JPS63281012A - Surveying device - Google Patents

Abstract

PURPOSE:To obtain a surveying device which tracks the movement and vibration of a measurement target point although accurate automatic collimation is possible by providing a laser light projection part with an acoustooptic polariscope for vibrating and scanning the projection direction of laser luminous flux in two dimensions. CONSTITUTION:This surveying device consists of a surveying means 1 and a measurement target means 2 and the acoustooptic polariscope 44 of the means 2 is so controlled with a signal from a control part 45 so that the direction of luminous flux from a projection lens 43 is scanned and vibrated up and down, and right and left. Further, the control part 45 controls a horizontal plane turning driving motor 29, etc., to displace a movable housing in the horizontal and vertical directions. Therefore, even if the direction of the means 2 deviates slightly from a measuring machine main body 3, the laser luminous flux projected toward the main body 3 is scanned and vibrated over a wide range about the optical axis of the projection lens 43 and made incident on the objective 22 of the main body 3. Consequently, the main body 3 tracks the measurement target means 2 automatically even when the measurement target means 2 arranged at a measurement target point is not accurately collimated.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a surveying device capable of automatically aiming toward a measurement target point.

(Prior Art) Conventionally, there have been a theodolite for measuring horizontal angles and vertical angles using a measurement point as a reference, a light wave distance meter for photoelectrically measuring the distance between the measurement point and a target point, and this theodolite. Surveying instruments such as devices that have the functions of a light wave distance meter and a light wave distance meter are widely known.

This type of surveying instrument requires a surveyor to set up the surveying instrument at the measurement point and take measurements, and a measurement assistant to place and hold the target or reflective prism at the measurement target point. The person would take measurements after pointing the surveying instrument accurately at the target while looking through a telescope. Therefore, in order to solve this problem, the surveying instrument is configured to emit light from the target or reflective prism side, receive this light, and automatically aim the surveying instrument toward the target based on the received light signal.
Attempts have been made to improve survey work efficiency by eliminating unnecessary or aiming operations for surveyors at measurement points.

(Problems to be Solved by the Invention) However, in this prior art, it is necessary to increase the level of light received by the surveying instrument and perform accurate automatic aiming, so it is necessary to widen the spread angle of the light beam from the measurement point. This system had the disadvantage that when measuring long distances, the angular range within which the surveying instrument could receive light from the target point and perform automatic aiming was extremely narrow. This drawback becomes a particular problem when constant measurement is performed while moving the measurement target point, and when the measurement target point moves at a high speed or vibrates and changes direction.

Even if the surveying instrument is set to a so-called tracking mode in which automatic measurements are repeated, the automatic aiming system cannot track the instrument, making automatic measurements impossible.

(Object of the present invention) The present invention has been made with the aim of solving these problems of the prior art.

To provide a surveying device that increases the level of light received by the surveying device, enables accurate automatic aiming, widens the range of angles in which automatic aiming can be performed, and is capable of tracking movement and vibration of a measurement target point. This is the purpose.

(Means for solving the problem) In order to achieve this object, the present invention comprises a measurement target means to be placed at a measurement target point and a surveying means to be placed at the measurement point, the measurement target means emitting a laser beam. The surveying means includes a photoelectric conversion element, a light receiving optical system for condensing the laser light onto the photoelectric conversion element, and a light receiving optical system that collects light from the light receiving optical system by a signal from the photoelectric conversion element. In a surveying apparatus having an automatic aiming control unit for automatically aiming in the direction of a measurement target point in an axial direction, a vibration scanning means for two-dimensional vibration scanning of an emission direction of the laser beam is provided in the laser projection unit. It is characterized by being a surveying device.

(Function) According to such a configuration, by directing the measurement target means toward the surveying means and causing the laser beam to vibrate and scan in two dimensions, even if the direction of the measurement target means changes, the laser beam remains unchanged. At this point, the light enters the light receiving optical system of the surveying means and is received by the photoelectric conversion element. This photoelectric conversion element inputs the laser beam reception state to the automatic control section, and the automatic control section determines the position of the measurement target means from the laser light reception state of the photoelectric conversion element and directs the surveying means toward the measurement target means. Drive control.

(Example) Hereinafter, one embodiment of the present invention will be described based on the drawings.

The surveying apparatus shown in FIGS. 1 and 2 is composed of a surveying means 1 and a measurement target means 2. As shown in FIG.

