JPH08278135A - Automatic plumbing device for surveying instrument - Google Patents

Abstract

PURPOSE: To provide an automatic plumbing device for surveying instrument, having the capability of automatically performing a plumbing process. CONSTITUTION: The image of a pile K is photographed by means of an image pick-up section 2, and outputted as image data. The image pick-up optical axis 1 of the section 2 is positioned so as to agree to the mechanical center of a total station body 1. As a result, the deviation of the pile K from a center in the image data proportionally corresponds to the deviation of the actual pile K from the mechanical center of the body K. Thus, an X-Y stage 4 is actuated on the basis of a drive variable obtainable from the spectral analysis of the deviation along X- and Y-axis directions. Consequently, the mechanical center of the body 1 is aligned with the position of the pile K.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic centering device for accurately disposing a surveying instrument such as a rangefinder or a goniometer on a vertical line of a predetermined measuring point.

[0002]

2. Description of the Related Art Conventionally, as a surveying instrument for measuring the distance, elevation, etc. of a land, a ranging finder such as a lightwave ranging finder and a goniometer such as an electronic theodolite have been generally used. The range finder measures the distance from a specific measurement point to a measurement target point. Further, the goniometer measures the direction of the measurement target point as a horizontal angle and an altitude angle around a specific measurement point. In addition, recently, a total station equipped with a computer for combining the rangefinder and the angle measuring device and for computing the measurement results of them has been put into practical use.

Among these surveying instruments, for example, a lightwave rangefinder can measure a distance in millimeter units. In addition, the electronic theodolite can measure the angle in seconds. Therefore, when performing surveying with these surveying instruments, in the mechanical center of the surveying instrument In the case of a square instrument, make sure that the intersection of the horizontal axis of rotation and the vertical axis of rotation of the collimation telescope) is exactly on the vertical line of the measurement point (center of the pile driven into the measurement point). Need to be set up. Such work is called "centripple".

A conventional surveying instrument has a centripetal device including a centripetal bearing base and a centripetal telescope in order to perform such centripetal movement. The centripetal bearing base is a mechanism that is provided between the surveying instrument and a tripod for installing the surveying instrument on the ground, and is capable of shifting the surveying instrument with respect to the tripod in a horizontal plane. The centripetal telescope is a telescope having an optical axis (collimation line) extending from the machine center of the surveying instrument toward the ground. The optical axis on the object side of this centripetal telescope is
When the surveying instrument is installed horizontally, it is arranged so that it is parallel to the vertical direction. On the other hand, the eyepiece optical axis of this centripetal telescope is bent in the horizontal direction by a reflecting mirror so that an operator can easily look into it. Further, a cross line having an intersection at the optical axis position is formed on the focusing screen of this centripetal telescope.

To perform centering using this conventional centering device, first, a tripod on which a surveying instrument is mounted is installed on a measuring point. Then, the length of each leg of the tripod is adjusted so that the optical axis of the centripetal telescope becomes parallel to the vertical direction. That is, the inclination of the surveying instrument is corrected. Next, while collimating the measuring point with the centripetal telescope, the surveying instrument is appropriately moved in the horizontal direction on the centripetal bearing stand so that the crosshairs in the centripetal overlap the image of the measuring point. As a result, the centering of the surveying instrument is completed, so the surveying instrument is fixed to the tripod by the fixing device provided on the centripetal bearing base.

[0006]

As described above, in the conventional centripetal device, the surveying instrument must be moved horizontally while looking through the centripetal telescope.
However, the direction of the field of view of the centripetal telescope is not only orthogonal to the direction of the moving surface of the centripetal bearing base, but also the left and right are reversed within the field of view. Therefore, an operator is required to be skilled in order to manually move the surveying instrument to perform centripetal reliance on the image in the visual field of the centripetal telescope. That is, the conventional centripetal device has a problem that it is difficult for a beginner to use.

Further, in the conventional centripetal device, since the surveying instrument has to be horizontally moved by a groping, there is a problem that the surveying instrument may be overturned due to excessive force. Further, the conventional centripetal device has a problem that it takes a long time to complete centripetal alignment because it cannot complete centripetal alignment unless it repeats parallel movement of the surveying instrument a plurality of times through trial and error.

An object of the present invention is to provide an automatic centering device for a surveying instrument, which can automatically perform centering without collimation by a centripetal telescope in view of the problems in the conventional centering device described above. .

