JPH08313255A - Laser surveying device - Google Patents

Abstract

PURPOSE: To save trouble of detection and to facilitate the detection even when moving speed is great during the detection of multiple points by a method wherein the detection of a two-dimensional position of a laser reflection point is executed by calculating an angle direction and a distance of a detection point based on an already-known point where a reference rotational axle of a laser surveying device is disposed. CONSTITUTION: A laser light LS is emitted outside such that it is scanned on a scanning plane SH1 by a reflection mirror 16 which is rotatable around a perpendicular reference rotation axle Q1. A laser angle-measuring device 50 catches the laser light LS reflected by an external laser reflection point R1 and detects an angle direction toward the laser reflection point R1 around the reference rotation axle Q1 (laser emission reference point) in accordance with a rotational angle of the reflection mirror 16. A laser distance-measuring 51 emits a laser light from the reflection mirror 16 of a laser emission section on the basis of the reference point Q1 and receives the laser light reflected by an external laser reflection point R2 so that a distance KY between the reference point Q1 and laser reflection point R2, R1 is measured to be calculated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a laser surveying device suitable for performing surveying by detecting a two-dimensional position using laser light.

[0002]

2. Description of the Related Art Conventionally, a known laser angle-measuring device (that is, a laser beam can be rotationally driven by a reflecting mirror, at two known points whose two-dimensional position in XY two-dimensional coordinates is known).
Angular direction from the surveying reference point of the device to the external laser reflection point by the rotation angle of the reflecting mirror that captures the laser light that is emitted to the outside in the form of scanning on the scanning plane and is emitted and reflected from the outside. Are installed respectively, and these laser angle measuring devices geometrically determine relative two-dimensional positions of the detection points where targets and the like capable of reflecting laser light are installed with respect to the two known points. Laser surveying has been proposed and carried out to detect the two-dimensional position of the detection point in the XY two-dimensional coordinates or the like based on the obtained relative two-dimensional position and the secondary position of the two known points.

[0003]

However, in the conventional laser surveying, the detection of the two-dimensional position of the detection point is performed geometrically using two known points and the property of the triangle formed by the detection points. Therefore, the closer the position of the detection point is to the position of the straight line connecting these two known points, the lower the accuracy becomes. Further, when the position of the detection point exists on the straight line connecting these two known points, it is geometrically impossible to obtain the two-dimensional position. Therefore, in the conventional laser surveying, in order to detect the two-dimensional position of the detection point with high accuracy, these two known points are located so as to be as far as possible from the position of the straight line connecting the two known points. Must be selected. However, this selection needs to assume a straight line connecting two known points, and cannot be done simply by considering the distance between the known point and the detection point. Therefore, the task of laser surveying is troublesome after all. Further, in laser surveying in which the two-dimensional positions of many detection points are detected while moving the target, it is possible to easily detect the two-dimensional positions of these detection points even if the target is moved at a high speed. There is a desire for a laser surveying instrument that can do so.

In view of the above circumstances, the present invention can detect the two-dimensional positions of the detection points without any trouble, and also detects the two-dimensional positions of a large number of detection points while moving the target. In surveying, it is an object to provide a laser surveying device that can easily detect the two-dimensional position of these detection points even if the target is moved at a high speed.

[0005]

That is, the first invention of the present invention has a main body (3, 5, 70) and a laser beam (L
S) is scanned by a reflecting mirror (16, 75) which can be rotationally driven by a vertical reference rotation axis (Q1, Q2).
1) Laser light (LS) emitted to the outside in the form of scanning above, emitted, and reflected at an external laser reflection point (R1)
And the rotation angle of the reflecting mirror (16, 75) (θ
Angular direction (KH) toward the laser reflection point (R1) about the reference rotation axis (Q1, Q2) by A)
A laser angle measuring device (50, 72) capable of detecting a predetermined laser emission reference point (Q1,
The laser light (LT, LS) is emitted from the laser emission part (16, 77a) with reference to Q2), and the laser light (LT, LT, reflected at the external laser reflection point (R2, R1)
The laser emission reference point (Q1,
Laser range finder (51, 6) capable of measuring and calculating the distance (KY) between Q2) and the laser reflection point (R2, R1).
1, 73, 81) are provided on the main body (5, 70), and the laser emission reference points (Q1, Q2) of the laser distance measuring device (51, 61, 73, 81) are connected to the laser angle measuring device (5).
0, 72) on the reference rotation axis (Q1, Q2), and the laser distance measuring device (51, 61, 73, 81) is provided with the laser emission part (16, 77a) on the reference rotation axis (Q).
1, Q2) as a center, and a laser emission unit driving means (17, 70a) that can be rotationally driven is provided, and the laser angle measuring device (50, 72) is a laser reflected at an external laser reflection point (R1). When capturing the light (LS), the laser distance measuring device (51, 61, 73, 81) is provided with the laser emission reference point (Q1, Q2) and the laser reflection point (R2, R).
1) is provided with distance measurement calculation command means (40) for commanding measurement calculation of the distance (KY), and the angle direction (KH) detected by the laser angle measuring device (50, 72) and the laser. The two-dimensional position (NTx, NT) of the laser reflection point (R1, R2) is based on the distance (KY) measured and calculated by the distance measuring device (51, 61, 73, 81).
A two-dimensional position calculation unit (30) capable of calculating y) is provided.

A second aspect of the present invention is the laser surveying device (2X) according to the first aspect, wherein the laser angle measuring device (50) and the laser distance measuring device (61) are shared by the laser oscillation means. (11), and the reflecting mirror (16) of the laser angle measuring device (50) also serves as the laser emitting portion (16) of the laser distance measuring device (61).

A third aspect of the present invention is the laser surveying instrument (2, 2X, 2Y, 2Z) according to the first aspect, wherein the reference rotation axis (Q1, The phase in the laser emission direction with respect to Q2) and the phase in the laser emission direction with respect to the reference rotation axis (Q1, Q2) of the laser range finder (51, 61, 73, 81) match.

The numbers in parentheses () indicate the corresponding elements in the drawings for the sake of convenience, and therefore the present description is not limited to the description in the drawings. The same applies to the following action columns.

[0009]

According to the first aspect of the present invention, the laser reflection point (R1, R1), which is the detection point (Kx, Ky), has the above-described structure.
The two-dimensional position (NTx, NTy) of R2) is detected by the reference rotation axis (Q) of the laser surveying device (2, 2X, 2Y, 2Z).
1, Q2) is associated with one known point (K0) and the detection point (Kx, Ky) is in the angular direction (KH) and distance (KH).
Y).

In the second aspect of the present invention, the laser oscillating means (11) and the like need not be separately provided between the laser angle measuring device (50) and the laser distance measuring device (61), and the laser It is not necessary to separately provide the reflecting mirror (16) of the angle measuring device (50) and the laser emitting part (16) of the laser distance measuring device (61).