This surveying means 1 includes a surveying instrument main body 3 and a data collector 4 equipped on the surveying instrument main body 3. The printer 5 is equipped with a magnetic recording and reproducing device 6. In the figure, 4a is a data collector 4
This is the operation panel installed on the

The surveying instrument main body 3 consists of a base 7 shown in FIG.
Horizontal rotation drive motor 8 mounted on the top so that it can be leveled
(horizontal rotation drive means), a U-shaped movable frame 9 provided horizontally rotatably on the horizontal plane rotation drive motor 8 and horizontally rotationally driven by the horizontal plane rotation drive motor 8;
A movable housing 10 is disposed between opposing support portions 9a and 9b of the movable frame 9, and movable housings 10 are integrally provided on both sides of the movable housing 10 to rotate the movable housing 10 in a vertical plane as shown in FIG. It is provided with a support shaft 11.12, which can pivot on the supports 9a, 9b.

Moreover, the surveying instrument main body 3 has a support portion 9a as shown in FIG.
It has a vertical plane rotation drive motor 13 (vertical plane rotation drive means) mounted on the vertical plane rotation drive motor 13 and a transmission means 14 that transmits the rotation of the vertical plane rotation drive motor 13 to the support shaft 11.

The transmission means 14 includes a gear 15 that is integral with the support shaft 11 and a pinion 16 that is integrally provided with the output shaft 13a of the vertical rotation drive motor 13 and meshes with the gear 15.

Moreover, as shown in FIG. 1, the surveying instrument main body 3 includes a light wave ranging section 17, a CPolg for automatic aiming, a display section 19 for displaying measurement results, and a two-dimensional CCD as a photoelectric conversion element.
20, and a light receiving optical system 21 that focuses the laser beam onto the two-dimensional CCD 20 as a point image. Furthermore, these are provided in the movable housing 1o.

The light wave distance measuring unit 17 having a reference telescope optical system 17a emits distance measuring modulated light for distance measurement toward a reflecting prism (described later) of the measurement target means 2, and converts the modulated light reflected by the reflecting prism. The distance between the measurement point and the rotation target point is measured based on the phase difference of this modulated light. However, the distance measurement signal from the light wave distance measurement section 17 is transmitted to the CPU.
Sent to 1g. On the other hand, the above-mentioned horizontal plane rotation drive motor 8
A pulse motor is used as the vertical rotation drive motor 13, and the CP (118) calculates the horizontal angle and vertical angle of the measurement target point with respect to the measurement point from the control pulses of each motor 8, 13.

Then, the CPUIA displays the calculation results and measurement results, that is, measurement data such as measurement values, horizontal angles, vertical angles, etc., on the display unit 19, while printing out this data on the printer 5 and using the magnetic recording/reproducing device 6. In the figure, 6a is a floppy disk.

The light receiving optical system 21 includes an objective lens 22 and a variable zoom lens 23. Moreover, the optical axis O of this light receiving optical system 21
0 is provided parallel to the optical axis 02 of the light wave distance measuring section 17.

The two-dimensional CCD 20 is for photoelectrically detecting the coordinate position of the point image formed by the light receiving optical system 21,
A signal indicating the coordinate position is output to cpolg for automatic aiming control.

The automatic aiming control CPυ 18 outputs control signals to the horizontal rotation drive motor 8 and the vertical rotation drive motor 13 based on signals from the two-dimensional CCD 20.

The horizontal rotation drive motor 8 is controlled by a control signal from the CPυ18 to horizontally rotate the movable frame 9 and the movable housing 10, and the vertical rotation drive motor 13 is controlled by a control signal from the CPυ18.
The movable housing 10 is rotated in a vertical plane about a pivot 11.12 under the control of a control signal from U1g.

Moreover, this CPU 1g is capable of converting the point image of the laser beam from the measurement target means 2 into a two-dimensional CC as shown in FIG.
so as to match the center A of D20, that is, the light wave distance measuring unit 1.
The direction of the optical axis 0□ of 7 is the reflecting prism of the measurement target means 2 (
(described later), and the horizontal plane rotation drive motor 8 and the vertical plane rotation drive motor 13 are automatically controlled until the optical axis 01 of the light receiving optical system 21 coincides with the laser beam projection part (described later) of the measurement target means 2. It is set to do so.

When controlling this automatic aiming, the automatic aiming control CPU 18 initially sets the zoom variable magnification lens 23, which is a variable magnification optical system, to the lowest magnification (J also has a large angle of view), and sets it to a wide angle of view range. The laser beam is projected onto the two-dimensional CCD 20, and then the zoom variable magnification lens 23 is moved in the direction of high magnification, and finally the zoom variable magnification lens 23 is moved so that highly precise aiming is possible. It is configured to control.