[0009]

The present invention adopts the following means in order to solve the above problems. That is, a first aspect of an automatic centering device for a surveying instrument according to the present invention is an automatic centering device for a surveying instrument in which a surveying instrument is arranged above a vertical line of a predetermined survey point, and a light beam extending in the vertical direction from the surveying instrument. An imaging optical system having an axis and moving integrally with the surveying instrument in a direction intersecting the optical axis, an imaging device for imaging an image formed by the imaging optical system, and the measuring point by the imaging device. Position detecting means for detecting the position of the measuring point on the basis of image data obtained by imaging the vicinity of the measuring point, and based on the position of the measuring point detected by the position detecting means, And a moving unit that moves the optical axis to the measuring point by moving the optical axis in a direction intersecting the axis (corresponding to claim 1).

A second aspect of the automatic centering device for a surveying instrument according to the present invention is an automatic centering device for a surveying instrument, in which the machine center of the surveying instrument is arranged above the vertical line of a predetermined measurement point. An imaging optical system having an extending optical axis and moving integrally with the surveying instrument in a direction intersecting the optical axis, an imaging device for imaging an image formed by the imaging optical system, and the imaging device Based on the image data obtained by imaging the vicinity of the measuring point, the position detecting means for detecting the position of the measuring point, and based on the position of the measuring point detected by the position detecting means, the surveying instrument And a moving means for moving the machine center in a direction intersecting the optical axis so as to match the machine center with a vertical line of the measuring point (corresponding to claim 6).

[0011]

Embodiments of the present invention will be described below with reference to the drawings. Before giving a detailed description of each embodiment, the concept of each constituent element of the present invention will be described.

(Surveyor) The present invention relates to a rangefinder, a goniometer, etc.
It can be applied to all surveying instruments that require accurate identification of survey points. As a rangefinder, it can be applied to a lightwave rangefinder. Further, as the goniometer, the theodolite such as an electronic theodolite or the transit can be applied. Furthermore, the present invention can also be applied to a total station that combines the functions of an optical distance measuring instrument and an electronic theodolite.

(Machine center) The machine center is a reference position for surveying in the machine of the surveying instrument. When the surveying instrument is a lightwave rangefinder, the machine center is an optically equivalent position on the extension line of the light emitting / receiving optical axis with respect to the light emitting element / light receiving element position. If the surveying instrument is a theodolite, the machine center is the intersection of the axis of rotation that rotates the collimating telescope horizontally and the axis of rotation that vertically rotates it.

(Survey point) A survey point is a survey target point. If this station has a form that can be clearly identified from the outside, it is sufficient to capture the image of the station as it is. However, if the station cannot be clearly identified from the outside, the marking is printed on the station. Will be The marking can be a stake with a crosshair engraved on its top surface.

(Imaging Device) An imaging device such as a CCD or an imaging tube can be used as the imaging device.

(Position Detecting Means) The position detecting means detects the amount of deviation between the image forming position of the measuring point and the optical axis position of the image forming optical system in the image data near the measuring point obtained by the image pickup device. It may be configured to do so (corresponding to claim 2).

Further, the position detecting means defines the image data of the vicinity of the measuring point obtained by the image pickup device in the plane coordinate space, and the image forming position of the measuring point and the image forming optical system in the two orthogonal coordinate axis directions. The optical axis position shift amount may be detected (corresponding to claim 3). In this case, the optical axis position of the imaging optical system may correspond to the origin position of the plane coordinate space (corresponding to claim 5).

(Movement Means) The movement means is composed of two sets of slide stages which respectively slide in the directions corresponding to the respective coordinate axis directions, and the imaging positions of the measuring points in the respective coordinate axis directions detected by the position detection means. Each slide stage may be configured to slide so as to eliminate the deviation amount of the optical axis position of the imaging optical system (corresponding to claim 4).

[0019]

First Embodiment A first embodiment of the present invention will be described below with reference to the drawings. This embodiment shows an example in which the automatic centering device for a surveying instrument according to the present invention is applied to a total station.

<Mechanical Structure of Total Station> FIG. 1
[Fig. 3] is a front view showing the appearance of this total station. As is clear from FIG. 1, the total station includes a total station body 1, a leveling block 3,
The XY stage 4 and the tripod 7 are sequentially stacked from the top of the drawing.