According to the third aspect of the present invention, the phase of the laser angle measuring device (50, 72) in the laser emitting direction with respect to the reference rotation axis (Q1, Q2) and the laser distance measuring device (51, 61). 73, 81) reference rotation axis (Q1, Q
Since the phase of the laser emission direction with respect to 2) is the same, the angle direction (K
H) detection and laser range finder (51, 61, 7)
The calculation calculation of the distance (KY) between the laser emission reference point (Q1, Q2) and the laser reflection point (R2, R1) by 3, 81) is also performed without delay.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic diagram showing an example of a laser surveying device according to the present invention, FIG. 2 is a block diagram showing respective control means and the like of the laser surveying device shown in FIG. 1, and FIG. FIG. 4 is a view showing a state in which surveying is performed using the laser surveying apparatus shown in FIG. 1, and FIGS. 5 to 7 show another example of the laser surveying apparatus according to the present invention. It is a schematic diagram.

As shown in FIGS. 1 and 4, the surveying site 1 is provided with a known point K0 in predetermined XY two-dimensional coordinates (planar coordinates), and the surveying site 1 has the known point K0. K
The laser surveying device 2 according to the invention is installed in a manner corresponding to zero. The laser surveying device 2, as shown in FIG.
It has a tripod 3 standing on the ground of the survey site 1, and a casing 5 is supported and fixed on the tripod 3. In addition,
Although FIG. 1 is a side view of the laser surveying instrument 2, the inside of the casing 5 is shown for convenience. The casing 5 is provided with a laser angle measuring device 50. That is,
The laser angle measuring device 50 includes a laser oscillator 11, a half mirror 12, and an optical sensor 15 provided inside the casing 5.
The laser light LS oscillated in the horizontal direction indicated by the arrow A in FIG. 1 by the laser oscillator 11 hits the reflecting surface 12a of the half mirror 12 and is in the vertically upward direction indicated by the arrow C in FIG. It is designed to bend and reflect.
Further, the laser light LS bent and reflected in the direction of arrow C travels in the direction of arrow C above the casing 5 through a laser passage hole 6 formed in the top plate portion 5a of the casing 5 and the like.

Further, the laser angle measuring device 50 is shown in FIGS.
As shown in FIG.
The laser beam LS which has the laser reflection mirror 9 supported via a and travels in the direction of arrow C above the casing 5 through the laser passage hole 6 of the casing 5 as described above is reflected by the laser. It hits the reflecting surface 9b of the mirror 9 and bends and reflects in the direction of arrow B, which is the direction opposite to the direction of arrow A in the figure, which is the horizontal direction. Further, the laser angle measuring device 50 has a scanning drive unit 17 such as an electric motor provided in the casing 5, and the scanning drive unit 17 is provided.
A rotary shaft member 17b, which can be axially driven by the scanning drive unit 17, is connected to the above in a manner extending in the upward direction (that is, the arrow C direction). The upper end side of the rotary shaft member 17b penetrates the top plate portion 5a of the casing 5 and projects above the casing 5, and the portion of the rotary shaft member 17b that projects above the casing 5 has a flat plate shape. The rotating mirror 16 in which the reflecting surfaces 16a and 16a are formed on both the front and back surfaces is joined with the reflecting surfaces 16a and 16a oriented vertically.
That is, by rotating the rotary shaft member 17b by the scan driving unit 17, the rotary mirror 16 can be rotationally driven in the direction of arrow G in FIG. 1 about the rotary shaft Q1 which is the shaft center of the rotary shaft member 17b. It is like this. Further, the rotating mirror 16 and the like are arranged such that the rotating shaft Q1 is located on an extension line of the path of the laser light LS that strikes the laser reflecting mirror 9 and is bent and reflected in the arrow B direction. Therefore, the laser light LS that hits the laser reflecting mirror 9 and is bent and reflected in the direction of the arrow B reaches the rotating mirror 16, and one of the reflecting surfaces 16a of the rotating mirror 16 is substantially the same as the rotating shaft Q1. Reflection points P at the same position
At point 1, the reflection point P1 is reflected in the horizontal arrow E direction.

By the way, the laser beam LS reflected by the rotating mirror 16 and traveling in the direction of the arrow E is a predetermined target 60.
When reflected by (described later), the laser light LS travels from the target 60 in the arrow F direction opposite to the arrow E direction and reaches the rotating mirror 16 again, as shown in FIG. 3 or 4. The position state of the rotary mirror 16 at this time is substantially the same as the position state when the laser light LS is reflected in the direction of the arrow E (because the rotation speed of the rotary mirror 16 is higher than the speed of the laser light LS. Is small enough to be ignored), the laser light LS reaching the rotating mirror 16 in the arrow F direction is reflected by the rotating mirror 16 and is rotated in the arrow A direction opposite to the arrow B direction. Head on the same route as the one that was headed in the direction of arrow B toward. The laser light LS traveling in the direction of arrow A is reflected by the laser reflection mirror 9 in the direction of arrow D, which is the opposite direction of arrow C.
Laser light LS which is reflected in the direction of D and advances in the direction of arrow D after the reflection.
Reaches the half mirror 12. By the way, a part of the laser light LS reaching the reflecting surface 12a of the half mirror 12 passes through the half mirror 12 and goes straight,
The light is received by the light receiving portion of the optical sensor 15P arranged on the arrow D side of the half mirror 12.

Further, in the scanning drive section 17, the rotation angle θA in the current position state of the rotary mirror 19 (for example, as shown in FIG. 3, the arrow B direction and the arrow J direction which is the normal direction of the reflecting surface 16a). The angle of rotation θA is detected instantaneously, and the rotation angle θA is corrected to a scanning angle θB which is an angle formed by the arrow E direction and the arrow B direction, which are the laser emission directions, and an external angle measurement control (described later) is performed. The scanning angle detecting means 32 that can output to the means 19 side) is provided. Laser angle measuring device 5
As shown in FIG. 2, the angle measurement control unit 19 is provided at 0. The angle measurement control unit 19 has a main control unit 20, and the main control unit 20 has a light receiving detection unit 2 via a bus line.
1, a laser controller 22, a scan driver controller 23, and an angle direction detector 24 are connected. In addition, the light reception detector 21
Is connected to the optical sensor 15, and the laser control unit 2
2 is connected to the laser oscillator 11, the scan driver controller 23 is connected to the scan driver 17, and the main controller 20 is connected to the scan angle detector 32 via a bus line. Are connected.