Furthermore, the surveying instrument main body 3 includes a first wireless device 24 for wirelessly transmitting distance measurement results to survey points and receiving commands from measurement points.

24a is the antenna of the wireless device 24, 24b is the wireless device 2
4, the antenna 24a is provided so as to be housed within the support portion 9b.

Next, the measurement target means 2 will be explained in detail.

This measurement target means 2 includes a target bag [25], an operation bag [26 such as a data collector, etc.], and a printer 27.

The target device 25 includes a base 28 shown in FIG. Rotatable and horizontal plane rotation drive motor 29
A U-shaped movable frame 30 that can be horizontally rotated by
, 30b, and a movable housing 31 that is integrally provided on both sides of the movable housing 31 and pivots on the supports 30a and 30b so that the movable housing 31 can rotate in a vertical plane as shown in FIG. It is provided with supporting shafts 32 and 33.

Further, the target device 25 has a support section 30 as shown in FIG.
It has a vertical rotation drive motor 34 (vertical rotation drive means) attached to the vertical rotation drive motor 34 and a transmission means 35 for transmitting the rotation of the vertical rotation drive motor 34 to the support shaft 32.

The transmission means 35 includes a gear 36 that is integral with the support shaft 32, and a pinion 37 that is integrally provided with the output shaft 34a of the vertical rotation drive motor 34 and meshes with the gear 36.

Moreover, the target device 25 includes a reflecting prism 38 composed of a plurality of corner cubes 38a for reflecting modulated light,
It has a laser beam projector 39 and a sighting telescope 40 having an optical axis parallel to the optical axis of the corner cube 38a.

These are provided in the movable housing 31. Therefore, this corner cube 38a, the laser beam projection section 3
9 and the aiming telescope 40 (sighting part) are connected to the movable frame 30 and the movable housing 3 by the horizontal plane rotation drive motor 29.
1 horizontally, and the vertical rotation drive motor 34
By rotating the housing 31 in the vertical plane, it can be rotated in the horizontal plane and elevated in the vertical plane.

The sighting telescope 40 is used to orient the corner cube 38a toward the approximate measurement point, and the aiming telescope 40 is used to direct the corner cube 38a toward the approximate measurement point, and the aiming telescope 40 is used to direct the direction of the corner cube 38a toward the approximate measurement point. By rotating the corner cube 38a, the orientation of the corner cube 38a is approximately adjusted. The laser beam projection section 39 includes a laser tube 42. A projection lens 43 for converting the light beam from the laser tube 42 into a substantially parallel light beam and projecting it toward the surveying instrument main body 3. and an acousto-optic polarizer 44 (vibration scanning means) for vibrating the direction of this laser beam by a small angle of deviation and scanning and vibrating the laser beam two-dimensionally about the optical axis of the projection lens 43. .

This acousto-optic polarizer 44 is controlled by a signal from a control unit 45 so as to scan and vibrate the direction of the light beam from the projection lens 43 in the vertical and horizontal directions at high speed. Furthermore, in accordance with this control, the control unit 45 also controls the horizontal rotation drive motor 29 and the vertical rotation drive motor 34 to control the movable housing 31.
Drive displacement in the horizontal and vertical directions. Therefore, even if the direction of the measurement target means 2 is slightly deviated from the surveying instrument main body 3, the laser beam projected toward the surveying instrument main body 3 can be spread over a wide range around the optical axis of the projection lens 43. By scanning and vibrating, this laser beam can be made to enter the objective lens 22 on the surveying instrument main body 3 side. Note that the means for scanning and vibrating the direction of this laser beam is not limited to this acousto-optic polarizer;
Two reflectors can be rotated to provide a similar function. Further, the scanning of the laser beam may be performed two-dimensionally, and various methods can be considered, such as scanning radially around the optical axis, scanning horizontally and simultaneously scanning vertically.

Furthermore, the measurement target means 2 includes a second wireless device 46 that exchanges data with the wireless device 24 .

In the figure, 46a is an antenna of the wireless device 46, 46b is a transmitter of the wireless device 46, and the antenna 46a is provided so as to be housed in the target pole 31a on the upper part of the movable housing 31.

This wireless device 46 receives a signal indicating the measurement result transmitted from the first wireless device 24 and inputs it to the control section 45 . Then, the control unit 45 causes the display unit 47 of the measurement target means 2 to display data such as the measured value, horizontal angle, vertical angle, etc.
This data is printed out by the printer 27 as a measurement result. Therefore, the measurer at the measurement target point can also know the measurement results. In addition, from the measurement target means 2 side, an automatic aiming start signal, a measurement start signal, etc. are sent to the wireless device 24.46.
It is possible to issue commands to the surveying instrument main body 3 through the system, and the system is configured so that automatic aiming and measurement can be performed even when no one is present at the measurement point.