The total station body 1 comprises a substantially U-shaped electronic theodolite block 1b, a lightwave distance measuring block 1a rotatably held in the theodolite block 1b, and a reference block 1c connected to the lower surface of the theodolite block. It consists of and. The optical wave rangefinder block 1a is a coaxial type optical rangefinder that shares the objective optical system of the collimation telescope as an objective lens for the light projecting / receiving system. This lightwave rangefinder block 1a is a reflection prism collimated by a collimation telescope (installed on the measurement target point).
The distance to is measured. Further, the electronic theodolite block 1b is based on the reference block 1c,
This is to measure the relative direction in the horizontal direction and the relative angle in the vertical direction of the measurement target point collimated by the collimation telescope in the optical distance measuring block 1b. Therefore, the electronic theodolite block 1b detects the relative rotation angle of the optical distance measuring block 1a and the relative rotation angle of the reference block 1c with respect to the electronic theodolite block 1b.

As shown in the sectional view of FIG. 2, the leveling block 3 has a hollow cylindrical shape, and the amount of protrusion can be finely adjusted at three positions at equal angular intervals in the circumferential direction. It has a leveling screw 8. Then, by finely adjusting the protrusion amount of these leveling screws 8, the leveling block 3 is moved in the XY direction.
The stage block 4 can be tilted in any direction and angle. A structure for projecting the leveling screw 8 will be described. That is, a notch 3a having a U-shaped cross section is formed on the peripheral surface of the leveling block 3 in parallel with the upper surface of the leveling block 3, and a screw hole is drilled so as to penetrate the notch. There is. Meanwhile, leveling screw 8
Is a male screw portion 8a screwed into this screw hole and the notch 3
It has a male screw portion 8a and a knob portion 8b formed integrally with the male screw portion 8a so as to rotate in a. Therefore, the leveling screw 8 can be moved back and forth in the axial direction by rotating the knob 8b. By properly adjusting the inclination of the leveling block 3 having the above configuration, the reference block 1c can be oriented in the horizontal direction.

The XY stage 4 as a moving means includes a base 4c to which a tripod 7 is connected, an X stage 4b as a slide stage arranged on the base 4c,
It is composed of a Y stage 4a as a slide stage arranged on the X stage 4b. This X
-Each part of the Y stage 4 has a prismatic outer shape, but as shown in the cross-sectional view of FIG. 2, a through hole is formed in the center thereof along the axial direction.

A dovetail-shaped rail 4d is formed on the upper surface of the base 4c along the X direction (direction orthogonal to the paper surface), and the rail 4d is formed on the lower surface of the X stage 4b.
A protrusion 4e having a fitting shape is formed in d. A rack gear 41 is formed on the side surface of the X stage 4b along the X direction.
An X stage drive unit (motor) 6 that rotates a pinion gear 42 that meshes with 1 is fixed to a base 4c. Therefore, by rotating the X stage drive unit (motor) 6, the X stage 4b can be slid in the X direction with respect to the base 4c.

Similarly, a dovetail-shaped rail 4f is formed on the upper surface of the X stage 4b along the Y direction (left-right direction on the paper surface), and the lower surface of the Y stage 4a fits on the rail 4f. A protrusion 4g having a matching shape is formed. Further, on the side surface along the Y direction of the Y stage 4a,
A rack gear 43 is formed, and a Y stage drive unit (motor) 5 that rotates a pinion gear 44 that meshes with the rack gear 43 is fixed to the X stage 4b. Therefore, by rotating the Y stage drive unit (motor) 5, the Y stage 4a can be slid in the Y direction with respect to the X stage 4b.

In FIG. 1, K indicates a pile driven into a measuring point. This pile K is included in the electronic theodolite block 1b.
An image pickup unit 2 for picking up an image is provided. As shown in the cross-sectional view of FIG. 2, the image pickup unit 2 includes an image pickup device (CCD) 9 as an image pickup device. In addition, the imaging unit 2
An image forming optical system L for forming an image of the pile K on the image pickup device 9 is built in the small diameter portion connecting the electronic theodolite block 1b and the electronic theodolite block 1b. The reflecting mirror M has a function of bending the optical axis 1 of the image forming optical system L downward and advancing it along the rotation axis of the reference block 1c with respect to the electronic theodolite block 1b. By the way, the rotation axis of the reference block 1c intersects with the rotation axis of the optical distance measuring block 1a. In addition, this intersection is the lightwave rangefinder block 1
It coincides with the optically equivalent position with respect to the positions of the light emitting element and the light receiving element in a. Therefore, when the total station body 1 is arranged horizontally, the optical axis 1 along the rotation axis of the reference block 1c extends vertically from the machine center of the total station body 1. Further, when the total station body 1 is moved in the horizontal direction by the XY stage 4, the imaging optical system L moves integrally with it.

