JPH0783658A - Surveying apparatus - Google Patents

Abstract

PURPOSE:To provide a surveying apparatus which can direct the collimation axis of telescope part automatically and quickly to a direction in which a corner cube exists even when an observer is not situated the side of a surveying apparatus body and which can achieve an unmanned operation while a surveying operation is made efficient. CONSTITUTION:The surveying apparatus is provided with a telescope part 12 which is supported by a support stand part 11 turned around a vertical axis 13 and which is turned around a horizontal axis 14, a rotation driving mechanism which is installed in the support stand part 11, light-receiving parts 25, 26 which receive a transmitted signal from a remote control device and a CPU which controls the rotation driving mechanism so that the collimation axis O of the telescope part 12 is directed in the arrival direction of the transmitted signal on the basis of outputs of the light-receiving units 25, 26.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a surveying device having a telescope unit which is supported by a frame unit which is rotated around a vertical axis and which is rotated around a horizontal axis, for angle measurement and distance measurement.

[0002]

2. Description of the Related Art Conventionally, as shown in FIG. 1, a surveying instrument includes a telescope section 4 which is supported by a frame section 2 which is rotated around a vertical axis 1 and which is rotated around a horizontal axis 3. , Support section 2
A corner cube (also referred to as a prism) based on a scanning light beam.
Based on the reflection information from the corner cube and the scanning information, the horizontal angle deviation and the vertical angle deviation between the direction in which the corner cube exists and the visual axis O of the telescope unit 4 are calculated, and this angle is calculated. There is one that automatically controls the rotation drive mechanism based on the deviation to automatically track the collimation axis O of the telescope unit 4 on the corner cube to perform angle measurement and distance measurement. This type of surveying instrument contributes to labor saving and unmanned operation.

[0003]

However, in this type of surveying instrument, all the azimuths must be scanned at the time of initial setting for detecting the azimuth in which the corner cube exists, and it takes a considerable time. Takes.

Therefore, conventionally, an observer manually orients the collimation axis of the telescope section of the surveying instrument in the direction in which the rough corner cube exists, or inputs the direction data in which the corner cube exists. , The collimation axis of the telescope part of the surveying instrument was oriented toward the corner cube.

Therefore, although the automatic tracking type surveying device was originally intended to unmann the observer by automatically detecting and automatically tracking the corner cube, There was a problem that it was difficult to make the observer completely unattended when trying to speed it up.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a surveying instrument suitable for unmanned operation while speeding up the surveying operation. .

[0007]

A surveying instrument according to the present invention is provided in a telescope unit which is supported by a frame unit which is rotated around a vertical axis and which is rotated around a horizontal axis, and the frame unit. A rotation driving mechanism, a receiving unit that receives a transmission signal from the remote control device, and the rotation driving mechanism such that the collimation axis of the telescope unit is oriented in the arrival direction of the transmission signal based on the reception output of the reception unit. And control means for controlling.

[0008]

According to the surveying instrument of the present invention, when the receiving unit receives the transmission signal from the remote control device,
The control means drives the rotary drive mechanism so that the collimation axis of the telescope unit is directed in the arrival direction of the transmission signal.

[0009]

Embodiments of a surveying instrument according to the present invention will be described below with reference to the drawings.

In FIG. 2A, 10 is a base, 11 is a mount, 12 is a telescope, and O is a collimation axis of the telescope. The suspension unit 11 is rotatable with respect to the base 10 about a vertical axis 13, so that the telescope unit 12 is shown in FIG.
It is rotated in a horizontal plane as indicated by an arrow X in (b). The telescope unit 3 is rotatably supported by a horizontal shaft 14, and the telescope unit 12 is rotated in a vertical plane as shown by an arrow Y in FIG.

As shown in FIG. 3, a CPU 15 as a control means, a motor driver 16 for driving in the horizontal direction, and a motor driver 1 for driving in the elevation direction are provided inside the suspension unit 11.
7. Motors 18 and 19 that form part of the rotation transmission mechanism are provided.

The outputs of the horizontal encoder 20 and the vertical encoder 21 are input to the CPU 15. The encoder 20 is attached to the vertical shaft 13 and is used to calculate the horizontal angle. The encoder 21 is attached to the horizontal shaft 14 and is used to calculate the elevation angle. Also, C
The PU 15 is connected to the electric circuit 22 for distance measurement. The electric circuit 22 for distance measurement is used to measure the distance to the corner cube 23 as a target. In this surveying device, automatic tracking can be performed by a scanning optical system (not shown), but the configuration thereof is publicly known, and therefore its explanation is omitted.

