upward on the vertical scanning planes PL1 and PL2, and by the half mirrors 20 and 50 provided on the horizontal axis centers CT1 and CT2 in the vertical scanning planes PL1 and PL2, respectively. A machine center CP which is reflected at right angles in the vertical scanning planes PL1 and PL2 shown in FIG. 5 and which is set on the rotary shafts 21b and 51b of the first rotary mirrors 21 and 51 along the horizontal axis CT1 and CT2.
1, it advances toward CP2, and is irradiated to the rotary mirrors 21 and 51. Then, since the first rotating mirrors 21 and 51 are provided such that the reflecting surfaces 21a and 51a thereof are always perpendicular to the vertical scanning surfaces PL1 and PL2, the laser light is reflected on the reflecting surfaces 21a and 51a. When it is irradiated, it is reflected in the vertical scanning planes PL1 and PL2. The first rotating mirrors 21 and 51 have their reflecting surfaces 21a and 51a centered around the rotating shafts 21b and 51b at a constant angular velocity ω and indicated by an arrow H in the figure.
It is rotating in the H1 and H2 directions. Therefore, the laser light reflected by the first rotary mirrors 21 and 51 is scanned in the directions of arrows H3 and H4 in the figure with the rotation shafts 21b and 51b as the center, as the first rotary mirrors 21 and 51 rotate. Above the first rotary mirrors 21, 51, the second rotary mirror 18,
Denoted at 48 is the elevation axis CT3, CT4 which is the axis of rotation thereof.
At a position above the horizontal axes CT1 and CT2 in the vertical scanning planes PL1 and PL2 by a predetermined distance L3,
The second rotary mirrors 18 and 48 are provided so as to be set parallel to the horizontal axes CT1 and CT2, and the flat reflecting surfaces 18a and 48a are provided around the vertical axis CT3 and CT4. It is provided parallel to CT3 and CT4.
Therefore, assuming that the normals LH3 and LH4 of the reflecting surfaces 18a and 48a of the second rotating mirrors 18 and 48 are set at a predetermined angle θ3 with respect to the vertical scanning surfaces PL1 and PL2 as shown in FIG. The vertical scanning planes PL1 and PL2 are scanned by the rotary mirrors 21 and 51, and the second rotary mirror 18,
As shown in FIG. 4, the laser beam traveling toward 48 scans the depression / elevation axis centers CT3 and CT4 of the reflecting surfaces 18a and 48a so as to be emitted from the right side of FIG. 4 to the left side of FIG. here,
The reflecting surfaces 18a of the second rotating mirrors 18, 48 shown in FIG.
The normals LH3 and LH4 of 48a are vertical scanning planes PL1 and PL.
Since the laser beam has an angle θ3 with respect to 2,
When viewed in the A-axis direction that coincides with T3 and CT4, the reflecting surface 18
It is incident on a and 48a at an angle θ3 (based on the normals LH3 and LH4). Then, as indicated by the optical law that the incident angle is equal to the reflection angle, the laser light is reflected from the normals LH3 and LH4 to the opposite side of the incident path at an angle θ3. Therefore, as shown in FIG. 6, all of the laser beams radiating from the right side to the left side in FIG. 4 on the elevation axis centers CT3 and CT4 of the reflecting surfaces 18a and 48a are, as shown in FIG.
With respect to L1 and PL2, the second rotary mirrors 18, 48
The light is emitted from the injection ports 15c and 45c at an angle twice the angle θ3 of the normals LH3 and LH4, that is, the elevation angle β. Therefore,
The second rotation mirrors 18 and 48 are provided with depression / elevation axis CT3 and CT.
Scanning planes PL3 and PL4 having an angle twice the rotation angle θ3 of the second rotary mirrors 18 and 48 with respect to the vertical scanning planes PL1 and PL2, that is, an elevation angle β, are set with 4 as the elevation center. Then, as shown in FIG. 5, the laser light scans the scanning planes PL3, PL4 in the directions of arrows H3, H4 in FIG. In addition, the elevation drive units 16 and 46 cause the second rotary mirrors 18 and 48 to move the elevation axis center CT3,
By rotationally positioning around CT4, the scanning planes PL3 and PL4 can be rotationally positioned at arbitrary angular positions about the elevation axis centers CT3 and CT4.