On the other hand, the casing 5 is provided with a laser distance measuring device 51 as shown in FIG. That is, the laser distance measuring device 51 has a distance measuring laser oscillating / receiving unit 13 provided inside the casing 5, and the distance measuring laser oscillating / receiving unit 13 vertically extends to the arrow C in FIG. The distance-measuring laser light LT oscillated in the direction passes through a distance-measuring laser passage hole 7 (a hole different from the laser passage hole 6) formed in the top plate portion 5a of the casing 5 or the like, and is directed upward of the casing 5. It is designed to proceed in the C direction. Further laser range finder 5
As shown in FIGS. 1 and 3, reference numeral 1 has a distance measuring laser reflection mirror 10 supported on an upper part of a casing 5 through an appropriate supporting member 10a. The distance-measuring laser light LT that has traveled in the direction of arrow C above the casing 5 through the laser passage hole 7 strikes the reflecting surface 10b of the distance-measuring laser reflection mirror 10 and is bent and reflected in the direction of arrow B in FIG. Has become. The path of the above-described laser light LS that strikes the laser reflection mirror 9 and bends and reflects in the direction of arrow B and the path of the range-finding laser light LT that strikes the ranging laser reflection mirror 10 and that bends and reflects in the direction of arrow B are in the vertical direction. , That is, arrows C and D in the figure
It is located according to the direction. That is, the distance-measuring laser light LT travels in the arrow B direction directly above the laser light LS traveling in the arrow B direction.

Further, the rotation axis Q1 of the rotary mirror 16 is positioned on the extension line of the path of the distance measuring laser light LT which strikes the distance measuring laser reflecting mirror 10 and is bent and reflected in the direction of the arrow B. Therefore, the distance-measuring laser light LT which is reflected by the distance-measuring laser reflecting mirror 10 and bent and reflected in the direction of the arrow B reaches the rotating mirror 16, and one of the reflecting surfaces 16 a of the rotating mirror 16 is rotated. It hits a reflection point P2 (above the reflection point P1) at a position substantially equal to the axis Q1 and reflects in the horizontal arrow E direction at the reflection point P2. In other words, the laser emission reference point of the laser range finder 51 is the reflection point P2 arranged at a position substantially equal to the rotation axis Q1, and the rotary mirror 16 of the laser range finder 50 is of the laser range finder 51. Also serves as a laser emission unit. Further, since it is the above-mentioned scanning drive unit 17 that rotationally drives the rotary mirror 16 which is the laser emission unit of the laser range finder 51 about the rotation axis Q1, the scanning drive unit 17 is a laser emission unit. It also serves as a driving means. By the way, the rotating mirror 16
When the distance-measuring laser light LT which is reflected by and travels in the direction of the arrow E is reflected by a predetermined target 60 (described later), the distance-measuring laser light LT travels from the target 60 in the direction of the arrow F and again rotates the mirror. Reach 16. The distance-measuring laser light LT that has reached the rotating mirror 16 is reflected by the rotating mirror 16 in the direction of arrow A, and travels in the opposite direction along the same path as the direction of the arrow B toward the rotating mirror 16. The distance-measuring laser light LT that has traveled in the direction of arrow A is the distance-measuring laser reflecting mirror 10
The distance-measuring laser LT, which is reflected by the arrow mark D in the direction of arrow D and travels in the direction of arrow D after reflection, reaches the distance-measuring laser oscillation / reception unit 13. The distance measuring laser LT that has reached the distance measuring laser oscillating / receiving unit 13 is received by the distance measuring laser oscillating / receiving unit 13.

Further, the laser distance measuring device 51 is provided with distance measuring control means 25, as shown in FIG. The distance measurement control means 25 has a main control unit 26, and the distance measurement laser control unit 27, the phase difference detection unit 28, and the distance calculation unit 29 are connected to the main control unit 26 via a bus line. . Further, the distance measurement laser control unit 27 and the phase difference detection unit 28 are connected to the distance measurement laser oscillation / reception unit 13. Since there are almost no obstacles in the vicinity of the rotating mirror 16 (only the laser reflecting mirror 9 or the distance measuring laser reflecting mirror 10), the laser light L reflected by the rotating mirror 16 is present.
The S and the distance-measuring laser light LT can travel laterally around the casing 5 regardless of the position of the rotary mirror 16 at approximately 360 degrees. That is, the laser angle measuring device 50
Is capable of scanning the laser beam LS on the horizontal scanning plane SH1 at about 360 degrees around the casing 5, and the laser range finder 51 has a range of about 360 degrees around the casing 5. The distance measuring laser beam LT can be emitted to the outside in an arbitrary angle direction.
Further, the laser surveying device 2 has been described as being installed corresponding to the known point K0 of the surveying site 1, but more specifically, the laser beam LS and the range-finding laser beam LT reflected by the rotating mirror 16 are reflected. Points P1 and P2, that is, the rotating mirror 1
The rotation axis Q1 of 6 is installed just above the known point K0. Further, the laser surveying device 2 is installed so that the direction of the arrow B coincides with the X-axis direction of the predetermined XY two-dimensional coordinate in the surveying site 1.

In addition to the laser angle measuring device 50 and the laser distance measuring device 51 described above, the laser surveying device 2 is, as shown in FIG. 2, a distance measurement calculation command means 40, a two-dimensional position calculation part 30, an output part 31, The input unit 33 and the memory unit 35 are respectively connected to the angle measuring control unit 19 and the distance measuring control unit 25 via bus lines. On the other hand, a known laser surveying target 60 is installed at the surveying site 1 as shown in FIG. The target 60 is formed in a rod shape extending in the vertical direction (not shown), and a reflection surface (not shown) capable of reflecting laser light is attached to the outer peripheral side thereof. . This reflection surface has a recursive property of reflecting the laser light in the same path as the incident path in the opposite direction when the laser light hits.

Since the laser surveying device 2 and the target 60 are configured as described above, the laser surveying device 2
The following is a survey work at the survey site 1 using. First, as shown in FIG. 4, the detection points Kx and Ky from which the two-dimensional position is to be detected in the survey site 1 are to be detected.
Etc. are selected and an appropriate point in the vicinity thereof is selected, and the two-dimensional position NT1 (that is, the coordinate position on the XY two-dimensional coordinates) of the point is detected by an appropriate surveying method (the conventional surveying method may be used). . Upon detection, the point became a known point K0 at which the two-dimensional position NT1 was known. Next, as shown in FIGS. 1 and 4, the laser surveying instrument 2 is installed in a form corresponding to a known point K0, that is, a rotation axis Q1 of the rotating mirror 16 is located directly above the known point K0. . The direction of the arrow B in the laser surveying instrument 2 is detected by detecting the X-axis direction of the XY two-dimensional coordinates by an appropriate azimuth detecting means or the like (this detecting method may be any method conventionally used). The laser surveying device 2 is arranged so as to coincide with the X-axis direction. Further, in the survey site 1, the target 60 is installed at the detection point Kx from which the two-dimensional position NTx is about to be detected.