In the reference block 1c, the optical axis l
A prism P is installed inside. This prism P
Has a joint surface inclined by 45 ° with respect to the optical axis l,
This joining surface is a half mirror. An illumination lamp R for emitting illumination light is provided on the side of the prism P.
And a convex lens C for causing the illumination light emitted from the illumination lamp R to enter the prism P. The illumination light incident on the prism P by the convex lens C travels along the optical axis 1 and illuminates the pile K.

<Circuit Configuration of Total Station> Next, a circuit configuration for driving and controlling the XY stage 4 based on the image obtained by the above-described image pickup device 9 will be described. In the block diagram of FIG. 4, the central control unit 10
Is a processing device for controlling the entire total station, particularly for automatic centering. This central control unit 10
A distance measuring unit 11, a side corner unit 12, an operation display unit 13, an image processing unit 14, an X stage drive unit 6, and a Y stage drive unit 5 are connected to the.

The distance measuring unit 11 is a circuit block which functions as a light wave distance measuring device. In addition, the side corner portion 12 is a circuit block that functions as an electronic theodolite. Therefore, the side corner portion 12 inputs information about the relative angle of the electronic theodolite block 1b with respect to the reference block 1c to the central control unit 10. In addition, the operation display unit 1
Reference numeral 3 denotes a display for displaying processing results by the central control unit 10 and operation instructions for the operator, and an input key for inputting data and commands to the central control unit 10, which are provided on the outer surface of the total station body 1.

The image processing unit 14 to which the image data (see FIG. 6) taken by the solid-state image pickup device 9 is input, writes this image data in the memory 15 once. This memory 1
An XY coordinate space as shown in FIG. 7 is defined in 5, and the image coordinate position is defined by mapping the image data on this XY coordinate space. When performing this mapping, the image processing unit 14 receives angle information about the relative angle of the electronic theodolite block 1b with respect to the reference block 1c from the central control unit 10. Then, the image data is converted into XY according to the angle information.
The direction of mapping in the coordinate space is variable.

That is, since the electronic theodolite block 1b is rotatable with respect to the subject, the orientation of the image formed on the image pickup element 9 is also rotated according to the rotation of the electronic theodolite block 1b. On the other hand, even if the electronic theodolite block 1b rotates, the orientation of the XY stage 4 is always constant. Therefore, the electronic theodolite block 1b
The image processing unit 14 rotates the direction of writing the image data in the XY space around the origin (0) according to the angle information so that a constant coordinate position can always be defined even when the image is rotated. For example, in the state shown in FIG. 2, an image formed on the pixels arranged in the vertical direction on the paper surface is indicated by X in FIG.
In the case of writing in the axial direction, when the electronic theodolite block 1b rotates by 90 °, the image formed on the same pixel is written in the Y-axis direction in FIG. The origin (O) of the XY space always corresponds to the center of the image formed on the image sensor 9, that is, the pixel on the optical axis 1.

The image processing section 14 extracts only the image of the pile K from the image mapped in the XY space and notifies the central control section 10 of it.

<Processing Flow in Central Control Unit 10>
Next, the content of the automatic centripetal process executed by the central control unit 10 upon receiving the image data notification from the image processing unit 14 will be described based on the flowchart of FIG.

The automatic centripetal process shown in FIG. 5 starts when the total station body 1 is turned on. Then, in the first step S1, it is determined whether or not to perform the automatic centripetal work. This determination is made according to the content of the key input through the operation display unit 13. For example, when the total station body 1 has not been moved since the last time it was used, it is not necessary to perform the centering work again, so that a key input for "not performing the automatic centering work" is performed. In this case, the automatic centripetal process is terminated as it is.

When the key input of "perform automatic centering work" is made, in the next step S2, the XY stage 4 is driven so that the pile K enters the field of view of the centering telescope. That is, the X-Y stage 4 is driven so that the X-Y stage 4 is combined with the X-direction scanning and the Y-direction scanning so as to scan the entire space capable of being photographed. And
When the pile K enters the centripetal field of view, or when scanning of the entire space that can be imaged is completed without the pile K entering the centripetal field of view, the drive of the XY stage 4 is stopped. To do.