Now, as shown in FIGS. 1 and 2, when it is attempted to detect 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. First, the two laser angle detection units 10 and 40 are installed in parallel at positions having a predetermined distance L2 from the slope 1 with the front surfaces 15a and 45a facing the slope 1. At this time, the laser angle detection units 10, 4
The respective horizontal axis centers CT1 and CT2 of 0 are made to coincide with the X axis set substantially parallel to the slope 1 and horizontal,
The respective machine centers CP1 and CP2 are located at known coordinate points Pt1 and Pt2 on the X axis in the XYZ coordinates. Then, the distance between the machine centers CP1 and CP2 in the horizontal direction becomes the predetermined distance L1. In addition, the vertical scanning plane P of each of the laser angle detection units 10 and 40
Both L1 and PL2 are made to coincide with the XZ coordinate plane. Then, the elevation axis centers CT3 and CT4 of the respective laser angle detection units 10 and 40 can both be located on the same straight line parallel to the X axis with a predetermined distance L3 from the X axis in the Z axis direction. . Therefore, as shown in FIG. 6, the scanning plane P of each of the laser angle detection units 10 and 40 is
By setting both L3 and PL4 to the same elevation angle β with respect to the vertical scanning planes PL1 and PL2, both scanning planes PL
3 and PL4 can be on the same plane. Further, the scanning plane P of each of the laser angle detection units 10 and 40
L3 and PL4 are raised in the same plane.
Further, as shown in FIG. 2, AB coordinates are set on the same scanning planes PL3 and PL4 with the elevation axis centers CT3 and CT4 as the A axis. Therefore, as shown in FIG. 7, the depression / elevation control unit 30, 60 is controlled by the keyboard 37 to cause the depression / elevation angle range of the laser beam, that is, the maximum elevation angle α1 and the minimum elevation angle α2.
Enter. The maximum elevation angle α1 and the minimum elevation angle α2 are angles with respect to the vertical scanning planes PL1 and PL2, as shown in FIG. Then, the elevation control units 30 and 60 shown in FIG.
Is based on the highest elevation angle α1 and the lowest elevation angle α2, the rotation angle range of the second rotation mirrors 18 and 48 by the elevation / depression drive units 16 and 46 is set to the elevation angle α1 of the laser light as shown in FIG. From the minimum elevation angle α2
Up to the rotation angle ξ2. As a result, FIG.
As shown in, the scanning planes PL3 and PL4 of the laser light emitted from the boxes 15 and 45 can be elevated from the upper limit boundary line BLu to the lower limit boundary line BLd of the survey area SA on the slope 1. Next, using the keyboard 37, as shown in FIG. 7, in the coordinate position memory 34, the shape of the slope 1 to be formed in the survey area SA, the three-dimensional coordinates of each point where the reflecting means 2 is installed, is displayed. The information D (x, y, z) is input. Then, the coordinate position memory 34 stores the three-dimensional coordinate information D (x, y,
z) is memorized. Therefore, the survey start command S1 is input to the main controller 36 by the keyboard 37. Then, the main control unit 36 first, based on the command S1, the elevation control unit 3
0 and 60, the rotation angles of the second rotary mirrors 18 and 48 shown in FIG. 8 are set so that the elevation angle of the laser beam is the maximum elevation angle α1 as described above.
The elevation command S2 shown in FIG.
Is output. Then, the depression / elevation control units 30 and 60, based on the elevation command S2, reflect surfaces 1 of the second rotary mirrors 18 and 48.
The elevation drive units 16 and 46 are controlled so as to rotate the 8a and 45a in the direction to lie on their backs. Here, the elevation angle detection means 1
Reference numerals 7 and 47 always recognize the rotation angle θ3 of the second rotary mirrors 18 and 48 in FIG. 6, and the elevation angle detection units 26 and 56 double the rotation angle θ3 detected by the elevation angle detection means 17 and 47. Therefore, the elevation angles β of the scanning planes PL3 and PL4 are
Is calculated and detected, and the elevation angle β is changed every second.
It outputs to 60. Therefore, the elevation control unit 30, 60
Are scanning planes PL3, PL of the second rotating mirrors 18, 48.
The elevation angle β of 4 can be always recognized. Therefore,
The elevation control units 30 and 60 shown in FIG.
The elevation angle β of the 48 scanning planes PL3 and PL4 is the maximum elevation angle α1.
When recognizing that it becomes, the elevation / depression drive units 16 and 46 are stopped. As a result, the scanning planes PL3, P shown in FIG.
The elevation angle β of L4 is positioned at the position of the highest elevation angle α1. At this time, as described above, the elevation axis centers CT3 and CT4
Are coincident with each other, the scanning planes PL3 and PL4 are completely coincident with each other. Also, the scanning planes PL3 and PL4
Is positioned at the highest elevation angle α1,
As shown in FIG. 3, the slope 1 coincides with the upper limit boundary line BLu of the survey area SA set on the slope 1.

Further, the elevation control units 30, 60 shown in FIG.
When recognizing that the elevation angle β input from the elevation angle detection units 26 and 56 has reached the maximum elevation angle α1, outputs a depression / elevation positioning completion signal S3, S3 to the main control unit 36. Then, the main controller 36 outputs a drive start command S4 to the scan driver controller 32, 62. Then, the scan drive controller 32,
In 62, based on the command S4, the box 1 shown in FIG.
The respective scanning drive units 22 and 52 of 5 and 45 are driven.
At this time, the scanning drive control units 32 and 62 of FIG. 7 cause the scanning drive units 22 and 52 of FIG. 8 to rotationally drive the rotating shafts 21b and 51b in the directions of arrows H1 and H2 at a constant angular velocity ω. To control. Therefore, each of the first rotary mirrors 21 and 51 fixedly mounted on the rotary shafts 21b and 51b has a vertical scanning plane P.
The rotary shafts 21b and 51 perpendicular to L1 and PL2
Rotation starts at a constant angular velocity ω around b, that is, in the directions of arrows H1 and H2 in FIG. Here, the scanning angle detection means 2
As shown in FIG. 4, reference numerals 3 and 53 denote the normals LH1 to the reflecting surfaces 21a and 51a of the first rotating mirrors 21 and 51, respectively.
The angle θ1 of LH2 with respect to the horizontal axes CT1 and CT2,
θ2 is constantly detected, and the scanning angle detection unit 2 shown in FIG.
It is output every moment on 9 and 59. Further, as described above, when the laser light is oscillated by the laser oscillators 19 and 49 of FIG. 4, the laser light is emitted from the half mirrors 20 and 50.
Is reflected on the horizontal axes CT1 and CT2, and enters the reflecting surfaces 21a and 51a of the first rotating mirrors 21 and 51 at angles θ1 and θ2 with respect to the normals LH1 and LH2.
Then, as indicated by the optical law that the incident angle and the reflection angle are equal, the laser light has normal lines LH1 and LH2.
Therefore, the light is reflected at the angles θ1 and θ2 on the opposite side of the incident path.
Therefore, the laser light is directed to the horizontal axes CT1 and CT2 with respect to the normals LH1 and LH of the first rotating mirrors 21 and 51.
2 angles θ1 and θ2, that is, a scanning angle ψ1,
It will be reflected at ψ2. Therefore, the scanning angle detecting units 29 and 59 are provided with the reflecting surfaces 21 of the first rotating mirrors 21 and 51, which are input from the scanning angle detecting means 23 and 53 momentarily.
a, the horizontal axis center CT1 of the normal lines LH1 and LH2 of 51a,
By doubling the angles θ1 and θ2 with respect to CT2,
The scanning angles ψ1 and ψ2 of the laser light scanned on the vertical scanning planes PL1 and PL2 can be calculated and detected. Further, the scanning angle detection units 29 and 59 output the scanning angles ψ1 and ψ2 to the main control unit 36 every moment. Therefore, the main control unit 36 can always recognize the angles ψ1 and ψ2. In addition, the laser light is emitted from the second rotating mirrors 18, 48.
Reflected by the second rotating mirror 1 as shown in FIG.
In the scan planes PL3 and PL4 (AB coordinate planes) set to 8 and 48, the elevation axis centers CT3 and CT4, that is, FIG.
Although scanned in the directions of arrows H3 and H4, the angle of the laser beam with respect to the elevation / axis axes CT3 and CT4 (A axis), that is, the scanning angle is the scanning angle of the laser beam when scanned on the vertical scanning planes PL1 and PL2. Equal to ψ1 and ψ2. Therefore, when the scanning angles ψ1 and ψ2 become zero, that is, the main control unit 36 of FIG. 7, the normals LH1 and LH2 of the reflecting surfaces 21a and 51a of the first rotating mirrors 21 and 51 shown in FIG. When the half mirrors 20 and 50 are aligned with the horizontal axes CT1 and CT2, the drive start command S5 is output to the laser control units 31 and 61 shown in FIG. Then, the laser control units 31 and 61
Based on the drive start command S5, the laser oscillators 19 and 49 provided inside the boxes 15 and 45 are driven. Then, the respective laser oscillators 19 and 49 oscillate the laser light toward the half mirrors 20 and 50, as shown in FIG. Then, as described above, the laser light is reflected by the half mirrors 20 and 50 provided on the horizontal axis centers CT1 and CT2, respectively.
2 is reflected at a right angle in 2 and along the horizontal axes CT1 and CT2, the rotation axes 21b and 51b of the first rotation mirrors 21 and 51.
Proceed toward the machine centers CP1 and CP2 set above. As described above, the laser light shown in FIG. 4 first has the first rotating mirror 2 when the normals LH1 and LH2 of the reflecting surfaces 21a and 51a coincide with the horizontal axis centers CT1 and CT2.
Irradiate 1, 51. Therefore, the laser light is reflected in the directions of the horizontal axes CT1 and CT2 and is not emitted from the boxes 15 and 45. The normals LH1 and LH2 of the reflecting surfaces 21a and 51a of the first rotary mirrors 21 and 51 are aligned with the horizontal axis centers CT1 and CT2, respectively.
It rotates to the 8 and 48 side. Then, the first rotating mirror 21,
When 51 is rotated to a predetermined angle position, the laser light is first applied to the right end of the second rotating mirrors 18, 48 in FIG. Then, the laser light is transmitted to the second rotating mirrors 18, 4
Reflected by 8 and the exits 15 of the boxes 15, 45
2 and the scanning planes PL3 and PL4 shown in FIG.
It is ejected with the top facing the slope 1. Further, when the first rotating mirrors 21 and 51 shown in FIG. 4 rotate in the directions of arrows H1 and H2 in the figure, the respective laser lights move on the second rotating mirrors 18 and 48 along the depression / elevation axis centers CT3 and CT4. . Then, the laser light reflected by the second rotating mirrors 18 and 48 is
Scanning planes PL3 and PL4 (AB coordinate plane) as shown in
The inside is ejected toward the slope 1 and the elevation axis CT
3, CT4 (A axis) direction, that is, arrows H3 and H4 in FIG.
Scanned in the direction. The scanning angle range of each laser beam is
It is a predetermined angle range γ set in front of each box 15, 45, and since each box 15, 45 is installed at a predetermined position separated from the slope 1 by a predetermined distance L2, In the survey area SA shown in FIG. 3, the laser beams emitted from the boxes 15 and 45 of No. 1 start from the left boundary line BLl of the survey area SA and extend to the right boundary line B.
It ends with Lr. However, at this time, the scanning plane PL shown in FIG.
3 and PL4 coincide with the upper limit boundary line BLu of the surveying area SA shown in FIG. 3 set on the slope 1 on the slope 1, laser beams emitted from the boxes 15 and 45 are The boundary line BLu at the upper end of the survey area SA can be scanned from the left end (BLl) to the right end (BLr).

Further, in the main controller 36 shown in FIG. 7, the angles θ1 and θ2 of the first rotary mirrors 21 and 51 shown in FIG. 4, which are constantly input from the scanning angle detectors 29 and 59, become zero again. If you recognize that, that is, each laser light
As shown in FIG. 3, the scanning planes PL1 and PL2 are scanned from the left end (BL1) to the right end (BLr) shown in FIG. 3 in a state where they are aligned with the boundary line BLu at the upper end of the survey area SA on the slope 1. Then, the elevation control units 30 and 60 shown in FIG. 7 are provided with scanning planes PL of the laser beams emitted from the boxes 15 and 45.
2, the depression command S6 is output as shown in FIG. 7 so as to move the PL4 in the directions of arrows B1 and B2 in FIG. 2 by a predetermined pitch P1. Then, the elevation control units 30 and 60, based on the depression command S6, scan planes PL3 and PL4 shown in FIG.
The elevation drive unit 1 is designed to rotate the second rotary mirrors 18 and 48 around the elevation axis centers CT3 and CT4 so as to face downward.
6 and 46 are driven. Here, as described above, since the elevation / depression control units 30 and 60 shown in FIG. 7 input the elevation angles β of the scanning planes PL3 and PL4 from the elevation angle detection units 26 and 56, the elevation angles β of the scanning planes PL3 and PL4 are changed. 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, both the scanning planes PL3 and PL4 can be receded by a predetermined pitch P1. Therefore, the scanning planes PL3 and PL4 are moved and positioned on the slope 1 at a position lower than the boundary line BLu at the upper end of the surveying area SA set on the slope 1 by a predetermined pitch P1. Therefore, as shown in FIG. 3, by scanning the laser beams from the boxes 15 and 45 in the same manner as described above, the laser beams are scanned from the boundary line BLu to the predetermined pitch P on the slope 1.
Boundary line B to the left of the survey area SA at a position lowered by one
It is possible to scan from Ll to the boundary line BLr on the right side.

Further, similarly, scanning planes PL3 and PL4 are provided.
In the surveying area SA set on the slope 1, while moving and positioning downward from the height position at a predetermined pitch P1, the boundary line B on the left side of the surveying area SA at each height position.
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. In addition, the scanning plane PL
3, the movement pitch P1 of PL4 is set to be shorter than the length L5 of the reflecting means 2 in the vertical direction (axial center CT5 direction) in the survey area SA of the slope 1 as shown in FIG. Therefore, it is possible to irradiate each of the laser beams to all the reflecting means 2 installed in the survey area SA.

Therefore, when the laser beams are scanned while lowering both the scanning planes PL3 and PL4 at the predetermined pitch P1 in the survey area SA of the slope 1, as shown in FIG. 3, the scanning planes PL3 and PL4 are shown. However, when the laser light is positioned at a certain elevation angle β, the laser light is applied to the reflecting means 2 while the slope 1 is being scanned. Then, the reflecting means 2
Is provided so that the laser light can be reflected on the same reflection path as the emission path, as shown in FIG. 1, the laser angle detection unit 10 that emits each laser light , 40. The two laser beams emitted from the two laser angle detection units 10 and 40 are, as described above, the scanning planes PL3 and PL4.
In the surveying area SA of the slope 1 shown in FIG. 3, while being moved and positioned downward at a predetermined pitch P1 from its upper end, the boundary line B on the left side of the surveying area SA is at each height position thereof.
Since the scanning is performed from Ll to the boundary line BLr on the right side, the reflecting means 2 to which each of the laser beams is first irradiated are both the reflecting means 2 installed at the position closest to the upper limit boundary line BLu in the survey area SA. When a plurality of reflecting means 2 are provided at the same height position, the reflecting means 2 is the closest to the left boundary line BLl among them. Further, next, the reflecting means 2 irradiated by the two laser beams is the one other than the reflecting means 2 which has already been irradiated and is the closest to the leftmost boundary line BLl among the reflecting means 2 closest to the upper limit boundary line BLu. is there. The same applies to the next. That is, both laser beams are measured in the survey area SA.
The order of irradiating the plurality of reflecting means 2 provided in the same is the same. Therefore, according to the order, it is possible to identify which reflecting means 2 each reflected laser beam is reflected to. Now, as shown in FIG. 4, each laser beam reflected by the reflection means 2 first returns to the same reflection path as the emission path in the second rotary mirror 18, 48 of the laser angle detection unit 10, 40. When the laser light is emitted, it is reflected toward the position where the second rotary mirror 18, 48 is irradiated with the laser light. Then, the laser light is
Machine center CP provided on the first rotating mirror 21, 51
1, reflected toward CP2. By the way, when the respective laser beams return to the rotating mirrors 18, 21, 48, 51 again, the rotation angle positions θ3, θ1, θ2 of the rotating mirrors 18, 21, 48, 51 are reflected by the reflecting means 2. Almost no movement from the angular position where the laser light is irradiated. I mean,
This is because the rotational angular velocities of the rotary mirrors 18, 21, 48 and 51 are set so slow that the round trip time of the laser light can be ignored. Therefore, the laser light is emitted from the rotating mirror 1.
8, 21, 48 and 51 are reflected toward the half mirrors 20 and 50 in the form of returning to the same path as at the time of emission, and the laser light passes through the half mirrors 20 and 50 and the optical sensors 25 and 55. Is received by. Then, the optical sensors 25, 5
As shown in FIG. 7, the reference numeral 5 outputs pulsed laser light detection signals S7 and S8 to the light receiving time detection units 27 and 57. The light receiving time detectors 27 and 57 detect the laser light detection signals S7 and S, respectively.
Based on 8, the light receiving time detection signals S9 and S10 are output to the scanning angle detection units 29 and 59. Then, the scanning angle detection units 29 and 59 output the scanning angles ψ1 and ψ2 at the moment when the light receiving time detection signals S9 and S10 are input to the scanning in-plane position detection calculation unit 33. Then, the scanning plane position detection calculation unit 33 detects and calculates the coordinate position (a10, b10) on the AB coordinate plane shown in FIG. 1 set in the scanning planes PL3, PL4 based on the scanning angles ψ1, ψ2. . Here, as shown in FIG. 1, the AB coordinate plane (and X
Laser angle detection unit 10 in YZ coordinate space)
From the laser beam emitted toward the reflection means 2 at an angle ψ1 with respect to the A axis, and from the other laser angle detection unit 40, the reflection means 2 at an angle ψ2 with respect to the A axis. It is obvious that the laser beams emitted toward are straight lines on the same plane (AB coordinate plane), and therefore, the intersections of both straight lines, that is, the position of the reflecting means 2 is unique. . Therefore, the position (a10, b1) of the reflection means 2 on the AB coordinate plane is calculated based on the scanning angles ψ1, ψ2.
It is obvious that 0) can be calculated using some arithmetic expression. First, in each of the laser angle detection units 10 and 40, the AB coordinate positions (a3, 0) and (a4, 0) of the positions where the laser beams are applied to the second rotating mirrors 18 and 48 are detected. The respective positions (a3,0), (a4,0)
Is the elevation axis center CT of the second rotating mirror 18, 48 with the A axis
3 and CT4, the coordinate position is on the A axis. Further, the respective positions (a3,0), (a4,0)
Is, as shown in FIG. 4, the machine centers CP1 and CP2 of the laser angle detection units 10 and 40 set on the X axis.
From the X axis to the scanning angles ψ1 and ψ2, and the X coordinate values a of the machine centers CP1 and CP2 on the X axis.
1 and a2 can be directly used as the A coordinate value on the A axis. In addition, the X axis and the positions (a3, 0), (a
The distance from the A-axis where (4, 0) is located is L3. Therefore, the calculation can be detected by the following equation. a3 = L3 / tan ψ1 + a1. ． ． i a4 = L3 / tan ψ2 + a2. ． ． ii Then, the position of the reflecting means 2 on the AB coordinates (a10, b1
0) can be calculated using the following formulas, Formula 1 and Formula 2.

[Equation 1]

[Equation 2] The equations 1 and 2 can be obtained as follows. First, from the second rotary mirror 18 of the laser angle detection unit 10 shown in FIG. 1 to the reflection means 2, (x10, y10).
Since the laser beam LS1 applied to the laser beam has an angle ψ1 with respect to the A axis, the formula 3 can be derived.

[Equation 3] Further, since the laser light LS2 emitted from the second rotating mirror 48 of the laser angle detection unit 40 shown in FIG. 1 to the reflecting means 2, (x10, y10) has an angle ψ2 with respect to the A axis, Can be guided.

FIG. 4 can be expressed as a mathematical expression 5 by modifying the mathematical expression 3, and as a mathematical expression 6 by modifying the mathematical expression 4.

[Equation 5]

[Equation 6] When b10 is deleted from the equations 5 and 6, the equation 7 is derived.

[Equation 7] If Equation 7 is organized by a10, Equation 8 is obtained.

[Equation 8] By transforming Equation 8, Equation 9 is derived.

[Equation 9] Then, by definition of trigonometric function, tan (180 ° −ψ2) ＝ ta
Since it is n (−ψ2), the formula 1 can be derived. Further, when formula 3 and formula 4 are arranged by a10, formula 10 and formula 11
Can be expressed as

[Equation 10]

[Equation 11] Eliminating a10 from the equations 10 and 11 leads to the equation 12.

[Equation 12] Rearranging Equation 12 by y10 gives Equation 13.

[Equation 13] By transforming Equation 13, Equation 14 is derived.

[Equation 14] Then, by definition of trigonometric function, tan (180 ° −ψ2) ＝ ta
Since it is n (−ψ2), the equation 2 can be derived. Therefore, the in-scanning position detection calculation unit 33 determines the scanning angle ψ.
When 1 and ψ2 are calculated and detected, the scanning angles ψ1 and ψ2 are detected.
By substituting the above into Equations 1 and 2, the AB coordinate position (a10, b10) of the reflecting means 2 can be detected and calculated. Then, the scanning plane position detection calculation unit 33 calculates the detected AB coordinate position (a10, b10) of the reflection unit 2 as
It is output to the three-dimensional position detection calculation unit 35 shown in FIG.

Further, the elevation angle detecting 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 XZ in XYZ coordinates.
The coordinate plane is a coordinate plane rotated around the X axis by an elevation angle β and moved in the Z axis direction by a predetermined distance L3. Therefore, the three-dimensional position detection calculation unit 35 is configured based on the AB coordinates (a10, b10) of the reflection means 2, the elevation angle β of the AB coordinate plane with respect to the XZ coordinate plane, and the preset predetermined interval L3. 1. As shown in FIG. 2, the XYZ coordinates (x10, y10, z10) of the reflecting means 2 in the XYZ coordinate space preset in the space including the slope 1 are expressed by the following equation ii.
Detection calculation can be performed by using i, iv, and v. x10 = a10 ... iii y10 = b10 * sinβ ... iv z10 = L3-b10 * cosβ ... v 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 XZ coordinate plane. L3: The distance between the X axis and the A axis. The formula iii is self-explanatory, as shown in FIG. 1, because the A axis in the AB coordinate plane is provided only in the XYZ coordinate space by translating the X axis by L3 in the Z axis direction. The formula iv and the formula v are provided in a form in which the A axis is translated by L3 in the XYZ space in the Z axis direction by L3.
Further, as shown in FIG. 2, it can be derived from the fact that the angle of the AB coordinate plane with respect to the X8 coordinate plane, that is, the angle of the Z 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. 7, 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. 7, the difference detection calculation unit 66 uses the XYZ of the reflecting means 2 from the three-dimensional position detection calculation unit 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, the scanning planes PL3 and PL4 of the laser light emitted from the laser angle detection units 10 and 40 are respectively shown in FIG.
When the lower limit boundary line BLd of the surveying area SA of the slope 1 shown in FIG. 2 is reached, the elevation / reduction control units 30, 60 cause the elevation angle β that is constantly input from the elevation angle detection units 26, 56 to be the minimum elevation angle α.
Recognize that it became 2. Then, the elevation control unit 3
0 and 60 stop the elevation drive units 16 and 46 in a state where the second rotary mirrors 18 and 48 are positioned at the positions, and FIG.
As shown in FIG. 5, the depression / elevation completion signal S11 is output to the main controller 36. Then, in the main control unit 36, as described above, the normals LH1 and LH2 of the rotating mirrors 21 and 51 are the horizontal axis CT.
1, when it matches CT2, the laser control units 31, 6
The drive start command S5 is output to 1, and each laser beam finishes scanning on the lower limit boundary line BLd, and the rotating mirrors 21 and 51 are again provided.
When the normal lines LH1 and LH2 of the above coincide with the horizontal axis centers CT1 and CT2, the drive stop command S12 is output to the laser control units 31 and 61. Then, the laser control units 31, 61
On the basis of the drive stop command S12
Stop 9,49. 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, when the laser light is elevated, the second drive mirrors 18, 48 are provided so as not to rotate the entire boxes 15 and 45, but only the drive mirrors 16 and 46 to be small and lightweight. Therefore, the weight of the entire three-dimensional surveying instrument 100 can be reduced. Therefore, the three-dimensional survey apparatus 100 of the present invention can be easily carried.

Further, by providing the apparatus 100 in the above-mentioned embodiment so as to repeatedly measure the same survey area SA after completion of one survey of the shape of the slope 1 in the predetermined survey area SA, The time change of the shape of the slope 1 in the area SA can be detected, and it is effective in monitoring the precursor of the landslide on the slope. In the above example,
The box 15 of the laser angle detection unit 10 is attached to a tripod 11
The box 45 of the laser angle detection unit 40 was supported on the ground 3 by a supporting means such as a tripod 41.
It goes without saying that they may be supported by one common support means, as long as they have the predetermined distance L1. In addition, in the apparatus 100 in the above-mentioned embodiment, the horizontal axis CT of the two laser angle detection units 10 and 40 is used.
1 and CT2 are provided so as to coincide with each other on the X axis, the horizontal axis centers CT1 and CT of the two laser angle detection units 10 and 40 are provided.
Of course, the numbers 2 do not have to match.

[0020]