Next, an instruction to start the surveying work is input through the input unit 33 of the laser surveying instrument 2. The input instruction is transmitted to the angle measuring control means 19 via the bus line as shown in FIG.
Is transmitted to the main control unit 20, and the main control unit 20 commands the laser control unit 22 to perform laser oscillation. In response to the laser oscillation command, the laser control unit 22 starts the laser oscillation unit 11 to start the oscillation of the laser light LS. As a result, the laser beam LS is continuously oscillated from the laser oscillating unit 11 thereafter. The oscillated laser light LS travels in the direction of arrow A in FIG. 1, is reflected by the half mirror 12 and travels in the direction of arrow C,
Further, it reflects on the laser reflection mirror 9 and advances in the direction of arrow B,
The rotating mirror 16 is reached. Further, in response to the instruction to start the surveying work, the main control unit 20 commands the scan drive unit control unit 23 to drive the rotary mirror 16, and the scan drive unit control unit 23.
In response to the command, starts the scan drive unit 17 and starts the rotary drive of the rotary mirror 16. As a result, the rotary mirror 16 is continuously driven to rotate in the arrow G direction thereafter. Therefore, the laser light LS reaching the rotating mirror 16
Is a shape which is reflected on the reflection point P1 of one of the reflecting surfaces 16a of the rotating mirrors 16 which changes the direction of the reflecting surfaces 16a, 16a moment by moment and is scanned on the scanning plane SH1. Is ejected to the outside in the direction of arrow E.

As shown in FIG. 4, the laser beam LS scanning the scanning plane SH1 around the laser surveying instrument 2, and thus around the rotation axis Q1 at about 360 degrees, rotates around the laser surveying instrument 2 as shown in FIG. The target 60 existing in either direction is reached. The laser light LS reaching the target 60 hits a reflecting surface having a recursive property, is reflected in the direction of the arrow F at the hitting laser reflection point R1, travels along the same path as the forward path to the target 60, and again rotates the rotary mirror 16. To reach. Laser light LS
Rotating mirror 1 at the time when reaches the rotating mirror 16 again
As described above, the position state of 6 is substantially the same as the position state of the rotating mirror 16 at the time when the laser beam LS is reflected by the rotating mirror 16 in the direction of the arrow E immediately before, so that the laser beam LS rotates. The light is reflected at the reflection point P1 of the reflection surface 16a of the mirror 16, travels in the same direction as the forward path in the direction of arrow A, is reflected by the laser reflection mirror 9 in the direction of arrow D, and reaches the half mirror 12. Therefore, the half mirror 12
A part of the laser light LS that reaches the half mirror 12
Is received (that is, captured) by the optical sensor 15.

By the way, the optical sensor 15 receives the laser beam LS, that is, captures the laser beam LS, thereby outputting a predetermined voltage to the light receiving detector 21, as shown in FIG. The output predetermined voltage is detected, and a light reception signal S1 indicating that the laser light LS has been received is transmitted to the angle direction detection unit 24. On the other hand, the scanning angle detecting means 32 detects the rotation angle θA of the rotary mirror 16 at any time, and the rotation angle θA is detected as described above.
After being corrected to B, the scanning angle θB is sequentially transmitted to the angle direction detection unit 24. Therefore, the angle direction detection unit 24
When the received light signal S1 from the optical sensor 15 is received, the latest scan angle θB transmitted from the scan angle detection means 32.
Is determined to be a scanning angle θB corresponding to the target 60, and based on the scanning angle θB, an angular direction KE toward the laser reflection point R1 of the target 60 centered on the rotation axis Q1 (for example, specifically, , The direction vector of the scanning angle θB around the rotation axis Q1, that is, the direction vector on the two-dimensional coordinates toward the arrow E direction) is calculated and detected. The calculated angle direction KE is transmitted to the two-dimensional position calculation unit 30 via the bus line.

Further, the received light detecting section 21 receives the received light signal S1.
Is transmitted not only to the angle direction detection section 24 but also to the distance measurement calculation command means 40. The distance measurement calculation command means 40 that has received the light reception signal S1 transmits a distance measurement calculation command to the distance measurement control means 25. That is, the transmitted command for the distance measurement calculation is received by the main control unit 26 of the distance measurement control means 25, and the main control unit 26 starts the distance measurement calculation. That is, the main control unit 26 transmits a command for distance measurement laser oscillation to the distance measurement laser control unit 27, and the distance measurement laser control unit 27
In response to the instruction, causes the distance measuring laser oscillation / reception unit 13 to oscillate the distance measuring laser light LT. As a result, the distance measuring laser oscillation / reception unit 13 oscillates the distance measuring laser light LT in the direction of arrow C as shown in FIG. 1, and the distance measuring laser light LT oscillated in the direction of arrow C is measured by the distance measuring laser reflection mirror. It reflects on 10, advances in the direction of arrow B, and reaches the rotating mirror 16. By the way, the above-mentioned laser light LS is captured by the optical sensor 15,
The time required for the distance measurement laser oscillation / reception unit 13 to oscillate the distance measurement laser light LT based on the command from the distance measurement calculation command means 40 is very short, and the rotary mirror 16 rotates during this time. The angle is so small that it can be neglected (that is, the rotating mirror 16 is hardly rotated). Therefore, the rotary mirror 16 to which the distance measuring laser light LT has reached the laser light LS (that is, the rotary mirror 1).
(Laser light LS reflected by 6 and hits the target 60)
Is in substantially the same position as when it was reflected in the direction of arrow E. That is, the phase in the laser emission direction (hence, the arrow E direction) with respect to the rotation axis Q1 of the laser angle measuring device 50 (specifically, the rotation angle θA of the rotary mirror 16 when the laser light LS is emitted in the arrow E direction). , The phase in the laser emission direction (hence the arrow E direction) with respect to the rotation axis Q1 of the laser distance measuring device 51 (specifically, the distance measurement laser beam L in the arrow E direction).
The rotation angle θA) of the rotary mirror 16 when T is emitted is the same. That is, the distance measuring laser light LT is emitted from the rotating mirror 1.
It is reflected at the reflection point P2 of the reflection surface 16a of No. 6 and is emitted in the direction of arrow E which is the same direction as the above-mentioned laser light LS.

Distance measuring laser light LT emitted in the direction of arrow E
Reaches the target 60 existing in the direction of the arrow E, as shown in FIG. The distance-measuring laser light LT that has reached the target 60 hits a reflecting surface having recursiveness, and is reflected in the direction of arrow F at the hitting laser reflecting point R2 (that is, the point immediately above the laser reflecting point R1). ,
The same route as the outward route to the target 60 is followed to reach the rotating mirror 16 again. The position state of the rotary mirror 16 at the time when the distance measuring laser light LT reaches the rotary mirror 16 again, the rotary mirror 16 at the time when the distance measuring laser light LT is reflected by the rotary mirror 16 in the direction of the arrow E immediately before. The distance measuring laser beam LT is reflected at the reflection point P2 of the reflecting surface 16a of the rotating mirror 16 and travels in the same path as the forward path in the direction of arrow A, and is detected by the distance measuring laser reflecting mirror 10. It is reflected in the direction of arrow D and received by the distance measuring laser oscillation / reception unit 13. The distance measuring laser oscillation / reception unit 13 converts the oscillation laser light (that is, the reference light) and the reception laser light (that is, the transmission light) of the distance measurement laser light LT into electric signals and transmits them to the phase difference detection unit 28. The phase difference detector 28 detects the phase difference YS between the oscillation laser light and the reception laser light from the oscillation laser light and the reception laser light converted into these electric signals. Detected phase difference YS
Is transmitted to the distance calculation unit 29, and the distance calculation unit 29 calculates the laser reflection point R of the target 60 based on the phase difference YS.
2 and the reflection point P2, that is, the distance KY between the rotation axis Q1 which is the laser emission reference point (because of the laser oscillation / reception position of the distance measuring laser oscillation / reception unit 13 and the reflection point P2 of the rotating mirror 16). The distance between and is a known constant.). Then, the calculated distance KY is transmitted to the two-dimensional position calculation unit 30.

As described above, the two-dimensional position calculating section 30 has
Since the angular direction KH and the distance KY are transmitted, the two-dimensional position calculation unit 30 sets the two-dimensional position of the laser reflection points R1 and R2 of the target 60, that is, the target 60 based on the angular direction KH and the distance KY. The two-dimensional position NTx of the detected detection point Kx is calculated (because the laser reflection points R1 and R2 are located right above the detection point Kx, the laser reflection point R1 on the XY two-dimensional coordinate system). The positions of R2 and the detection point Kx are all the same.) That is, the rotation axis Q1, that is, the rotation axis Q1 depending on the angular direction KH and the distance KY.
Detection point Kx centered on the known point K0 that exists immediately below
The two-dimensional vector toward is determined. That is, the relative two-dimensional position of the detection point Kx with respect to the known point K0 is obtained. By the way, the two-dimensional position calculation unit 30 has a known point K.
The two-dimensional position NT1 on the XY two-dimensional coordinate of 0 is the input unit 3
Since it has been input in advance via 3 or the like, the two-dimensional position calculation unit 30 uses the two-dimensional position NT1 and the relative two-dimensional position of the detection point Kx obtained by the calculation to detect the detection point K.
A two-dimensional position NTx on the XY two-dimensional coordinate of x is calculated. After that, the calculated two-dimensional position NTx of the detection point Kx
Are transmitted to and stored in the memory unit 35.

Next, the target 60 is moved, and the target 60 shown in FIG.
As shown in FIG. 3, the laser beam LS is installed at another detection point Ky, and the above-mentioned surveying operation, that is, the laser angle measuring device 50 is used.
Is emitted and scanned on the scanning plane SH1, and the laser light LS reflected at the laser reflection point R1 of the target 60 is captured by the optical sensor 15, and the rotation angle θA of the rotary mirror 16 at this time causes the laser beam LS centered on the rotation axis Q1. Reflection point R1
When the laser beam LS reflected at the laser reflection point R1 is captured by the optical sensor 15, the laser distance measuring device 51 causes the rotation axis Q1 and the laser reflection point R2 of the target 60 to be detected. The distance KY between them is measured and calculated, and then the two-dimensional position NTy of the detection point Ky is calculated based on the detected angular direction KE, the measured and calculated distance KY, and the known point K0, and the result is transmitted to the memory unit 35. This series of operations of storing is performed. After that, the target 60 is moved and installed at another detection point, the surveying operation is repeated in the form of performing the above-described surveying operation, and the two-dimensional positions of all the detection points for which the two-dimensional positions are to be detected are calculated and stored in the memory. It is stored in the unit 35. After that, the output unit 31
Two-dimensional position NT stored in the memory unit 35 via
Two-dimensional positions such as x and NTy are output, and all surveying work is completed.

In the laser surveying instrument 2, the target 6 is used to detect the two-dimensional position of many detection points as described above.
In the surveying operation performed while moving 0, the two-dimensional position of these detection points can be easily detected even if the speed at which the target 60 is moved is increased. That is, no matter how fast the target 60 is moved, the angular velocity of the target 60 centering on the rotation axis Q1 of the laser angle measuring device 50 is normally the rotation axis Q1 of the rotary mirror 16 of the laser angle measuring device 50. It is very small compared to the angular velocity that rotates around. Therefore, no matter how fast the target 60 is moved, the laser beam LS scanning on the scanning plane SH1 is at least 1 degree with respect to the target 60 in a state of being moved and positioned at one detection point. Will be able to hit. That is, no matter how fast the target 60 is moved, the angular direction KH toward the detection point where the target 60 is located can be easily detected. Further, as described above, the phase of the laser emitting direction (hence, the arrow E direction) with respect to the rotation axis Q1 of the laser angle measuring device 50 (specifically, the rotation of the rotary mirror 16 when the laser light LS is emitted in the arrow E direction). Angle θA) and laser range finder 51
In the laser emission direction (hence, the direction of arrow E) with respect to the rotation axis Q1 (specifically, in the direction of arrow E)
Since the rotation angle θA) of the rotary mirror 16 at the time of emitting T is the same, it is emitted by the laser angle measuring device 50,
When the laser light LS reflected from the outside is captured, the laser distance measuring device 51 may immediately perform the distance measuring operation without adjusting the laser emission direction. That is, along with the detection of the angular direction KH, the measurement calculation of the distance KY to the detection point where the target 60 is located can be easily performed without delay. Therefore, no matter how fast the target 60 is moved, the angular direction KH and the distance KY can be easily detected and measured and calculated, so that the two-dimensional position of the detection point can be easily detected.