In the next step S3, it is checked whether or not the pile K has entered the field of view of the centripetal telescope as a result of the execution of step S2. If the pile K is not within the field of view of the centripetal telescope, in step S8, the operation display unit 1
A message to the effect that "reset tripod" is displayed on 3. If the operator repositions the tripod according to this display, the process returns to step S2, while if the pile K is in the field of view of the centripetal telescope in step S3, in the next step S4, Find the coordinates of the center of the pile K. That is, the image processing unit 14
The image data notified from is scanned, and the coordinate position of the center of the pile K is specified (corresponding to the position detecting means).

In the next step S5, it is checked whether the coordinate position of the center of the pile K coincides with the machine center. That is, an object on the optical axis l along the machine center of the total station body 1 forms an image on the center of the image sensor 9 (pixels on the optical axis l). The center of the image sensor 9 always corresponds to the origin position of the XY coordinates. Therefore, the check in step S5 is performed by determining whether or not the coordinate position of the center of the pile K is at the origin (0).

When the coordinates of the center of the pile K do not coincide with the machine center, in the next step S6, the XY stage 4 is driven so that the center of the pile K coincides with the machine center (moving means). Corresponding to). That is, the scale in the X direction and the scale in the Y direction of the XY coordinates are the X stage 4b and the Y stage.
It has a proportional relationship with the movement amount of the stage 4a. Therefore, the pile K
By multiplying the value of X, which indicates the coordinate position of, by a specific proportional constant,
The drive amount of the X stage 4b required to move the coordinate position of the pile K to the origin position in the X direction can be calculated. The central control unit notifies the X stage drive unit 6 of the drive amount calculated in this way, and the X stage 4b
Is driven to slide. In the example in which the state of FIG. 2 is standard, when the image forming position of the pile K is on the front side of the paper surface (takes a positive polarity), the X stage 4b is slid to the back side of the paper surface to move the back side of the paper surface ( In the case of negative polarity), the X stage 4b is slid to the front side of the drawing. Similarly, by multiplying the value of Y indicating the coordinate position of the pile K by the same proportionality constant, the movement amount of the Y stage 4a required to move the coordinate position of the pile K to the origin position in the Y direction is calculated. can do. The central control unit notifies the Y stage drive unit 5 of the drive amount calculated in this way,
The Y stage 4a is driven to slide. In addition,
In the example in which the state of FIG. 2 is standard, when the image forming position of the pile K is on the upper side of the paper (takes a positive polarity), the Y stage 4a is slid to the left side of the paper and the lower side of the paper (- In the case of the polarity), the Y stage 4a is slid to the right side of the drawing.

In the next step S7, it is checked whether or not the X stage 4b or the Y stage 4c has been driven to the drive limit thereof as a result of the drive in step S6. If the pile K has been driven to the drive limit, it means that the pile K is not within the adjustable range, and thus the process proceeds to step S8. On the other hand, when the driving is not performed up to the driving limit, the processing is returned to steps S4 and S5, and it is rechecked whether the coordinates of the center of the pile K match the machine center. As a result of the recheck, when it is determined that the coordinates of the center of the pile K match the machine center,
Since the centripetal work is completed, the automatic centripetal process is terminated.

<Operation of the Embodiment> Next, the operation of the present embodiment configured as described above will be described. When installing this total station, first, the tripod 7 is connected to the base 4c of the XY stage 4. Then, the total station is set up on the ground so that the machine center of the total station body 1 is generally located on the vertical line of the center of the pile K.
Next, while watching the bubble tube (not shown), the three knobs 8b provided on the leveling table 3 are appropriately rotated to adjust the protruding amount of each leveling screw 8 so that the leveling table 3 becomes horizontal. adjust.

Next, the total station body 1 is turned on. At this time, the electronic theodolite block 1b
May be oriented in any direction with respect to the reference block 1c. When the power is turned on, the central control unit 10 starts the automatic centripetal control process. Then, first, a display is displayed on the operation display unit 13 asking whether or not to perform the automatic centripetal work.

When the worker responds to this question by performing a key input for "performing automatic centering work", the XY table 4 is appropriately slid and driven, and the pile K is searched. If the pile is not found, the operation display unit 13 displays a message prompting the user to correct the position where the tripod is set. When the operator adjusts the position of the tripod in response to this question, the XY table 4
Is driven again. Then, when the pile K is found, this time, the drive of the XY table 4 for forming the image of the center of the pile K on the center of the image sensor 9, that is, the machine center (optical axis 1) is aligned with the center of the pile K. The XY table 4 is driven to operate. As a result of this driving, when it becomes clear that the center of the pile K is located outside the movement range of the machine center, the operation display unit 13 displays a message prompting the correction of the position of the tripod. When the operator adjusts the position of the tripod in response to this question, the XY table 4 is driven again.

As a result of driving the XY table 4 as described above, when the center of the pile K coincides with the machine center, the automatic centering work is completed and the distance measurement and / or the angle measurement operation can be performed. When the illuminance of the pile K is lower than the sensitivity of the image sensor 9, such as at night, the lighting lamp R is turned on. Then, the illumination light from the illumination lamp R is irradiated by the prism P along the optical axis l. Therefore, as long as the pile K exists in the vicinity of the machine center of the total station, the pile K is illuminated by the illumination light.
Can be imaged. Therefore, the automatic centripetal work can be executed.

[0044]

According to the automatic centripetal device of the surveying instrument of the present invention configured as described above, centripetal alignment can be automatically executed without collimation by the centripetal telescope. Therefore, even if you are not a skilled worker, you do not have to defeat the surveying instrument,
The centripetal work of the surveying instrument can be performed in a short time.

[Brief description of drawings]

FIG. 1 is a front view showing the appearance of a total station to which an automatic centering device for a surveying instrument according to an embodiment of the present invention is applied.

FIG. 2 is a vertical cross-sectional view taken along the machine center of the total station shown in FIG.

FIG. 3 is an optical configuration diagram in which only the optical components in FIG. 2 are extracted.

FIG. 4 is a block diagram showing a circuit configuration inside the total station body.

5 is a flowchart showing the contents of automatic centripetal control processing executed by the central control unit of FIG.

FIG. 6 is a diagram showing an example of image data captured by an image sensor.

7 is a diagram showing a state in which the image data of FIG. 6 is mapped in the memory of FIG.

[Explanation of symbols]

 1 Total Station Main Body 2 Imaging Section 4 XY Stage 5 Y Stage Driving Section 6 X Stage Driving Section 9 Imaging Device 10 Central Control Section 14 Image Processing Section 15 Memory L Imaging Optical System M Reflection Mirror K Pile

Claims (6)

[Claims] 1. An automatic centering device for a surveying instrument in which a surveying instrument is arranged above a vertical line of a predetermined survey point, wherein the surveying instrument has an optical axis extending in the vertical direction from the surveying instrument and intersects with the optical axis. An imaging optical system that moves integrally with the machine, an imaging device that captures an image formed by the imaging optical system, and based on image data obtained by imaging the vicinity of the measurement point by the imaging device. Position detecting means for detecting the position of the measuring point, and based on the position of the measuring point detected by the position detecting means, move the surveying instrument in a direction intersecting the optical axis to move the optical axis. An automatic centering device for a surveying instrument, comprising: a moving unit that matches a measuring point. 2. The position detecting means detects the amount of deviation between the image forming position of the measuring point and the optical axis position of the image forming optical system in the image data. Automatic centering device for the surveying instrument described. 3. The position detecting means defines the image data in a plane coordinate space, and shifts the image forming position of the measuring point and the optical axis position of the image forming optical system in two orthogonal coordinate axis directions. The automatic centering device for a surveying instrument according to claim 1, wherein the amount is detected. 4. The moving device is composed of two sets of slide stages that respectively slide in directions corresponding to the coordinate axis directions, and image formation positions of the measuring points in the coordinate axis directions detected by the position detecting means. 4. The automatic centering device for a surveying instrument according to claim 3, wherein each slide stage is slid so as to eliminate the deviation amount of the optical axis position of the imaging optical system. 5. An automatic centering device for a surveying instrument according to claim 3, wherein the optical axis position of said imaging optical system corresponds to the origin position of said plane coordinate space. 6. An automatic centering device for a surveying instrument, wherein a machine center of the surveying instrument is arranged above a vertical line of a predetermined measurement point, wherein the surveying instrument has an optical axis extending in the vertical direction and intersects with the optical axis. An image-forming optical system that moves integrally with the image-forming optical system, an image-capturing device that captures an image formed by the image-forming optical system, and an image-capturing device that captures the vicinity of the measurement point by the image-capturing device. Position detecting means for detecting the position of the measuring point, and based on the position of the measuring point detected by the position detecting means, the surveying instrument is moved in a direction intersecting the optical axis to measure the machine center. An automatic centripetal device for a surveying instrument, which is provided with a moving means for matching the points on a vertical line.