As described above, according to the present invention,
It has a reflection means such as a reflection means 2 installed at a measuring point and capable of reflecting the laser light on the same reflection path as the incident path, and scans the laser light on the first reference scanning plane such as the vertical scanning plane PL1. A first laser light emitting means such as a laser oscillation unit 19, a half mirror 20, a first rotary mirror 21, a scan drive unit 22 and the like is provided, and a first rotary reflection of the second rotary mirror 18 and the like is provided on the first reference scanning plane. A member may be provided such that the first rotation axis such as the elevation axis CT3 of the first rotation reflection member is set within the first reference scanning plane, and the first rotation reflection member may reflect laser light. A first reflection surface such as a reflection surface 18a is provided along the first rotation axis, and the first rotation reflection member is driven to rotate about the first rotation axis. The first rotation drive means such as the elevation drive section 16 is provided.
A first rotation angle detection unit such as an elevation angle detection unit 17 capable of detecting a rotation angle position such as an angle θ3 about the first rotation axis of the first reflection surface of the first rotation reflection member is provided, and The light is emitted to the first laser light emitting means by the first laser light emitting means, and is reflected on the same reflection path as the incident path by the reflecting means via the first reflecting surface of the first rotary reflecting member. A scanning angle detection means 2 capable of detecting a scanning angle such as a scanning angle ψ1 of the laser light in the first reference scanning plane.
3, the optical sensor 25, the light reception time detection unit 27, the scanning angle detection unit 29, and the like, the first emission angle detection means are provided, and the laser light is provided at a position having a predetermined distance such as the distance L1 from the first laser light emission means. Is provided on the second reference scanning plane such as the vertical scanning plane PL2, a second laser light emitting means such as a laser oscillator 49, a half mirror 50, a first rotary mirror 51, and a scan driver 52 is provided, and the second reference A second rotary reflecting member such as the second rotary mirror 48 is set on the scanning plane, and a second rotary axis such as the elevation axis CT4 of the second rotary reflecting member is set in the second reference scan plane. A second reflecting surface such as a reflecting surface 48a capable of reflecting a laser beam is provided on the second rotary reflecting member along the second rotation axis, and the second rotary reflecting member is provided with the second rotary surface. The reflecting member can be rotationally driven about the second rotation axis. A second rotation drive means such as an elevation drive portion 46 is provided, and an elevation angle detection means 47 or the like capable of detecting a rotation angle position of the second reflection surface of the second rotation reflection member about the second rotation axis. A second rotation angle detecting means is provided, and the second laser light emitting means emits the light by the second laser light emitting means, and the incident path by the reflecting means via the second reflecting surface of the second rotary reflecting member. Scanning angle detecting means 5 capable of detecting the scanning angle such as the scanning angle ψ2 in the second reference scanning plane of the laser light reflected on the same reflection path as
3, a second emitting angle detecting means such as an optical sensor 55, a light receiving time detecting portion 57, a scanning angle detecting portion 59, etc. is provided, emitted by the first laser light emitting means, and passed through the reflecting surface of the first rotary reflecting member. A scanning angle in the first reference scanning plane of the laser light reflected by the reflecting means on the same reflection path as the incident path, detected by the first emission angle detecting means, and at that time The rotation angle position of the first reflection surface of the first rotation reflection member, which is detected by the first rotation angle detection means, about the first rotation axis, and the second emission angle detection for the reflection means. The second laser beam emitted by the second laser beam emitting unit and reflected by the second laser beam emitting unit through the second reflecting surface of the second rotary reflecting member and on the same reflecting path as the incident path. Scan angle in the reference scan plane And the reflection angle of the second reflection surface of the second rotation reflection member, which is detected by the second rotation angle detection means at that time, based on the rotation angle position around the second rotation axis. XYZ coordinates of the means (x10, y1
0, z10) etc. elevation angle detection unit 2 capable of detecting and calculating the position
6, 56, the in-scanning position detection calculation unit 33, the three-dimensional position detection calculation unit 35, and other reflection position detection calculation units are provided. Emission scanning can be performed in the first and second reference scanning planes. Then, by the first and second reflecting surfaces of the first and second rotary reflecting members provided in the first and second reference scanning planes, the respective laser light, the first and second reference scanning planes. Scanning plane PL bent at the first and second rotational axes of the first and second rotary reflecting members
It is possible to perform ejection scanning in each scanning plane such as 3, PL4 and the like. Then, by rotating the first and second reflecting surfaces of the first and second rotary reflecting members by the first and second rotary driving means, the respective scanning planes are rotated around the first and second rotation axes. It can be rotationally positioned at any angular position. As a result, the laser beam can be thoroughly scanned within the surveying area such as the predetermined surveying area SA. Therefore, by providing the reflecting means at the measuring point in the surveying area, the laser light is transmitted to the reflecting means. Can be irradiated. Further, the first and second rotation angle detection means, respectively, of the first and second reflection surface of the first and second rotation reflection member,
It is possible to detect a rotation angle position about the first and second rotation axes, the first and second emission angle detection means are emitted by the first and second laser light emission means, Through the first and second reflecting surfaces of the first and second rotary reflecting members, within the first and second reference scanning planes of the laser light reflected on the same reflecting path as the incident path by the reflecting means. Each scanning angle can be detected.
Then, the reflection position detection calculation unit is a laser reflected on the same reflection path as the incident path by the reflection means via the reflection surface of the first rotary reflection member provided in the first reference scanning plane. The scanning angle of light in the first reference scanning plane, which is detected by the first emission angle detection means, and the scanning angle of the first rotation reflection member which is detected by the first rotation angle detection means at that time. A rotation angle position of the one reflection surface about the first rotation axis, and the reflection means,
Detected by the second emission angle detection means, emitted by the second laser light emission means, and reflected on the same reflection path as the incident path via the second reflection surface of the second rotary reflection member. The scanning angle within the second reference scanning plane of the laser light, the second rotation axis of the second reflection surface of the second rotation reflection member, detected by the second rotation angle detection means at that time, the second rotation axis. The position of the reflecting means, that is, the position of the measuring point can be detected and calculated based on the centered rotation angle position. Therefore, according to the present invention, it is not necessary to perform the complicated and time-consuming work of accurately aligning the collimation line of the position detection device with the position indicator by collimating the worker as in the conventional case. The three-dimensional position of a point can also be measured easily and quickly. A second aspect of the present invention is the laser oscillating units 19 and 49, the half mirrors 20 and 50, and the first rotating mirrors 21 and 51 that scan the laser light on a reference scanning plane such as the vertical scanning planes PL1 and PL2. Laser light emitting means such as the scan driving units 22 and 52 are provided, and rotary reflecting members such as the second rotary mirrors 18 and 48 are provided on the reference scanning plane, and the vertical axis CT3 and CT4 of the rotary reflecting members. The rotation axis is provided so as to be set within the reference scanning plane, and the rotary reflecting member has reflecting surfaces 18a and 48 capable of reflecting laser light.
Rotational drive means such as an elevation drive unit 16 or 46, which is provided with a reflecting surface such as a along the rotation axis and allows the rotation reflection member to rotate and rotate the rotation reflection member around the rotation axis. And rotation angle detection means such as elevation angle detection means 17 and 47 capable of detecting a rotation angle position such as an angle θ3 around the rotation axis of the reflection surface of the rotation reflection member, and the laser light emission. Means for detecting the scanning angles such as the scanning angles ψ1, ψ2 in the reference scanning plane of the laser light reflected by the laser light emitting means after being emitted by the laser light emitting means. Since the emission angle detection units such as the sensors 25 and 55 are provided, the laser beam emission means can inject and scan the laser beam in the reference scanning plane. Then, by the reflecting surface of the rotary reflecting member provided in the reference scanning plane, the respective scanning planes PL3, PL4, etc. in which the respective laser beams are bent at the rotation axis of the rotary reflecting member are used. It is possible to perform ejection scanning within each scanning plane of. Then, by rotating the reflecting surface of the rotary reflecting member by the rotation driving means, each of the scanning planes can be rotationally positioned at an arbitrary angular position around the rotation axis. As a result, the laser beam can be thoroughly scanned within the surveying area such as the predetermined surveying area SA. Therefore, by providing the reflecting means at the measuring point in the surveying area, the laser light is transmitted to the reflecting means. Can be irradiated.

[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.

6 is a view of V- of the laser angle detection unit of FIG.
It is a V sectional view.

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

FIG. 8 is a view showing a depression / elevation range of laser light;
5 is a cross-sectional view taken along line VV of the laser angle detection unit shown in FIG.

[Explanation of symbols]

2 ... Reflecting means (reflecting means) 16 ... First rotation drive means (depression / elevation drive section) 17 ... First rotation angle detection means (elevation angle detection means) 18 ... First rotation reflection member (second rotation mirror) 18a ... 1st reflecting surface (reflecting surface) 19 ... 1st laser light emitting means (laser oscillation part) 20 ... 1st laser light emitting means (half mirror) 21 ... 1st laser light emitting means (1st Rotating mirror) 22 ... First laser beam emitting means (scanning drive section) 23 ... First emitting angle detecting means (scanning angle detecting means) 25 ... First emitting angle detecting means (optical sensor) 26 ... Reflection position Detection calculation unit (elevation angle detection unit) 27 ... First emission angle detection unit (light receiving time detection unit) 29 ... First emission angle detection unit (scanning angle detection unit) 33 ... Reflection position detection calculation unit (in scanning plane) Position detection calculation unit) 35 ... Reflection position detection calculation unit ( Dimensional position detecting / calculating unit) 46 ... Second rotation drive means (depression / elevation drive unit) 47 ... Second rotation angle detection means (elevation angle detection means) 48 ... Second rotation reflection member (second rotation mirror) 48a .. Second reflection surface (reflection surface) 49 ... Second laser light emitting means (laser oscillating unit) 50 ... Second laser light emitting means (half mirror) 51 ... Second laser light emitting means (first rotating mirror) 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 (optical sensor) 56 ...... reflection position detection calculating section (Elevation angle detection unit) 57 ... Second emission angle detection means (light reception time detection unit) 59 ... Second emission angle detection unit (scanning angle detection unit) PL1 ... First reference scanning plane (vertical scanning plane) PL2 ... … Second reference scan plane (vertical scan plane) CT …… First rotation axis (depression axis) CT4 …… Second rotation axis (depression axis) θ3 …… Rotation angle position (angle) ψ1 …… Scanning angle (scanning angle) ψ2 …… Scanning angle (scanning) Angle) L1 ... Predetermined interval (interval) (x10, y10, z10) ... Position of reflecting means (XYZ coordinates of reflecting means)

[Equation 4]

Claims (2)

[Claims] 1. A first laser light emitting means for scanning a laser light on a first reference scanning plane, the reflecting means being installed at a measuring point and capable of reflecting the laser light on the same reflection path as the incident path. Is provided on the first reference scanning plane, the first rotation reflecting member is provided in a form in which the first rotation axis of the first rotation reflecting member is set within the first reference scanning plane, and the first rotation The reflecting member, a first reflecting surface capable of reflecting laser light, is provided along the first rotation axis, the first rotation reflection member, the first rotation reflection member, the first rotation axis. A first rotation drive unit that can be driven to rotate about the center is provided, and a first rotation angle detection unit that can detect a rotation angle position of the reflection surface of the first rotation reflection member about the first rotation axis is provided. The first laser light emitting means emits light to the first laser light emitting means, A first emission angle capable of detecting a scanning angle in the first reference scanning plane of the laser light reflected by the reflection means on the same reflection path as the incident path through the first reflection surface of the one-rotation reflection member. Detecting means is provided, at a position having a predetermined distance from the first laser light emitting means, second laser light emitting means for scanning laser light on a second reference scanning plane is provided, and on the second reference scanning plane. A second rotation reflection member is provided in a form of setting a second rotation axis of the second rotation reflection member within the second reference scanning plane, and the second rotation reflection member can reflect laser light. Second reflecting surface is provided along the second rotation axis, and the second rotation reflecting member is provided with a second rotation driving means capable of driving the second rotation reflecting member to rotate about the second rotation axis. Providing the second rotation surface of the second rotation reflection member, the second rotation A second rotation angle detecting means capable of detecting a rotation angle position about the axis is provided, and the second laser light emitting means emits the second laser light emitting means to reflect the second rotation reflecting member. A second emission angle detection means for detecting the scanning angle in the second reference scanning plane of the laser light reflected by the reflection means on the same reflection path as the incident path through the surface is provided. The first emission angle detection means detects the laser light emitted by the laser light emission means and reflected by the reflection means on the same reflection path as the incident path through the reflection surface of the first rotation reflection member. The scanning angle in the first reference scanning plane, and the first rotation axis of the first reflection surface of the first rotation reflection member detected by the first rotation angle detection means at that time. The rotation angle position around the center, For the reflecting means, said detected by the second exit angle detection means, is emitted by the second laser beam emitting unit, via the second reflecting surface of the second rotary reflecting member,
The scanning angle in the second reference scanning plane of the laser light reflected on the same reflection path as the incident path, and the second rotation reflection member second detected by the second rotation angle detection means at that time. A surveying device configured by providing a reflection position detection calculation unit capable of detecting and calculating the position of the reflection unit based on the rotation angle position of the reflection surface about the second rotation axis. 2. A laser beam emitting means for scanning a laser beam on a reference scanning plane, wherein a rotary reflecting member and a rotation axis of the rotary reflecting member are set on the reference scanning plane. Provided in the form of, to the rotary reflecting member, a reflective surface capable of reflecting laser light,
A rotation driving unit that is provided along the rotation axis, and that rotates the rotation reflection member around the rotation axis is provided to the rotation reflection member, and the rotation axis of the reflection surface of the rotation reflection member. A rotation angle detecting means capable of detecting a rotation angle position around the center is provided, and the laser light emitting means is provided in the reference scanning plane of the laser light reflected after being emitted by the laser light emitting means. A laser emission unit configured by providing an emission angle detection unit capable of detecting the scanning angle of.