The laser surveying device according to the present invention may be configured as follows in addition to the laser surveying device 2 described above. For example, as shown in FIG. 5, a laser surveying device 2X, which is another example of the laser surveying device according to the present invention, has a tripod 3 and a casing 5 as a main body, like the laser surveying device 2 described above. The laser angle measuring device 50 is provided in the casing 5 as in the laser surveying device 2 described above. By the way, the casing 5 is provided with a laser distance measuring device 61. The laser distance measuring device 61 is shared with the laser angle measuring device 50.
have. The rotary mirror 16 of the laser angle measuring device 50 also serves as the laser emitting portion of the laser distance measuring device 61. That is, as the operation of the laser angle measuring device 50, the laser light L oscillated from the laser oscillator 11 is used.
S is reflected by the half mirror 12, the laser reflection mirror 9, and the rotary mirror 16, is emitted to the outside in the form of being scanned on the scanning plane SH1, and the laser light LS reflected by the target 60 is again reflected by the rotary mirror 16 and the laser. The laser beam LS is reflected by the reflection mirror 9 and reaches the half mirror 12, and a part of the reached laser beam LS is transmitted through the half mirror 12 and the optical sensor 1
It is supposed to be received by 5. Also, the optical sensor 1
The rotation angle θA of the rotating mirror 16 when the laser beam LS is received by the laser beam detector 5 is detected by the scanning angle detecting means 32 or the like. From the rotation angle θA, the laser reflection point R1 of the target 60 is detected. Angle direction towards KH
Can be detected freely. Along with this, as the operation of the laser distance measuring device 61, the laser beam LS shared by the laser angle measuring device 50 oscillated from the laser oscillator 11 is the half mirror 12 and the laser reflecting mirror shared by the laser angle measuring device 50. 9. Reflected by the rotating mirror 16, the scanning plane S
The target 6 is ejected to the outside while being scanned on H1.
The laser light LS reflected by 0 is reflected again by the rotating mirror 16 and the laser reflecting mirror 9 and reaches the half mirror 12,
A part of the laser light LS that has arrived is reflected by the half mirror 12 in the direction of arrow B and is received by the laser oscillator 11. Therefore, in this case, the laser oscillator 11
Is the distance measurement laser oscillation / reception unit 1 of the first embodiment described above.
Similarly to 3, the oscillation laser light (that is, the reference light) and the reception laser light (that is, the transmission light) of the laser light LS are respectively converted into electric signals, and the phase difference detection unit 28 of the distance measurement control unit 25 is converted.
And so on. That is, the distance KY to the laser reflection point R1 of the target 60 can be freely measured and calculated. In the case of this embodiment, the laser distance measuring device 6
The emission of the laser beam LS by 1 is always performed in the form of rotational scanning on the scanning plane SH1 (that is, substantially continuously at minute time intervals). Therefore, the measurement calculation of the distance KY to the laser reflection point R1 of the target 60 is performed by the laser angle measuring device 5.
When the optical sensor 15 of 0 captures the laser light LS, the distance measurement calculation command means 40 sends a command to the laser distance measuring device 61, and the laser distance measuring device 61 emits the laser light LS when receiving the command. By the laser reflection point R of the target 60
The distance KY up to 1 is measured and calculated, and this distance KY is adopted as the measurement calculation result. By configuring the laser surveying device 2X as described above, it is not necessary to provide the distance measuring laser oscillation / reception unit 13 and the like separately from the laser oscillating unit 11, so that the overall weight and size reduction of the laser surveying device 2X is realized. convenient.

Further, the laser surveying device according to the present invention may be configured as follows in addition to the laser surveying device of each of the embodiments described above. For example, a laser surveying device 2Y, which is another example of the laser surveying device according to the present invention, has a tripod 3 as shown in FIG. 6, and a first casing 70 is supported on the tripod 3. A laser angle measuring device 72 and a laser distance measuring device 73 are provided in the first casing 70.
That is, the laser angle measuring device 72 has a predetermined drive motor unit 70a provided in the first casing 70, and the drive motor unit 70a has a rotary shaft that can be rotationally driven by the drive motor unit 70a. Member 70b
Is connected. The rotary shaft member 70b extends vertically upward and downward in the directions of arrows C and D, and the arrow C side of the rotary shaft member 70b projects above the first casing 70. The second casing 7 is provided on the arrow C side of the rotary shaft member 70b.
1 is fixedly provided, so that the second casing 71 is rotated by the drive motor unit 70a.
a rotation axis Q which is the axis of the rotation shaft member 70b
It can be driven to rotate in the direction of arrow G in FIG. A laser oscillator 11, a half mirror 12, and an optical sensor 15 similar to those in the first embodiment described above are provided in the second casing 71. Instead of the rotating mirror 16, a reflecting mirror 75 fixedly attached to the second casing 71 is provided. That is, the laser light LS oscillated from the laser oscillating unit 11 is reflected by the half mirror 12, the laser reflection mirror 9, and the reflection mirror 75 and is emitted to the outside of the second casing 71 in the horizontal direction. There is. The reflection point P1 of the laser light LS on the reflection mirror 75 is located on the rotation axis Q2. In addition, the second casing 71 is the drive motor unit 7.
Since the laser beam LS is driven to rotate in the direction of arrow G about the rotation axis Q2 by 0a, the laser light LS reflected at the reflection point P1 of the reflection mirror 75 is finally rotated and scanned on the scanning plane SH1 about the rotation axis Q2. Is injected to the outside in the form of a circle. Therefore, the laser light LS emitted to the outside and reflected by the target 60 is reflected again by the reflection mirror 75, and the half mirror 1
2, when a part of the reached laser light LS is transmitted through the half mirror 12 and received by the optical sensor 15, the rotation angle of the second casing 71, that is, the rotation angle of the reflection mirror 75 is changed. By detecting the rotation axis Q2
It is possible to detect the angular direction KH that is directed to the laser reflection point of the target 60 centered at.
On the other hand, the laser distance measuring device 73 is provided on the first casing 70 via the rotary shaft member 70 b and the second casing 71. That is, the laser range finder 73 is
Distance measuring laser oscillation / reception unit 1 in the first embodiment described above
A distance measurement laser oscillation / reception unit 77 including a distance measurement laser oscillation / reception unit similar to that of No. 3 is fixed on the second casing 71. The laser emission reference point of the distance measurement laser oscillation / reception unit 77 is arranged on the rotation axis Q2, and the distance measurement laser oscillation / reception unit 77 uses the laser emission portion 7 including a lens or the like with the rotation axis Q2 as a reference.
The distance measuring laser light LT can be emitted in the horizontal direction from 7a. The distance measuring laser light LT emitted from the laser emitting unit 77a and reflected by the target 60 can be received by the laser emitting unit 77a of the distance measuring laser oscillation / reception unit 77. The laser emitting direction of the laser angle measuring device 72 with respect to the rotation axis Q2, that is, the direction of the reflection mirror 75, and the laser emitting direction of the laser distance measuring device 73 with respect to the rotation axis Q2, that is, the laser emitting portion 77a.
Of the laser angle measuring device 72 coincides with the phase of the laser emitting direction of the laser angle measuring device 72 with respect to the rotation axis Q2. That is, the detection of the angular direction KH toward the laser reflection point of the target 60 and the measurement calculation of the distance KY to the laser reflection point of the target 60 can be easily performed with substantially no delay.

Further, the laser surveying device according to the present invention may be configured as follows in addition to the laser surveying device of each of the above-mentioned embodiments. For example, a laser surveying device 2Z, which is another example of the laser surveying device according to the present invention, has a tripod 3 and a casing 5 as shown in FIG. 7, and the casing 5 has the same structure as the laser surveying device 2X described above. Although the laser angle measuring device 50 is provided, the laser oscillation unit 11, the half mirror 12, the laser reflecting mirror 9, the rotating mirror 16 and the like of the laser angle measuring device 50 are not shared with the laser distance measuring device and the like. Further, the casing 5 is provided with a laser distance measuring device 81 via the rotary shaft member 17b of the laser angle measuring device 50 and the rotary mirror 16. That is, the laser distance measuring device 81 has the same distance measuring laser oscillating / receiving unit 77 as that of the third embodiment described above, which is fixed on the rotating mirror 16. The laser emitting reference point of the distance measuring laser oscillation / reception unit 77 is the rotating mirror 1.
It is arranged on the rotation axis Q1 of 6
The receiving unit 77 can emit the distance measuring laser light LT in the horizontal direction from a laser emitting portion 77a formed of a lens or the like with reference to the rotation axis Q1. The laser emitting direction of the laser angle measuring device 50 with respect to the rotation axis Q1, that is, the direction of the rotating mirror 16, and the laser emitting direction of the laser distance measuring device 81 with respect to the rotation axis Q1, that is, the laser emitting portion 77.
The directions of a coincide with each other, and therefore the phase of the laser emission direction of the laser angle measuring device 50 with respect to the rotation axis Q1 coincides with the phase of the laser emission direction of the laser distance measuring device 81 with respect to the rotation axis Q1. That is, the measurement calculation of the distance KY to the laser reflection point of the target 60 as well as the detection of the angular direction KH can be easily performed without any delay.

Further, in each of the above-described embodiments, the case where the phase of the laser emitting direction with respect to the reference rotation axis of the laser angle measuring device and the phase of the laser emitting direction with respect to the reference rotation axis of the laser distance measuring device coincide with each other have been described. However, in the laser surveying instrument according to the present invention, these phases do not have to match. For example, when the laser angle measuring device captures the laser light reflected by the external laser reflection point, the distance measurement calculation command means sends a command to the laser distance measuring device, and the laser distance measuring device is based on the command. Detecting the phase of the laser emitting direction with respect to the reference rotation axis of the laser angle measuring device when the command is received, by the rotation angle of the reflecting mirror such as the rotating mirror 16, and the like.
The laser distance measuring device detects the phase in the laser emitting direction of the laser angle measuring device, and then rotationally drives the laser emitting portion by the laser emitting portion driving means such as the scanning drive portion 17 or the drive motor unit 70a, and the laser distance measuring device. When the phase in the laser emission direction with respect to the reference rotation axis of the device coincides with the detected phase, the laser beam is emitted to measure and calculate the distance between the laser emission reference point and the laser reflection point. do it.

Further, for example, when the phase in the laser emission direction with respect to the reference rotation axis of the laser angle measuring device and the phase in the laser emission direction with respect to the reference rotation axis of the laser distance measuring device are deviated by a certain amount of phase difference. When the laser angle measuring device captures the laser light reflected by the external laser reflection point, the distance measurement calculation command means sends a command to the laser distance measuring device, and the laser distance measuring device is based on the command. , Scan driver 1
7 or the laser emitting unit driving means such as the drive motor unit 70a rotationally drives the laser emitting unit by the phase difference of the predetermined magnitude, and emits the laser beam, whereby a laser emission reference point and a laser reflection point are obtained. The distance between them may be measured and calculated.

[0035]

As described above, according to the first aspect of the present invention, the main body of the tripod 3, the casing 5, the first casing 70 and the like is provided, and the laser light such as the laser light LS is supplied to the rotation axis Q.
1, Q2, etc., a rotary mirror 16 that can be rotationally driven by a vertical reference rotation axis, a reflection mirror 75, etc., and a reflection mirror 75, etc. Of the laser light reflected by a laser reflection point such as the laser reflection point R1 and the angle direction KH toward the laser reflection point centered on the reference rotation axis by the rotation angle such as the rotation angle θA of the reflection mirror. A laser angle measuring device such as a laser angle measuring device 50 or 72 capable of detecting the angular direction is provided in the main body, and the rotary mirror 16 and the laser emitting portion 77a are set with reference to a predetermined laser emission reference point such as the rotation axes Q1 and Q2. A laser beam such as a range-finding laser beam LT or a laser beam LS is emitted from a laser beam emitting unit such as a laser beam emitting unit, and a laser beam reflected at a laser reflection point such as an external laser reflection point R1 or R2 is received. A laser range finder such as a laser range finder 51, 61, 73, 81 capable of measuring and calculating a distance KY or the like between the laser emission reference point and the laser reflection point is provided in the main body, A laser driving reference point of the distance measuring device is arranged on a reference rotation axis of the laser angle measuring device, and the laser distance measuring device can drive the laser emitting unit to rotate about the reference rotation axis. Part 17,
A laser emission unit drive means such as a drive motor unit 70a is provided, and when the laser angle measuring device captures the laser light reflected by an external laser reflection point, the laser distance measuring device is caused to emit the laser emission reference point. Distance measurement calculation command means such as a distance measurement calculation command means 40 for commanding measurement calculation of the distance between the laser reflection point and the laser reflection point, and the angle direction detected by the laser angle measurement device and the laser distance measurement device. A two-dimensional position calculation unit such as a two-dimensional position calculation unit 30 capable of calculating the two-dimensional position of the laser reflection point such as the two-dimensional positions NTx and NTy based on the distance measured and calculated by In order to perform a survey by the laser surveying device according to the present invention, first, a laser beam is emitted to the outside in a form of scanning on a scanning plane by a laser angle measuring device, and is emitted at an external laser reflection point. Isa is capturing the laser beam, it detects the angular direction toward the laser reflection point around the reference axis of rotation. Further, the distance measurement calculation command means commands the laser distance measurement device to perform a distance measurement calculation when the laser angle measurement device captures the laser light reflected by the external laser reflection point, and the laser distance measurement device In response to the command, the laser emission unit driving means rotationally drives the laser emission unit about the reference rotation axis, and the laser emission direction about the reference rotation axis of the laser range finder is changed to the external laser reflection. When the laser beam reflected at a point is coincident with the laser emission direction centered on the reference rotation axis of the laser angle measuring device, the laser beam is emitted from the laser emission unit with the laser emission reference point as a reference. , The distance between the laser emission reference point and the laser reflection point is measured and calculated by receiving the laser light reflected by the external laser reflection point. Then, the two-dimensional position of the laser reflection point is calculated based on the angle direction and the measured and calculated distance. By the way, in the surveying performed by the laser surveying device according to the present invention, the two-dimensional position of the laser reflection point, which is the detection point, is detected by measuring the angle from one known point K0 to which the reference rotation axis of the laser surveying device is associated. Since the position and the distance are calculated and detected, in order to detect the two-dimensional position of the detection point with the highest accuracy, the position of the detection point is too close to the known point K0 and the accuracy in the angular direction is reduced. The known point K0 is selected so that the distance between the detection point and the known point K0 is equal to or larger than a predetermined value, and the position of the detection point is set to the known point K0.
The distance between the detection point and the known point K0 is set to a predetermined value or less so that the laser light for distance measurement or angle measurement does not easily reach the target 60.
The known point K0 may be selected. That is, this selection can be done simply by considering the distance from one known point K0 to the detection point, and therefore the laser surveying work does not take time.

A second aspect of the present invention is the laser surveying device according to the first aspect, wherein the laser angle measuring device and the laser distance measuring device have a laser oscillating means such as a common laser oscillating section 11. Since the reflecting mirror of the laser angle measuring device also serves as the laser emitting portion of the laser distance measuring device, in addition to the effect of the first invention, laser oscillation occurs between the laser angle measuring device and the laser distance measuring device. Since it is not necessary to separately provide means, etc., and it is not necessary to separately provide a reflecting mirror of the laser angle measuring device and a laser emitting part of the laser range finder, the overall size and weight of the laser surveying device can be reduced. To do. Further, no matter how fast the target 60 is moved, the angular velocity of the target 60 about the reference rotation axis of the laser surveying device is usually such that the reflecting mirror of the laser surveying device rotates about the reference rotation axis. Very small compared to angular velocity. Therefore, no matter how fast the target 60 is moved, at least the laser light scanning the scanning plane with respect to the laser reflection point of the target 60 which is moved and positioned at one detection point. You will be able to win once. That is, no matter how fast the target 60 is moved, the angle direction can be easily detected by the laser angle measuring device. Further, since the reflecting mirror of the laser angle measuring device also serves as the laser emitting portion of the laser distance measuring device, the phase of the laser emitting direction with respect to the reference rotation axis of the laser angle measuring device and the laser with respect to the reference rotation axis of the laser distance measuring device. The phases in the emission direction are the same. Therefore, in the laser angle measuring device, when the laser beam reflected from the outside is captured, the laser emitting direction with respect to the reference rotation axis of the laser angle measuring device and the laser emission direction with respect to the reference rotation axis of the laser distance measuring device are both It faces the laser reflection point of the target 60.
In other words, when the laser angle measuring device captures the laser beam reflected from the outside, the laser distance measuring device immediately performs the distance measuring operation without adjusting the position state of the reflecting mirror that is the laser emitting part. I'll do it. Therefore, in addition to the detection of the angle direction, the measurement calculation of the distance between the laser emission reference point and the laser reflection point can be easily performed without delay. That is,
No matter how fast you move the target 60,
The two-dimensional position of the detection point is easily detected.

A third aspect of the present invention is the laser surveying device according to the first aspect, wherein the phase of the laser emitting direction with respect to the reference rotation axis of the laser angle measuring device and the reference rotation axis of the laser distance measuring device. Since the phase of the laser emission direction with respect to is in agreement, the angle measurement by the laser angle measuring device and the calculation calculation of the distance between the laser emission reference point and the laser reflection point by the laser distance measuring device are easy without delay. To be done. Further, no matter how fast the target 60 is moved, the angular velocity of the target 60 about the reference rotation axis of the laser surveying device is usually such that the reflecting mirror of the laser surveying device rotates about the reference rotation axis. Very small compared to angular velocity. Therefore, no matter how fast the target 60 is moved, at least the laser light scanning the scanning plane with respect to the laser reflection point of the target 60 which is moved and positioned at one detection point. 1
The degree will be won. That is, no matter how fast the target 60 is moved, the angle direction can be easily detected by the laser angle measuring device. That is, no matter how fast the target 60 is moved, detection of the angular direction by the laser angle measuring device and measurement and calculation of the distance by the laser distance measuring device can be easily performed, and thus the two-dimensional position of the detection point can be detected. Is easily done.

[Brief description of drawings]

FIG. 1 is a schematic diagram showing an example of a laser surveying instrument according to the present invention.

FIG. 2 is a block diagram showing respective control means and the like included in the laser surveying device shown in FIG.

FIG. 3 is a view on arrow I of FIG.

FIG. 4 is a diagram showing a state in which surveying is performed using the laser surveying device shown in FIG. 1.

FIG. 5 is a schematic view showing another example of the laser surveying device according to the present invention.

FIG. 6 is a schematic diagram showing another example of the laser surveying instrument according to the present invention.

FIG. 7 is a schematic diagram showing another example of the laser surveying instrument according to the present invention.

[Explanation of symbols]

2 ... Laser surveying device 2X ... Laser surveying device 2Y ... Laser surveying device 2Z ... Laser surveying device 3 ... Main body (tripod) 5 ... Main body (casing) 11 ... Laser oscillation means (laser oscillator) 16 ...... Reflecting mirror, laser emitting unit (rotating mirror) 17 …… Laser emitting unit driving means (scanning driving unit) 30 …… two-dimensional position calculation unit 40 …… distance measurement calculation command unit 50 …… laser angle measuring device 51 ・ ・ ・... Laser distance measuring device 61 ... Laser distance measuring device 70 ... Main body (first casing) 70a ... Laser emitting unit driving means (driving motor unit) 72 ... Laser angle measuring device 73 ... Laser distance measuring device 75 ... ... Reflecting mirror (reflecting mirror) 77a ... Laser emitting unit 81 ... Laser distance measuring device KH ... Angular direction KY ... Distance LS ... Laser light LT ... Laser light (ranging laser light) NTx ... … Two-dimensional position NTy …… Two-dimensional position Q1 …… Reference rotation axis, laser emission reference point (rotation axis) Q2 …… Reference rotation axis, laser emission reference point (rotation axis) R1 …… Laser reflection point R2 …… Laser Reflection point SH1 …… Scanning plane θA …… Rotation angle

Claims (3)

[Claims] 1. A laser beam is emitted to the outside in a form of scanning on a scanning plane by a reflecting mirror which has a main body and can be rotationally driven by a vertical reference rotation axis, and is emitted at an external laser reflection point. The main body is provided with a laser angle measuring device capable of capturing the reflected laser light and detecting the angle direction toward the laser reflection point centered on the reference rotation axis by the rotation angle of the reflecting mirror. Measure the distance between the laser emission reference point and the laser reflection point by emitting laser light from the laser emission unit with the reference point as a reference and receiving the laser light reflected at the external laser reflection point. A laser distance measuring device that can be operated is provided in the main body, a laser emission reference point of the laser distance measuring device is arranged on a reference rotation axis of the laser angle measuring device, and the laser emitting unit is provided in the laser distance measuring device. To A laser emission unit driving means that can be rotationally driven around the reference rotation axis is provided, and when the laser angle measuring device captures laser light reflected at an external laser reflection point, the laser distance measuring device A distance measurement calculation command means for commanding measurement calculation of the distance between the laser emission reference point and the laser reflection point, and the angular direction detected by the laser angle measuring device and the laser distance measuring device. A laser surveying device comprising a two-dimensional position calculating unit capable of calculating the two-dimensional position of the laser reflection point based on the calculated distance. 2. The laser angle measuring device and the laser distance measuring device have a common laser oscillating means, and the reflecting mirror of the laser angle measuring device also serves as a laser emitting portion of the laser distance measuring device. The laser surveying instrument according to claim 1, wherein: 3. The phase of the laser emission direction with respect to the reference rotation axis of the laser angle measuring device and the phase of the laser emission direction with respect to the reference rotation axis of the laser distance measuring device match. The laser surveying instrument described.