A handle portion 24 is attached to an upper portion of the suspension portion 11. Light-receiving units 25 and 26 as receiving portions are provided on the front surface and the rear surface of the handle portion 24. The light receiving units 25 and 26 are shown in FIG.
It is composed of a quadrangular pyramid as shown enlarged. The bottom surfaces of the light receiving units 25 and 26 are denoted by reference numeral G, the side surfaces are denoted by reference numerals A to D, and the vertices are denoted by T, and the side surfaces A to D are light receiving surfaces.

The apex T is attached so as to be oriented in the horizontal direction as shown in FIGS. 2 (a) and 2 (b), and the side surfaces A to D are inclined by the inclination angle a with respect to the horizontal. And The light receiving units 25 and 26 are irradiated with a light beam Q as a transmission signal from the remote control device 27 as modulated light or pulsed light. This remote control device 27 is carried by a surveyor located on the side of the corner cube 22.

Now, as shown in FIG. 4A, the apex T faces the remote control device 27, and
Assuming that the light flux Q is emitted from the horizontal direction H, the light receiving amounts Pa, Pb, Pc, and Pd on the side surfaces A to D are expressed by the following equations.

This is because it can be considered that Pa = Pb = Pc = Pd = P.S.sina is irradiated to all the side surfaces A to D in equal amounts.

Here, reference symbol S is a light receiving area of each of the side faces A to D, and P is a coefficient resulting from distance and the like. Also, each side A
It was considered that a parallel light beam was incident on D.

Next, as shown in FIG. 4B, when the light beam Q is irradiated from an angle inclined by α with respect to the horizontal direction H, the light receiving amounts Pa and Pc on the side surfaces A and C are Pa. = Pc =
P · S · sin (a + α), and the amount of light received P on the side surfaces B and D
b and Pd are Pb = Pd = P.S.sin (a-.alpha.).

That is, as the incident angle of the light beam Q with respect to the horizontal changes, the light receiving outputs of the side surfaces A to D change. As shown in FIG. 4C, when the light flux Q indicated by the solid line and the apex T of the light receiving units 25 and 26 are inclined by 90 degrees in the horizontal plane, the light receiving output is obtained only on the side surfaces A and B. The received light output at this time is Pa = Pb = P · S
・ Sina.

Further, in FIG. 4C, when the light flux Q is incident on the side surfaces A and B at an angle α with respect to the horizontal direction, Pa = P · S · sin (a + α) Pb = P · S · sin (A−α) Pc = Pd˜0.

As can be seen from these equations, the detection sensitivity changes depending on the inclination angle a of the light receiving element. To increase the detection sensitivity, the tilt angle a should be increased.

FIG. 4 (e) is a graph showing this output relationship.

The outputs of the light receiving units 25 and 26 are input to the differential amplifiers 28 and 29, and the differential amplifiers 28 and 29 are input to the arithmetic unit 30. The calculator 30 is the light receiving unit 2
The arrival direction of the light beam Q is calculated on the basis of the difference between the outputs of 5 and 26. That is, the height direction is calculated by the output difference between the side surfaces A and B (or C, D), and the horizontal angle is calculated by the output difference between the side surfaces A, C (or B, D).

That is, how many times the collimation axis O of the telescope unit 12 is inclined with respect to the arrival direction of the light beam Q in the horizontal direction, or the collimation axis of the telescope unit 12 with respect to the arrival direction of the light beam Q in the elevation direction. Calculate how many times O is tilted.

The calculation result is input to the CPU 15.
The CPU 15 serves as a control means for controlling the rotary drive mechanism so that the collimation axis O of the telescope unit 12 is directed in the arrival direction of the transmission signal based on the calculation result. CP
U15 outputs a drive signal to the motor drivers 16 and 17, whereby the motors 18 and 19 are driven, and the collimation axis O of the telescope unit 12 is oriented in the arrival direction of the transmission signal.

An LED 31 is provided on the front surface of the surveying instrument, and this LED 31 is turned on by the CPU 15 when the collimation axis O is roughly oriented in the arrival direction of the transmission signal. Thereby, the surveying operator can confirm from the side of the corner cube 23 whether or not the collimation axis O of the telescope unit 12 is oriented in the direction in which the corner cube 22 is located. Also, CPU1
A display 32 is connected to the display 5, and the display 32 displays the horizontal angle, the elevation angle, and the distance to the corner cube 22 of the corner cube 23 as in the conventional case.

FIG. 5 shows another embodiment of the surveying instrument according to the present invention. In this embodiment, the light receiving unit is a cube 33, and the side surfaces A to D of the cube 33 are light receiving surfaces. This cube 33 is used to detect the direction of arrival of the received signal in the horizontal direction. Also, the telescope unit 1
On the front surface of 2, the light receiving element 3 is vertically arranged with the objective lens Ob interposed therebetween.
4, 35 are provided. The light receiving elements 34 and 35 are used to detect the arrival direction of the received signal in the high and low directions.

The remote control device 27 is shown in FIG.
As shown in (a), binocular optical systems 36 and 37 are incorporated. The binocular optical system 36 is provided with a half mirror 38 and an aiming plate 39 (see FIG. 6B). When the surveying operator presses the button 40 while visually recognizing the cube 33, the drive circuit 41 drives the light emitting element 42. The luminous flux Q is emitted toward the cube 33 by the light emitting element 42, whereby the collimation axis O of the telescope unit 12 is rotated in the horizontal direction, and the collimation axis O of the telescope unit 12 is rotated in the horizontal direction. Is directed in the direction of existence. Next, when the surveying operator presses the button 40 while visually recognizing one of the light receiving elements 34 and 35, the visually recognized light receiving element is irradiated with the light beam Q, whereby the telescope unit 12 is moved upward and downward.
The collimation axis O of is rotated, and the collimation axis O is oriented in the direction in which the corner cube 22 exists with respect to the elevation direction.

Usually, the surveying operator moves to the next measurement point near the point where the measurement is performed, so that the light receiving elements 34 and 35 do not deviate from the observer's field of view. The collimation axis O can be directed to the direction in which the corner cube 23 exists by the remote control operation.

Although the binocular optical systems 36 and 37 are incorporated in the remote control device 27 in this embodiment, one telephoto optical system may be incorporated in the outside of the remote control device.

Although the optical transmitter is used as the remote control device in the above embodiment, radio waves, ultrasonic waves or the like may be used. In this embodiment, the light receiving unit is a square pyramid or a cube. Various structures are conceivable for the receiving unit, such as a quadrangular pyramid with the upper part cut off, and a structure in which the light receiving elements are arranged in six directions on the outer circumference of the surveying device body.

Further, the operation in the horizontal direction and the elevation direction can be continuously performed by the remote control.

[0033]

[Effect] Since the surveying instrument according to the present invention is configured as described above, even if the observer is not on the surveying instrument body side, the sighting of the telescope unit is automatically and quickly performed in the direction in which the corner cube exists. The axis can be oriented, and there is an effect that unmanned operation can be achieved while improving the efficiency of the surveying work.

[Brief description of drawings]

FIG. 1 shows a front view of a conventional surveying instrument.

FIG. 2 shows an embodiment of a surveying instrument according to the present invention,
(A) shows its side view, (b) shows a plan view,
(C) shows the shape of the light receiving unit shown in (A).

FIG. 3 shows a block circuit of an embodiment of a surveying instrument according to the present invention.

FIG. 4 is an explanatory view of a light receiving state of a light receiving unit according to the present invention, in which (a) the apex of the light receiving unit is directed to the direction in which the remote control device exists, and the transmission signal arrives at the side surface from the horizontal direction. It is a description of the case, (b)
Is a case in which the apex of the light receiving unit is oriented in the horizontal direction in the direction in which the remote control device exists, and the transmitted signal arrives at the side surface with an inclination of an angle α with respect to the horizontal direction. Is an explanatory diagram in the case where the transmission signal arrives at the side face in a state where the apex of the light receiving unit is oriented in an azimuth orthogonal to the azimuth in which the remote control device is present. The transmission signal is inclined from the horizontal by an angle α,
The output characteristics of each side are shown.

FIG. 5 shows another embodiment of the surveying instrument according to the present invention,
(A) is a front view of the surveying instrument, and (b) is a side view of the surveying instrument.

FIG. 6 is a diagram showing an example of a remote control device according to the present invention, (a) is a schematic diagram showing the internal structure of the remote control device, and (b) is a plan view of the sighting plate shown in (a). .

[Explanation of symbols]

 11 ... Frame section 12 ... Telescope section 13 ... Vertical axis 14 ... Horizontal axis 15 ... CPU 23 ... Corner cube 25, 26 ... Light receiving unit (reception section) 27 ... Remote control device O ... Collimation axis

Claims (5)

[Claims] 1. A telescope unit that is supported by a suspension unit that is rotated about a vertical axis and that is rotated about a horizontal axis, a rotary drive mechanism that is provided on the suspension unit, and a transmission signal from a remote control device. And a control unit that controls the rotation drive mechanism so that the collimation axis of the telescope unit is directed to the arrival direction of the transmission signal based on the reception output of the reception unit. 2. The surveying instrument according to claim 1, wherein the remote control device is an optical transmitter, and the receiving unit is a light receiver. 3. The surveying instrument according to claim 2, wherein the light receiver is of a pyramidal shape having three or more light receiving surfaces. 4. The surveying instrument according to claim 1, wherein the remote control device has a telescope. 5. The surveying instrument according to claim 1, further comprising means for confirming that the visual axis of the telescope according to claim 1 substantially coincides with the arrival direction.