(Effects of the Invention) Since the present invention is configured as described above, the level of light received by the surveying instrument is increased, accurate automatic aiming is possible, and the angular range in which automatic aiming is possible is expanded. A surveying device capable of tracking the movement of a measurement target point can be provided.

Moreover, according to the present invention, even if the measurement target device placed at the measurement target point is not accurately aimed, the main body of the measuring instrument automatically tracks the measurement target device, and the horizontal and vertical angles of the measurement target point are Also, the distance between the measurement point and the measurement target can be continuously and automatically measured, and the efficiency of measurement work can be dramatically improved.

In addition, even if the measurement target point is in a dangerous area or in an area that cannot be directly targeted, select a nearby point that avoids the area as the measurement target point, measure this point, and measure the true position secondary from that point. and calculate the true value. In addition, for multiple measurements on a curve, a measurement target device is mounted on a vehicle such as a car or a helicopter that moves on the curve, and a surveying instrument is roughly pointed toward the measurement target device. The measurement target device can be installed and moved with the vehicle, and the position coordinates of the measurement target can be continuously and automatically measured from the horizontal angle, vertical angle, and distance values during this movement, and can be used for route surveying and reference. This has a remarkable effect on surveying piles, etc. Furthermore, if the measurement target point is dangerous and it is not possible to install the measurement target device manually, a special stake with a known length of rope is suspended from the ground from a helicopter and the measurement is carried out on the helicopter. The target device is set as a temporary target point, and the coordinate position of the true measurement target point can be automatically calculated from the real angle, vertical angle, distance, and length of the rope of this temporary target point.

[Brief explanation of drawings]

FIG. 1 is an optical layout diagram showing an embodiment of the surveying apparatus of the present invention. FIG. 2 is a layout diagram of a surveying device equipped with the optical system shown in FIG. 1. FIG. 3 is a front view of the surveying instrument body shown in FIG. 2. FIG. 4 is a sectional view taken along line IV-IV in FIG. 2; FIG. 5 is a sectional view taken along the line ■-■ in FIG. 2. FIG. 6 is an explanatory diagram of the two-dimensional CCD shown in FIG. 1. 1... Surveying means 2... Measurement target means 17... Light wave ranging section 18... CPU 20... Two-dimensional CCD (photoelectric conversion element) 21...
Light receiving optical system 22...Objective lens 23...Zoom variable magnification lens 24...First wireless device 25...Target device 38a...Corner cube 38...Reflection prism 39...Laser light Projection section 40... Sighting telescope (sighting section) 42... Laser light source 43... Projection lens 44... Acousto-optic polarizer (vibration scanning means) 46...
Second wireless device 47...display section Fig. 3 Fig. 4 Fig. 5 Fig. 6

Claims (5)

[Claims] (1) comprising a measurement target means to be placed at the measurement target point and a surveying means to be placed at the measurement point, the measurement target means having a laser projection section that emits a laser beam, the surveying means including a photoelectric conversion element, a light-receiving optical system for condensing the laser beam onto a photoelectric conversion element; and an automatic aiming control unit for automatically aiming the optical axis direction of the light-receiving optical system in the direction of a measurement target point based on a signal from the photoelectric conversion element. A surveying apparatus comprising: a vibration scanning means for two-dimensional vibration scanning of the emission direction of the laser beam; the laser projection section is provided with a vibration scanning means. (2) The surveying means has a light wave distance section for projecting distance measuring light to measure the distance between the measurement point and the measurement target point, and the measuring target means has a reflection section for reflecting the distance measuring light. 2. The surveying device according to claim 1, wherein the prism and an aiming section for roughly setting the direction of the reflecting prism are provided integrally with a laser projection section. (3) The surveying means includes a first wireless device that transmits the measured value to the measurement target means, and the measurement target means includes a measured value display section and a second wireless device, and the second wireless device 3. The surveying device according to claim 2, wherein when the measurement value is received from the first wireless device, the measurement value can be displayed on the measurement value display section. (4) The surveying apparatus according to claim 1, wherein the light receiving optical system includes a variable magnification optical system for projecting images onto the photoelectric conversion element at different magnifications. (5) The variable magnification optical system is a zoom optical system that continuously varies the magnification, and the automatic control unit is configured to perform rough aiming at low magnification and precise aiming at high magnification. 5. A surveying device according to claim 4, characterized in that: