JP4098950B2 - Optical repeater and measurement apparatus and measurement method using this optical repeater - Google Patents

Description

ここで、ｎは屈折率である。
【００５０】
図７は、２つのウェッジプリズム１３ａ，１３ｂを組み合わせた場合を示す。２つのウェッジプリズム１３ａ，１３ｂは同じ材質で、しかも同じウェッジ頂角ｗを有する。この図に示すように、２つのウェッジプリズム１３ａ，１３ｂを傾斜面１９が平行になるように近接配置すると、ウェッジプリズム１３ａ，１３ｂを通過したビームは、平行なガラスを通過するのと同様に直進する。一方、図１２に示すように、ウェッジプリズム１３ａ，１３ｂを第１面１８の法線と平行な軸の回りに別々に回転することによって、所定の尖った円錐体内部の任意の方向にレーザー光を屈折（偏向）することができる。このときの最大屈折角は、ウェッジ頂角ｗが小さい場合は２つのウェッジプリズムの屈折角δを合算した２δになる。したがってレーザー光は直径４δの円内を照射する。
【００５１】
２個のウェッジプリズム１３ａ，１３ｂそれぞれの回転角から、組み合わせた場合の屈折角および屈折方向の算出方法について説明する。ウェッジプリズム１３ａ，１３ｂのそれぞれの回転角はエンコーダ１５ａ，１５ｂで検出され、組み合わせた場合の屈折角度は演算装置５１（図３参照）で算出される。演算装置５１はＣＰＵ等を有する計算機からなり、ウェッジプリズム１３ａ，１３ｂの回転角から各プリズムユニット２７の屈折角を算出しする。
【００５２】
図９に示すように、ウェッジプリズム１３ａ，１３ｂ（以下ウェッジプリズム１３ａをプリズム１といい、ウェッジプリズム１３ｂをプリズム２という）の中心線上にレーザー光を入射すると、プリズム１がレーザー光を屈折角δ１で屈折し、プリズム２がさらにレーザー光を屈折角δ２で屈折する。この屈折角δ１，δ２が得られるプリズム１の回転角をψ１，プリズム２の回転角をψ２とする。プリズム１，２の一番厚いところと一番薄いところを結んだ線が水平となる位置を基準とし、回転角ψ１，ψ２はこの位置からの角度を表している。
【００５３】
ここで、ウェッジ頂角ｗが微少であることから、計算を簡単にするためにδ１，δ２ともに微少とし、ウェッジプリズム２の第1面にもレーザー光が垂直に入射すると仮定する。図１０は、レーザー光に対して直交する面にＸ軸，Ｙ軸をとり、プリズム１の屈折角δ１（図中（ａ））およびプリズム２の屈折角δ２（図中（ｂ））をベクトル表示したものである。この図からプリズム１に関して以下の計算式が成立する。
【００５４】
【式３】

また、プリズム２に関しても同様に以下の計算式が成立する。
【００５５】
【式４】

式２および式３からプリズム１とプリズム２を合算した場合のＸ方向の合成成分δTXは、以下の式５で表される。
【００５６】
【式５】

同様に、Ｙ方向の合成成分は、以下の式６で表される。
【００５７】
【式６】

したがって、合成屈折角δT、合成屈折方向ψTは以下の式７で表される。
【００５８】
【式７】

ここで、プリズム２個の差角ΔψをΔψ＝ψ１−ψ２とすると、δTは以下の式８で表される。
【００５９】
【式８】

【００６０】
これらの計算式を用いることで、２個のプリズム１，２それぞれの回転角から、組み合わせた場合の合成屈折角δＴおよび合成屈折方向ψＴを簡単に算出することができる。なお、プリズム１，２の屈折角δ1，δ2はプリズムによって一定の値を保ち、この屈折角は計算機のメモリに記憶されている。異なる屈折角のプリズム１，２を使用する場合は、メモリに複数の屈折角が記憶される。
【００６１】
上述のように、制御装置５０ａ〜５０ｇは、プリズムユニット２７における一対のプリズム１，２それぞれの回転角度を操作して、最終的には基準点レーザ発振器２６から射出されるレーザー光が自動的に測量点受光器３８まで届くようにしている。各制御装置５０ａ〜５０ｇは、レーザー光が受光器２８，３２，３３，３７，３８，４０の中心にないときは、あらかじめ定めたアルゴリズムでプリズム１，２それぞれを回転し、レーザ光が受光器２８…の中心にくるようにプリズム１，２を操作する。このときのプリズム１，２の回転角ψ１，ψ２から上述の計算式を用いて合成屈折角δT（図１のθ１〜θ７）、合成屈折方向ψTが算出される。
【００６２】
レーザー光を受光器２８…の中心にもっていくように制御装置で実行されるソフトウェアサーボのアルゴリズムについて説明する。このソフトウェアサーボは、プリズム１，２の回転角度を操作して、レーザー光が受光器２８…の中心を照射するように受光器２８…の出力値をフィードバック制御している。
【００６３】
図１１は、アルゴリズムのフローチャートを示す。まず、受光器２８…からの入力レベルがｅ１以上であるか否かを判断する（ステップＳ１）。受光器２８…が中心から＋Ｘ，−Ｘ，＋Ｙ，−Ｙの４方向に延びる４つの光電センサを組み合わせた２軸光電センサの場合、レーザー光が中心にあれば出力値が０になる。受光器２８…からの入力レベル＜ｅ１の場合は、レーザー光が受光器２８…の中心にあるとして、プリズム１，２の回転角を操作しない。受光器２８…からの入力レベル≧ｅ１の場合は、レーザー光が受光器２８…の中心にないので、レーザー光が受光器２８…の中心にくるように以下の処理を行う。
【００６４】
まずプリズム座標系で、Ｘ０，Ｙ０，ψＴを算出する（ステップＳ２）。次に、受光器座標系でＸ１，Ｙ１を検出する（ステップＳ３）。プリズム座標系は、図１２および図１３に示すように、プリズムユニット２７からプリズム中心線を延長して受光器上の平面と交差する点Ｐを原点とした座標系をいい、受光器座標系は受光器２８…の中心を原点とした座標系をいう。この図１２および図１３で、レーザー光の受光器２８…上の照射位置をプリズム座標系で示したものがｖ０ベクトルで、受光器座標系で示したものがｖ１ベクトルである。レーザー光が受光器２８…の中心を照射するためには、ｖ１ベクトルが０となればよい。プリズム座標系のｖ０ベクトルのＸ方向成分、Ｙ方向成分それぞれをＸ０，Ｙ０とすると、上述のプリズムの合成屈折角δTから、Ｘ０＝δＴＸ×Ｌ１，Ｙ０＝δＴＹ×Ｌ１と算出される。ここで、Ｌ１はプリズムから受光器までの距離である。そして、ψＴは上述の合成屈折方向から算出される（ステップＳ２）。また、受光器座標系において、受光器２８…の検出値からＸ１，Ｙ１が検出され、計算式θ１＝ｔａｎ^-1（Ｙ１／Ｘ１）からθ１が算出される（ステップＳ３）。受光器２８…の精度が高く、座標Ｘ１，Ｙ１が高精度に得られると、このＸ１，Ｙ１に基づいてプリズムを操作して受光器２８…の中心を照射するように合成屈折角δＴを変化させればよいが、一般に受光器２８…の精度はそれほど高くないので以下のような処理が必要になる。
【００６５】
ψＴとθ１を比較し、一致する方向に差角Δψを一定に保ったままプリズム２枚を同時に回し、ψＴを変える（ステップＳ４）。図１４に示すように、２つのプリズムの差角Δψを一定に保ったままプリズム２枚を同時に回すと、プリズム座標系でのｖ０ベクトルは、絶対値を保ったまま、原点Ｐを中心として回転する。ψＴとθ１とが等しくなるまで（図中２点鎖線の位置から実線の位置まで）回転すると、ｖ１ベクトルとｖ０ベクトルとは重なる。このステップＳ４では、ｖ０ベクトルとｖ１ベクトルとの方向を合わせている。なお、プリズムの１回の回転量は振動しないように差の１／２とされる。
【００６６】
次に、｜ｖ１｜と｜ｖ０｜を比較し、ψＴを一定に保ったまま、｜ｖ１｜が０となるように差角Δψを変化する。図１５に示すように、２枚のプリズムを相反する方向へ同じ量回転すると、プリズム座標系でのｖ０ベクトルは、ψＴを一定に保ったまま、絶対値｜ｖ０｜を変化する。この図に示すように、２枚のプリズムの差角Δψを｜ｖ１｜が０となるように変化すると、ｖ０ベクトルの絶対値が図中２点鎖線の位置から実線の位置まで変化する。すなわち、ステップＳ５では、ｖ１ベクトルの絶対値を０となるようにしている。ここで、｜ｖ１｜＝√（Ｘ１²＋Ｙ１²），｜ｖ０｜＝Ｌ１√（δＴＸ²＋δＴＹ²）で表される。なお、差角Δψの１回の変化量は、振動しないように差の１／２とされる。
【００６７】
次に、ステップＳ５での差角Δψの変化量が例えば１０″以下であるか否かを判断する（ステップＳ６）。１０″以下であれば、レーザー光が受光器２８・・・の中心を照射しているとして、スタートに戻る。１０″以下でなければ、ステップ２〜ステップ５を繰り返し、再びｖ１ベクトルが０になるようにプリズムの回転角を操作する。
【００６８】
なお、本発明は上述の実施態様に限られず、種々の変更が可能である。例えば双方向レーザには、あらかじめ双方での光軸のずれがわかっていれば光軸を一致させなくてもよい。また、制御装置は、複数のプリズムユニットに対応して複数設けられているが、複数のプリズムユニットに対して一つ設けられても良い。
【００６９】
【発明の効果】
以上説明したように、本発明によれば、双方向にレーザを射出する双方向レーザ発振器を中継装置として使用し、基準点から射出されたレーザ光とは逆の経路を経由して、中継装置から射出されたレーザ光を屈折して基準点に戻るようにし、レーザ光の屈折角から中継装置の光軸と基準点から射出されるレーザ光の光軸との間の相対角を測定したので、基準点から測量点までの距離が長距離であっても、基準点から射出される光を中継し、測量点の位置を高精度に計測できる。
【図面の簡単な説明】
【図１】本発明の一実施形態における計測装置が適用される推進工法を示す平面図。
【図２】先導体の計画線からのずれを示す概略図。
【図３】計測装置の全体システム構成図。
【図４】プリズムユニットを示す図（図中（Ａ）は正面図を示し、図中（Ｂ）は側面図を示す）。
【図５】プリズムユニットを示す断面図。
【図６】ウェッジプリズムを示す断面図。
【図７】組み合わせたウェッジプリズムを示す断面図。
【図８】入射光線を屈折するウェッジプリズムを示す斜視図。
【図９】入射光線の屈折を座標系で示す図。
【図１０】屈折角をベクトルで示す図（図中（ａ）はプリズム１を示し、図中（ｂ）はプリズム２を示す。）
【図１１】ソフトウェアサーボのアルゴリズムを示すフローチャート。
【図１２】受光器上でのレーザー光の照射位置を示す図。
【図１３】プリズム座標系と受光器座標系を示すグラフ。
【図１４】プリズム座標系と受光器座標系を示すグラフ。
【図１５】プリズム座標系と受光器座標系を示すグラフ。
【符号の説明】
１３ａ，１３ｂ ウェッジプリズム
１４ａ，１４ｂ モータ（駆動部）
１５ａ，１５ｂ エンコーダ（角度検出部）
２１ 基準点
２２ 中継点
２３ 測量点
２５ａ 双方向レーザ発振器の光軸
２５ 双方向レーザ発振器
２６ 基準点レーザ発振器
２６ａ 基準点レーザ発振器の光軸
２７ 基準点光路屈折器
２８ 基準点受光器
３１，３１ 光路屈折器
３２，３２ 基準側受光器
３３，３３ 中継側受光器
３５ 光中継装置
３６ａ，３６ｂ 中継点光路屈折器
３７ 中継点受光器
５０ａ〜５０ｄ 制御装置
５１ 演算装置[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an optical repeater that is used in a measuring device that measures the position of a survey point using light and relays laser light emitted from a reference point to reach the survey point.
[0002]
[Prior art]
In recent years, the propulsion method is usually employed instead of the excavation method for laying the pipes in which communication cables, electric wires, water and sewage pipes, gas pipes, etc. are buried in the ground. In this propulsion method, a start shaft is dug at a position that is one end of a pipeline, and a reaching shaft is dug at a position that is the other end of the pipeline. A leading conductor and a main pushing device are installed in the starting shaft. When the leading conductor is pushed out in the horizontal direction in the ground by the leading pushing device, the leading conductor is propelled. When the leading conductor advances by a predetermined stroke, the propulsion pipe is connected to the rear portion of the leading conductor, and then the leading conductor is advanced together with the propelling pipe again by the main pushing device. The propulsion pipes are sequentially connected by repeating such processes. A pipeline is constructed by advancing the leading conductor to the reaching shaft.
[0003]
In the construction of the propulsion method, in order to dig the leading conductor along the planned line, the horizontal and vertical positions of the leading conductor that digs in the ground are sequentially measured by the measuring device.
[0004]
As a method for measuring the position of the leading conductor, a laser target method or the like is conventionally known. In the laser target method, a laser oscillator that emits laser light is provided at a starting shaft (reference point), and a target as a light receiver is provided at a leading conductor (survey point). The laser oscillator emits a linear laser beam on a planned line. Based on the position of the laser beam irradiated on the target, the amount of deviation of the leading conductor from the planned line is measured.
[0005]
Recently, in order to reduce costs, there is a demand to reduce the number of shafts and increase the length between shafts to about 800 m to 900 m. In particular, when a tunnel is dug in an urban area, this request is strong because the position of the shaft is limited to the road in the urban area. By the way, the laser beam becomes a thin beam and proceeds in a straight line, but when it exceeds about 300 m, it gradually spreads by diffraction, or the intensity of the laser beam decreases due to dust, water vapor or the like. For this reason, the exact position of the laser beam on the target cannot be achieved. Therefore, when measuring the position of the leading conductor that promotes such a long distance, the laser method and the electromagnetic method or the gyro method are used in combination. That is, the position of the leading conductor is measured by the laser method up to about 300 m from the starting shaft where the laser beam reaches, and the position of the leading conductor is measured by the electromagnetic method when exceeding 300 m. In the electromagnetic method, an oscillator that generates a magnetic field is installed on the leading conductor, a receiver that receives the magnetic field generated from the oscillator is installed on the ground, and the position of the leading conductor is measured from the strength of the magnetic field.
[0006]
[Problems to be solved by the invention]
However, the position of the leading conductor cannot be measured with high accuracy by the electromagnetic method and the gyro method. In order to measure the position of the leading conductor with high accuracy, measurement using the laser beam with the highest accuracy for measuring the distance, angle, etc. is desired. If the distance exceeds 300 m, the laser beam does not reach, so it is necessary to relay the laser beam once.
[0007]
Accordingly, an object of the present invention is to provide an optical repeater that can relay light emitted from a reference point and can be used for long-distance measurement, and a measurement method and apparatus using the optical repeater. To do.
[0008]
[Means for Solving the Problems]
The present invention will be described below.
[0009]
  In order to solve the above-mentioned problems, the present inventor uses a bidirectional laser oscillator that emits a laser in both directions as a relay device, and relays it via a path opposite to the laser light emitted from the reference point. The laser beam emitted from the device was refracted to return to the reference point, and the relative angle between the optical axis of the relay device and the optical axis of the laser beam emitted from the reference point was measured from the refraction angle of the laser beam. . Specifically, the present invention is an optical repeater that is provided between a reference point and a survey point and relays laser light emitted from the reference point, and emits the laser in both directions with the optical axis aligned. A pair of relay point optical path refractors that refract the laser light by combining a plurality of wedge prisms provided on both sides of the bidirectional laser oscillator,A control device for controlling the refraction of the laser light at the relay point optical path refractor, and the relay point optical path refractor includes a pair of rotatable wedge prisms and a pair of wedge prisms individually. A pair of rotating drive units, and a pair of angle detection units for detecting the rotation angles of the pair of wedge prisms, wherein one of the relay point optical path refractors includes laser light emitted from the reference point and Refracting laser light emitted from one of the bidirectional laser oscillators, the other of the relay point optical path refractor refracting laser light emitted from the other of the bidirectional laser oscillator, the control device By operating the rotation angle of the pair of wedge prisms of the relay point optical path refractor, the laser beam emitted from one of the bidirectional laser oscillators is received at the reference point. Performs feedback control of the output value of the reference point photodetector to illuminate theThe above-described problems have been solved by the optical repeater characterized in that.
[0010]
  According to this invention, the relay point optical path refractor refracts the laser light emitted from one of the bidirectional laser oscillators and returns it to the reference point via a path opposite to the laser light emitted from the reference point. . Based on the refraction angle of the relay point optical path refractor, the relative angle between the optical axis of the bidirectional laser oscillator and the optical axis of the laser light emitted from the reference point can be detected. It is possible to measure the position of the bidirectional laser oscillator that emits the laser beam toward the surveying point and the direction of the laser beam. As a result, even if the distance from the reference point to the survey point is a long distance, the light emitted from the reference point is relayed, and the position of the survey point can be measured with high accuracy.Further, the laser beam emitted from the reference point can surely reach the relay device. In addition, the laser light emitted from one of the bidirectional laser oscillators of the relay device can reach the reference point, and the laser light emitted from the other of the bidirectional laser oscillators of the relay device can reach the survey point. Can do. Further, the laser beam can be refracted in an arbitrary direction. Further, the laser beam emitted from the relay point can automatically irradiate the reference point.
[0019]
Furthermore, the present invention calculates the refraction angle at the optical path refractor based on the detection values of the pair of angle detection units, and the laser light emitted from the bidirectional laser oscillator based on the refraction angle. An arithmetic device for calculating a relative angle between the optical axis and the optical axis of the laser light emitted from the reference point is provided.
[0020]
According to the present invention, the relative angle between the optical axis of the laser beam emitted from the bidirectional laser oscillator and the optical axis of the laser beam emitted from the reference point can be automatically calculated.
[0021]
  The present invention is also a measuring method for measuring the position of a survey point by relaying the laser beam emitted from the reference point at a relay point to reach the survey point, and emitting the laser beam to the reference point. A reference point laser oscillator and a plurality of laser beams emitted from the reference point laser oscillator.Wedge prismAnd a reference point optical path refractor that refracts in combination, and the relay point is emitted from one of the bidirectional laser oscillator and the bidirectional laser oscillator that emits laser light bidirectionally with the optical axis substantially aligned. And a relay point optical path refractor that refracts the combined laser light by combining a plurality of wedge prisms, and refracts the laser light emitted from the reference point laser oscillator by the reference point optical path refractor to the relay point. The laser beam emitted from one of the bidirectional laser oscillators is refracted by the relay point optical path refractor and reaches the reference point, and the reference point optical path refractor and the relay point optical path refractor The relative angle between the optical axis of the laser beam emitted from the reference point laser oscillator and the optical axis of the laser beam emitted from the bidirectional laser oscillator is calculated based on the refraction angle of the laser beam. It can be configured as a measuring method, characterized by.
[0022]
According to the present invention, the relative angle between the optical axis of the reference point laser oscillator provided at the reference point and the optical axis of the bidirectional laser oscillator provided at the relay point is calculated. It is possible to measure the position of the bidirectional laser oscillator that emits the laser light toward and the direction of the laser light. As a result, even if the distance from the reference point to the survey point is a long distance, the light emitted from the reference point is relayed, and the position of the survey point can be measured with high accuracy.
[0023]
In the present invention, the reference point is provided with a reference point light receiver to which the laser beam emitted from the bidirectional laser oscillator is irradiated, and the laser beam emitted from the reference point laser oscillator is provided at the relay point. Is provided, and a laser beam emitted from the reference point laser oscillator passes through the relay point receiver by operating the rotation angle of the plurality of wedge prisms in the reference point optical path refractor. A laser emitted from one of the bidirectional laser oscillators by feedback controlling the output value of the relay light receiver so as to irradiate and operating the rotation angle of the plurality of wedge prisms in the relay light path refractor The output value of the reference point light receiver is feedback-controlled so that light irradiates the reference point light receiver.
[0024]
According to the present invention, the laser beam emitted from the reference point can automatically irradiate the relay point, and the laser beam emitted from the relay point automatically irradiates the reference point. can do.
[0025]
  Furthermore, the present invention refracts the optical path by combining a plurality of wedge prisms between the reference point and the relay point.MultipleAn optical path refractor is provided, and the optical path refractor is irradiated with a laser beam emitted from the reference laser beam emitted from the reference point laser oscillator and a laser beam emitted from the bidirectional laser oscillator. The relay side light receiver is provided, and the rotation angle of the plurality of wedge prisms of the optical path refractor is manipulated so that the laser light emitted from the reference point laser oscillator irradiates the reference side light receiver. The output value of the reference side photoreceiver is feedback-controlled so that the laser beam emitted from the reference point laser oscillator automatically reaches the relay point photoreceiver, and the plurality of wedge prisms of the optical path refractor By operating the rotation angle, the output value of the relay-side photoreceiver is fed so that the laser light emitted from one of the bidirectional laser oscillators irradiates the relay-side photoreceiver. The reference point optical path refractor, the relay point optical path refractor, and the optical path refractor so that laser light emitted from one of the bidirectional laser oscillators automatically reaches the reference point light receiver. And calculating a relative angle between the optical axis of the laser light emitted from the reference point laser oscillator and the optical axis of the laser light emitted from the bidirectional laser oscillator based on the refraction angle of the laser light at It is characterized by.
[0026]
According to the present invention, no matter how the path from the reference point to the relay point is bent, the optical axis of the reference point laser oscillator provided at the reference point and the light of the bidirectional laser oscillator provided at the relay point The relative angle between the axes can be calculated.
[0027]
Furthermore, the present invention is characterized in that the refraction angles of the reference point optical path refractor, the relay point optical path refractor and the optical path refractor are calculated based on the rotation angles of the plurality of wedge prisms.
[0028]
According to the present invention, the refraction angle of the refractor can be easily calculated.
[0029]
  The present invention is also a measuring apparatus for measuring the position of a survey point by relaying the laser beam emitted from a reference point at a relay point to reach the survey point, and emitting the laser beam to the reference point. A reference point laser oscillator, a reference point optical path refractor that refracts the laser light emitted from the reference point laser oscillator, and a reference point light receiver that is irradiated with the laser light emitted from the relay point. Irradiates from a reference point, a bidirectional laser oscillator that emits laser light in two directions with the optical axes substantially aligned, a relay point optical path refractor that refracts laser light emitted from one of the bidirectional laser oscillators, and A relay point light receiver that is irradiated with the laser beam is provided. Each of the reference point light path refractor and the relay point light path refractor includes a pair of wedge prisms that are rotatably provided, and a pair of wedge prisms. Rotating the pair of wedge prisms in the reference point optical path refractor having a pair of drive units that individually rotate the pair and a pair of angle detection units that detect a rotation angle of each of the pair of wedge prisms The angle is manipulated to feedback control the output value of the relay point light receiver so that the laser light emitted from the reference point laser oscillator irradiates the relay point light receiver, and the relay point optical path refractor A control device that controls the rotation angle of a pair of wedge prisms and feedback-controls the output value of the reference point light receiver so that laser light emitted from one of the bidirectional laser oscillators irradiates the reference point light receiver And a laser emitted from the reference point laser oscillator based on the refraction angle of the laser light at the reference point optical path refractor and the relay point optical path refractor Can be constituted of an arithmetic unit for calculating a relative angle between the optical axis and the bidirectional optical axis of the laser beam from the laser oscillator is emitted, as a measuring apparatus, characterized in that is provided.Further, at least one optical path refractor that refracts the optical path is provided between the reference point and the relay point. The optical path refractor includes a pair of wedge prisms that are rotatably provided, and a pair of wedge prisms. The optical path refractor is emitted from the reference point laser oscillator. The optical path refractor includes a pair of driving units that individually rotate and a pair of angle detection units that detect the rotation angles of the pair of wedge prisms. A reference-side light receiver that is irradiated with laser light and a relay-side light receiver that is irradiated with laser light emitted from the bidirectional laser oscillator are provided, and the control device includes the pair of wedge prisms of the optical path refractor The output value of the reference side light receiver is fed back so that the laser light emitted from the reference point laser oscillator irradiates the reference side light receiver. The laser light emitted from the reference point laser oscillator automatically reaches the relay light receiver, and the rotation angle of the pair of wedge prisms of the optical path refractor is operated to The output value of the relay-side light receiver is feedback controlled so that the laser light emitted from one of the bidirectional laser oscillators irradiates the relay-side light receiver, and the laser light emitted from one of the bidirectional laser oscillators is automatically The reference point photoreceiver, and the arithmetic unit is configured to determine the reference point laser based on the refraction angle of the laser light at the reference point optical path refractor, the relay point optical path refractor, and the optical path refractor. A measuring device is configured to calculate a relative angle between an optical axis of a laser beam emitted from an oscillator and an optical axis of a laser beam emitted from the bidirectional laser oscillator. It can be. Further, the calculation device calculates a refraction angle of the reference point optical path refractor, the relay point optical path refractor, and the optical path refractor based on a rotation angle of each of the pair of wedge prisms. Can be configured.
[0030]
DETAILED DESCRIPTION OF THE INVENTION
FIG. 1 shows a propulsion method to which a measuring apparatus according to an embodiment of the present invention is applied. The leading conductor 1 digs a tunnel along a predetermined planned line 4 from the starting shaft 2 toward the reaching shaft 3. A leading conductor 1 such as a jack pushes the leading conductor 1 from the starting shaft 2 by a certain stroke. Each time the leading conductor 1 advances a certain stroke by the main pushing device, a propelling pipe is sequentially added to the rear portion of the leading conductor 1. The measuring device of the present invention measures the propulsion position 5 (survey point) of the leading conductor 1 from the starting shaft 2 (reference point), and measures the distance {circle around (2)} of the leading conductor with respect to the initial setting reference line 6, for example. As shown in FIG. 2, this distance (2) is compared with the distance (1) from the initial reference line 6 to the planned line 4, and (2)-(1) is the deviation from the planned line 4 of the leading conductor. The amount is (3). The excavation of the leading conductor 1 is controlled so that the deviation amount (3) becomes zero.
[0031]
FIG. 3 shows an overall system configuration diagram of the measuring apparatus of the present invention. This measuring device relays the laser light emitted from the reference point 21 at the relay point 22 so as to reach the survey point 23 and measures the position to the survey point 23. In order to measure the position of the survey point 23, it is necessary to measure the direction of the optical axis 25a of the bidirectional laser oscillator 25 that relays the laser light. The measuring device of the present invention is characterized in that it can measure the relative angle between the optical axis 25a of the bidirectional laser oscillator 25 and the optical axis 26a of the reference point laser oscillator 26 provided at the reference point 21.
[0032]
  The reference point 21 has a reference point laser oscillator 26 that emits laser light and a pair of laser beams that are fixed to the reference point laser oscillator 26 and emitted from the reference point laser oscillator 26.Wedge prismA reference point optical path refractor 27 that refracts in combination, and a reference point light receiver 28 that is irradiated with laser light emitted from the relay point 22 are provided. The configurations of the reference point optical path refractor 27 and the reference point light receiver 28 will be described later.
[0033]
Between the reference point 21 and the relay point 22, two optical path refractors 31, 31 that refract the optical path by combining a pair of wedge prisms are provided. The optical path refractors 31, 31 have the same configuration as the reference point optical path refractor 27. Both sides of the optical path refractors 31 and 31 are irradiated with reference side light receivers 32 and 32 irradiated with laser light emitted from the reference point laser oscillator 26 and laser light emitted from the bidirectional laser oscillator 25. Relay side light receivers 33 and 33 are provided. The reference side light receivers 32 and 32 and the relay side light receivers 33 and 33 have the same configuration as the reference point light receiver 28 described above.
[0034]
  An optical relay device 35 is provided at the relay point 22. The optical repeater 35 includes a bidirectional laser oscillator 25 that substantially aligns the optical axis and emits laser light in both directions, and a pair of relay point optical path refractors 36 a and 36 b provided on both sides of the bidirectional laser oscillator 25. . The bi-directional laser oscillator 25 emits laser light with the direction shifted by 180 degrees on a straight line from both sides. The bidirectional laser oscillator 25 is configured, for example, by combining a known laser oscillator in which a laser medium is inserted between two reflecting mirrors, back to back so that the optical axes of laser beams emitted from both directions coincide. The In addition to this, light of resonance frequency is confined by two reflecting mirrors, and a part of them is taken from both sides to the outside.put outIt may be configured as follows. That is, the bidirectional laser oscillator 25 may be composed of one laser oscillator that emits laser light in both directions, or two laser oscillators that emit laser light only in one direction are fixed, The laser beam may be emitted in the direction. Note that He—Ne, a gas such as carbon dioxide, a solid, a semiconductor, or the like is used as a medium of the laser oscillator.
[0035]
  On both sides of the bidirectional laser oscillator 25, relay point optical path refractors 36 a and 36 b that refract the laser light by combining a pair of wedge prisms are provided. The relay point optical path refractors 36a and 36b have the same configuration as the reference point optical path refractor 27 described above. One of the relay point optical path refractors refracts the laser light emitted from the reference point 21 and the laser light emitted from one of the bidirectional laser oscillators 25, and the other of the relay point optical path refractors 36b is a bidirectional laser. The laser beam emitted from the other side of the oscillator 25 is refracted. Relay point optical path refractor located on the reference point side36aIs provided with a relay point light receiver 37 irradiated with laser light emitted from the reference point 21. The relay point light receiver 37 has the same configuration as the reference point light receiver 28.
[0036]
A survey point light receiver 38 is provided at the survey point 23. The survey point light receiver 38 is fixed to, for example, a leading conductor that digs through a tunnel. The survey point receiver 38 has the same configuration as the reference point receiver 28 described above.
[0037]
Between the relay point 22 and the survey point 23, two optical path refractors 39, 39 are provided that refract the optical path by combining a pair of wedge prisms. The optical path refractors 39 and 39 have the same configuration as the reference point optical path refractor 27. On the relay point side of each of the optical path refractors 39, 39, relay-side light receivers 40, 40 to which the laser light emitted from the bidirectional laser oscillator 25 is irradiated are provided. The relay side light receivers 40, 40 have the same configuration as the reference point light receiver 28 described above.
[0038]
The measuring apparatus of the present invention sequentially refracts the laser light emitted from the reference point laser oscillator 26 by the reference point optical path refractor 27 and the optical path refractors 31, 31 so as to reach the relay point 22, and conversely. The laser light emitted from the bidirectional laser oscillator 25 is sequentially refracted by the relay point optical path refractor 36 a and the optical path refractors 31 and 31 so as to reach the reference point 21.
[0039]
  That is, the control device 50a operates the rotation angle of the wedge prism in the reference point optical path refractor 27 so that the laser light emitted from the reference point laser oscillator 26 is emitted.Of the optical path refractor 31 (left side in the figure)The output value of the reference side light receiver 32 is feedback-controlled so that the reference side light receiver 32 is irradiated. Similarly, the control device 50b operates the rotation angle of the wedge prism in the optical path refractor 31, and the laser light emitted from the reference point laser oscillator 26 isOf the optical path refractor 31 (right side in the figure)The output value of the reference side light receiver 32 is feedback-controlled so that the reference side light receiver 32 is irradiated. Further, the control device 50c operates the rotation angle of the wedge prism in the optical path refractor 31 so that the laser light emitted from the reference point laser oscillator 26 irradiates the relay point light receiver 37. Feedback control of output value. In this way, the laser light emitted from the reference point laser oscillator 26 is sequentially refracted by the reference point optical path refractor 27 and the optical path refractors 31 and 31 so as to reach the relay point 22.
[0040]
  On the contrary, the control device 50d operates the rotation angle of the wedge prism in the relay point optical path refractor 36a so that the laser light emitted from the bidirectional laser oscillator 25 is emitted.Of the optical path refractor 31 (right side in the figure)To irradiate the relay-side light receiver 33,thisThe output value of the relay side light receiver 33 is feedback-controlled. Similarly, the control device 50c operates the rotation angle of the wedge prism in the optical path refractor 31, and the laser beam emitted from the bidirectional laser oscillator 25 isOf the optical path refractor 31 (left side in the figure)To irradiate the relay-side light receiver 33,thisThe output value of the relay side light receiver 33 is feedback-controlled. In addition, the control device 50b operates the rotation angle of the wedge prism in the optical path refractor 31 so that the laser light emitted from the bidirectional laser oscillator 25 irradiates the reference point light receiver 28. Feedback control of output value. In this way, the laser light emitted from the bidirectional laser oscillator 25 is sequentially refracted by the relay point optical path refractor 36 and the optical path refractors 31 and 31 so as to reach the reference point 21. As a matter of course, the wedge prism of the optical path refractors 31 and 31 hardly needs to be moved between going and returning.
[0041]
  The arithmetic unit 51 includes a reference point optical path refractor 27,Optical path refractor 31, 31And relay point optical path refractor36aBetween the optical axis 26a of the laser light emitted from the reference point laser oscillator 26 and the optical axis 25a of the laser light emitted from the bidirectional laser oscillator 25 based on the refraction angles θ1 to θ4 of the laser light at The relative angle θ is calculated. The relative angle θ is obtained from the following calculation formula, for example.
[0042]
[Formula 1]
θ = θ1 + θ2 + θ3 + θ4
Further, when the distances L1 to L3 between the optical path refractors are measured, the position of the relay point 22 can also be measured.
[0043]
Similarly to the control devices 50a, 50b, and 50c, the control devices 50e, 50f, and 50g operate the rotation angle of the wedge prism of the relay point light path refractor 36b or the light path refractors 39 and 39, and the survey point light receiver 38 or The output values of the relay-side light receivers 40, 40 are feedback-controlled so that the laser light emitted from the bidirectional laser oscillator 25 automatically reaches the survey point light receiver 38. Then, the computing device 51 calculates the position of the survey point 23 based on the refraction angles θ1 to θ7 of each optical path refractor and the distances L1 to L7 between the optical path refractors.
[0044]
As described above, according to the present invention, the relative angle between the optical axis 26 a of the reference point laser oscillator 26 provided at the reference point 21 and the optical axis 25 a of the bidirectional laser oscillator 25 provided at the relay point 22 is calculated. Therefore, the position of the bidirectional laser oscillator 25 that emits laser light from the relay point 22 toward the survey point 23 and the direction of the laser light can be measured. As a result, even if the distance from the reference point 21 to the survey point 23 is a long distance, the light emitted from the reference point 21 can be relayed and the survey point 23 can be measured with high accuracy.
[0045]
When the center positions of the light receivers 28, 32, 33, and 37 are different from the center positions of the optical path refractors 27, 31, 31, and 36a, the distance between the optical path refractors 27, 31, 31, and 36a is short. There is a slight difference in the optical path between going and returning. When it is desired to measure the relative angle with high accuracy, the refraction angles of the optical path refractors 27, 31, 31, and 36a are measured for each of the going and returning directions.
[0046]
FIG. 4 shows the reference point optical path refractor 27. As described above, the reference point optical path refractor 27, the relay point optical path refractors 36 and 36, and the optical path refractors 31, 31, 39, and 39 all have the same configuration, and the reference point light receiver 28 and the relay point light receiver 37. The survey point light receiver 38, the reference side light receivers 32, 32, and the relay side light receivers 33, 33, 40, 40 all have the same configuration, so that the reference point optical path refractor (hereinafter simply referred to as the prism unit 27) and the reference The configuration of the point light receiver 28 (hereinafter simply referred to as the light receiver 28) will be described as a representative. In the figure, (A) shows a front view of the prism unit 27, and (B) in the figure shows a side view. Each prism unit 27 includes a pair of wedge prisms 13a and 13b. Each prism unit 27 is provided with a light receiver 28. The light receiver 28 includes three to four photoelectric sensors 28a, 28b, 28c, and 28d arranged around the wedge prisms 13a and 13b at a predetermined interval from the center thereof. In addition to the biaxial photoelectric sensor in which four photoelectric sensors are combined, an imaging element such as a CCD camera may be used for the light receiver 28.
[0047]
FIG. 5 shows a cross-sectional view of the prism unit 27. The prism unit 27 includes a cylindrical case 12, a pair of wedge prisms 13a and 13b rotatably provided in the case 12, and a motor as a drive unit that individually rotates the pair of wedge prisms 13a and 13b. 14a and 14b, and encoders 15a and 15b as angle detection units that digitally detect the rotation angles of the wedge prisms 13a and 13b. The motors 14a and 14b and the encoders 15a and 15b are integrated. Further, the wedge prism is covered with a protective glass 16 in order to prevent dust and the like from adhering. The angle detection unit is not limited to the encoders 15a and 15b that detect digitally, but may be a potentiometer that detects analogly.
[0048]
As shown in FIG. 6, the wedge prisms 13a and 13b are prisms in which the second surface 17 of the cylindrical lens is tapered. When the beam enters the first surface 18 of the wedge prisms 13a and 13b perpendicularly, the incident light beam is refracted at a refraction angle δ. Here, the relationship between the refraction angle δ and the wedge apex angle w is expressed by the following equation.
[0049]
[Formula 2]

Here, n is a refractive index.
[0050]
FIG. 7 shows a case where two wedge prisms 13a and 13b are combined. The two wedge prisms 13a and 13b are made of the same material and have the same wedge apex angle w. As shown in this figure, when the two wedge prisms 13a and 13b are arranged close to each other so that the inclined surfaces 19 are parallel, the beam that has passed through the wedge prisms 13a and 13b goes straight in the same way as it passes through the parallel glass. To do. On the other hand, as shown in FIG. 12, by separately rotating the wedge prisms 13a and 13b about an axis parallel to the normal line of the first surface 18, laser light is emitted in an arbitrary direction inside a predetermined pointed cone. Can be refracted (deflected). When the wedge apex angle w is small, the maximum refraction angle at this time is 2δ which is the sum of the refraction angles δ of the two wedge prisms. Therefore, the laser beam irradiates a circle having a diameter of 4δ.
[0051]
A method of calculating the refraction angle and refraction direction when combined from the rotation angles of the two wedge prisms 13a and 13b will be described. The rotation angles of the wedge prisms 13a and 13b are detected by the encoders 15a and 15b, and the refraction angle when combined is calculated by the arithmetic unit 51 (see FIG. 3). The arithmetic unit 51 is composed of a computer having a CPU or the like, and calculates the refraction angle of each prism unit 27 from the rotation angles of the wedge prisms 13a and 13b.
[0052]
As shown in FIG. 9, when laser light is incident on the center line of the wedge prisms 13a and 13b (hereinafter, the wedge prism 13a is referred to as the prism 1 and the wedge prism 13b is referred to as the prism 2), the prism 1 converts the laser light into a refraction angle δ1. The prism 2 further refracts the laser beam at a refraction angle δ2. The rotation angle of the prism 1 from which the refraction angles δ1 and δ2 are obtained is ψ1, and the rotation angle of the prism 2 is ψ2. With reference to the position where the line connecting the thickest part and the thinnest part of the prisms 1 and 2 is horizontal, the rotation angles ψ1 and ψ2 represent angles from this position.
[0053]
Here, since the wedge apex angle w is very small, it is assumed that both δ1 and δ2 are very small in order to simplify the calculation, and that the laser beam is incident on the first surface of the wedge prism 2 vertically. In FIG. 10, the X axis and the Y axis are taken on the plane orthogonal to the laser beam, and the refraction angle δ1 of the prism 1 ((a) in the figure) and the refraction angle δ2 of the prism 2 ((b) in the figure) are vectors. It is displayed. From this figure, the following calculation formula is established for the prism 1.
[0054]
[Formula 3]

Similarly, the following calculation formula holds for the prism 2 as well.
[0055]
[Formula 4]

The combined component δTX in the X direction when the prism 1 and the prism 2 are summed from Expression 2 and Expression 3 is expressed by Expression 5 below.
[0056]
[Formula 5]

Similarly, the composite component in the Y direction is expressed by the following Equation 6.
[0057]
[Formula 6]

Therefore, the synthetic refraction angle δT and the synthetic refraction direction ψT are expressed by the following Expression 7.
[0058]
[Formula 7]

Here, if the difference angle Δψ between the two prisms is Δψ = ψ1-ψ2, δT is expressed by the following equation (8).
[0059]
[Formula 8]

[0060]
By using these calculation formulas, the combined refraction angle δT and the combined refraction direction ψT can be easily calculated from the rotation angles of the two prisms 1 and 2. The refraction angles δ1 and δ2 of the prisms 1 and 2 are kept constant by the prism, and the refraction angles are stored in the computer memory. When the prisms 1 and 2 having different refraction angles are used, a plurality of refraction angles are stored in the memory.
[0061]
As described above, the control devices 50a to 50g operate the respective rotation angles of the pair of prisms 1 and 2 in the prism unit 27, and finally the laser light emitted from the reference point laser oscillator 26 is automatically set. It reaches the survey point light receiver 38. When the laser beam is not at the center of the light receivers 28, 32, 33, 37, 38, and 40, the control devices 50a to 50g rotate the prisms 1 and 2, respectively, with a predetermined algorithm. The prisms 1 and 2 are operated so as to come to the center of 28. The combined refraction angle δT (θ1 to θ7 in FIG. 1) and the combined refraction direction ψT are calculated from the rotation angles ψ1 and ψ2 of the prisms 1 and 2 at this time using the above-described calculation formula.
[0062]
A software servo algorithm executed by the control device so as to bring the laser beam to the center of the light receivers 28 will be described. This software servo controls the rotation angle of the prisms 1 and 2 to feedback control the output values of the light receivers 28 so that the laser light irradiates the centers of the light receivers 28.
[0063]
FIG. 11 shows a flowchart of the algorithm. First, it is determined whether the input level from the light receivers 28 is e1 or more (step S1). In the case of a two-axis photoelectric sensor in which the light receivers 28 are combined with four photoelectric sensors extending in four directions of + X, -X, + Y, and -Y from the center, the output value becomes 0 if the laser beam is at the center. When the input level from the light receivers 28 is less than e1, the rotation angle of the prisms 1 and 2 is not operated assuming that the laser light is at the center of the light receivers 28. When the input level from the light receivers 28 .gtoreq.e1, since the laser beam is not at the center of the light receivers 28, the following processing is performed so that the laser light is at the center of the light receivers 28.
[0064]
First, X0, Y0, and ψT are calculated in the prism coordinate system (step S2). Next, X1 and Y1 are detected in the receiver coordinate system (step S3). As shown in FIGS. 12 and 13, the prism coordinate system is a coordinate system having a point P that extends the prism center line from the prism unit 27 and intersects the plane on the light receiver as the origin, and the light receiver coordinate system is This is a coordinate system with the center of the light receivers 28 as the origin. In FIG. 12 and FIG. 13, the irradiation position of the laser light on the light receivers 28... Is shown in the prism coordinate system, and the v0 vector is shown in the light receiver coordinate system. In order for the laser light to irradiate the center of the light receivers 28..., The v1 vector should be zero. Assuming that the X direction component and the Y direction component of the v0 vector of the prism coordinate system are X0 and Y0, respectively, X0 = δTX × L1, Y0 = δTY × L1 is calculated from the combined refraction angle δT of the prism. Here, L1 is the distance from the prism to the light receiver. ΨT is calculated from the above-described combined refraction direction (step S2). Further, in the photoreceiver coordinate system, X1 and Y1 are detected from the detection values of the photoreceivers 28, and the calculation formula θ1 = tan^-1Θ1 is calculated from (Y1 / X1) (step S3). When the accuracy of the light receivers 28 is high and the coordinates X1 and Y1 are obtained with high precision, the combined refraction angle δT is changed so that the prism is operated based on the X1 and Y1 to irradiate the center of the light receivers 28. However, since the accuracy of the light receivers 28 is generally not so high, the following processing is required.
[0065]
ψT and θ1 are compared, and the two prisms are simultaneously rotated while keeping the difference angle Δψ constant in the matching direction, thereby changing ψT (step S4). As shown in FIG. 14, when the two prisms are simultaneously rotated while the difference angle Δψ between the two prisms is kept constant, the v0 vector in the prism coordinate system rotates around the origin P while maintaining the absolute value. To do. When rotation is performed until ψT and θ1 are equal (from the position of the two-dot chain line to the position of the solid line in the figure), the v1 vector and the v0 vector overlap. In step S4, the directions of the v0 vector and the v1 vector are matched. The amount of rotation of the prism once is set to ½ of the difference so as not to vibrate.
[0066]
Next, | v1 | is compared with | v0 |, and the difference angle Δψ is changed so that | v1 | becomes 0 while keeping ψT constant. As shown in FIG. 15, when the two prisms are rotated in the opposite directions by the same amount, the v0 vector in the prism coordinate system changes the absolute value | v0 | while keeping ψT constant. As shown in this figure, when the difference angle Δψ between the two prisms is changed so that | v1 | becomes 0, the absolute value of the v0 vector changes from the position of the two-dot chain line in the figure to the position of the solid line. That is, in step S5, the absolute value of the v1 vector is set to zero. Here, | v1 | = √ (X1²+ Y1²), | V0 | = L1√ (δTX²+ ΔTY²). It should be noted that the amount of change of the difference angle Δψ once is ½ of the difference so as not to vibrate.
[0067]
Next, it is determined whether or not the amount of change in the difference angle Δψ in step S5 is, for example, 10 ″ or less (step S6). If it is 10 ″ or less, the laser beam is centered on the light receivers 28. Return to the start as irradiating. If it is not less than 10 ″, Steps 2 to 5 are repeated, and the rotation angle of the prism is manipulated so that the v1 vector becomes 0 again.
[0068]
In addition, this invention is not restricted to the above-mentioned embodiment, A various change is possible. For example, in a bi-directional laser, the optical axes do not have to be matched if the optical axis deviation between the two is known in advance. Further, although a plurality of control devices are provided corresponding to the plurality of prism units, one control device may be provided for the plurality of prism units.
[0069]
【The invention's effect】
As described above, according to the present invention, a bidirectional laser oscillator that emits a laser in both directions is used as a relay device, and the relay device passes through a path opposite to the laser light emitted from the reference point. Since the laser beam emitted from the laser beam is refracted and returned to the reference point, the relative angle between the optical axis of the relay device and the optical axis of the laser beam emitted from the reference point is measured from the refraction angle of the laser beam. Even if the distance from the reference point to the survey point is a long distance, the light emitted from the reference point is relayed and the position of the survey point can be measured with high accuracy.
[Brief description of the drawings]
FIG. 1 is a plan view showing a propulsion method to which a measuring apparatus according to an embodiment of the present invention is applied.
FIG. 2 is a schematic diagram showing a deviation of a leading conductor from a planned line.
FIG. 3 is an overall system configuration diagram of the measurement apparatus.
FIG. 4 is a diagram showing a prism unit ((A) in the figure shows a front view, and (B) in the figure shows a side view).
FIG. 5 is a cross-sectional view showing a prism unit.
FIG. 6 is a sectional view showing a wedge prism.
FIG. 7 is a cross-sectional view showing a combined wedge prism.
FIG. 8 is a perspective view showing a wedge prism that refracts incident light.
FIG. 9 is a diagram showing refraction of incident light in a coordinate system.
FIG. 10 is a diagram showing a refraction angle as a vector ((a) in the figure shows the prism 1, and (b) in the figure shows the prism 2).
FIG. 11 is a flowchart showing an algorithm of software servo.
FIG. 12 is a diagram showing an irradiation position of laser light on a light receiver.
FIG. 13 is a graph showing a prism coordinate system and a receiver coordinate system.
FIG. 14 is a graph showing a prism coordinate system and a receiver coordinate system.
FIG. 15 is a graph showing a prism coordinate system and a receiver coordinate system.
[Explanation of symbols]
13a, 13b wedge prism
14a, 14b Motor (drive unit)
15a, 15b Encoder (Angle detection unit)
21 Reference point
22 Relay point
23 Survey points
25a Optical axis of bidirectional laser oscillator
25 Bidirectional laser oscillator
26 Reference point laser oscillator
26a Optical axis of reference point laser oscillator
27 Reference point optical path refractor
28 Reference Point Receiver
31, 31 Optical path refractor
32,32 Reference side receiver
33,33 Relay side receiver
35 Optical repeater
36a, 36b Relay point optical path refractor
37 Relay point receiver
50a-50d control device
51 arithmetic unit

Claims (9)

An optical repeater that is provided between a reference point and a survey point and relays laser light emitted from the reference point,
A bidirectional laser oscillator that emits a laser in both directions along the optical axis;
A pair of relay point optical path refractors provided on both sides of the bidirectional laser oscillator for refracting laser light by combining a plurality of wedge prisms;
A control device for controlling the refraction of the laser light in the relay point optical path refractor,
The relay point optical path refractor includes a pair of rotatable wedge prisms, a pair of drive units that individually rotate the pair of wedge prisms, and a pair of rotation angles of the pair of wedge prisms. And an angle detection unit of
One of the relay point optical path refractors refracts the laser light emitted from the reference point and one of the bidirectional laser oscillators, and the other of the relay point optical path refractors Refracts the laser beam emitted from the other side of the laser oscillator,
The control device operates a rotation angle of the pair of wedge prisms of the relay point optical path refractor so that a laser beam emitted from one of the bidirectional laser oscillators is provided at the reference point. An optical repeater that feedback-controls the output value of the reference point light receiver so as to irradiate the light. The refraction angle at the relay point optical path refractor is calculated based on the detection values of the pair of angle detection units, and the optical axis of the laser light emitted from the bidirectional laser oscillator based on the refraction angle The optical repeater according to claim 1, further comprising an arithmetic unit that calculates a relative angle between the optical axis of the laser beam emitted from the reference point . A measuring method for relaying laser light emitted from a reference point to a survey point by relaying at a relay point, and measuring the position of the survey point,
The reference point is provided with a reference point laser oscillator that emits laser light, and a reference point optical path refractor that refracts laser light emitted from the reference point laser oscillator in combination with a plurality of wedge prisms ,
The relay point refracts a laser beam emitted from one of the bidirectional laser oscillators by combining a plurality of wedge prisms with the optical axis substantially aligned and bi-directionally emitting laser light. A relay point optical path refractor,
Refracting the laser light emitted from the reference point laser oscillator with the reference point optical path refractor so as to reach the relay point;
Refracting laser light emitted from one of the bidirectional laser oscillators by the relay point optical path refractor so as to reach the reference point;
Based on the refraction angle of the laser light at the reference point optical path refractor and the relay point optical path refractor, the optical axis of the laser light emitted from the reference point laser oscillator and the laser light emitted from the bidirectional laser oscillator A measurement method characterized by calculating a relative angle with respect to the optical axis. The reference point is provided with a reference point light receiver that is irradiated with laser light emitted from the bidirectional laser oscillator,
The relay point is provided with a relay point light receiver that is irradiated with laser light emitted from the reference point laser oscillator,
The output value of the relay point light receiver is operated so that the laser light emitted from the reference point laser oscillator irradiates the relay point light receiver by operating the rotation angle of the plurality of wedge prisms in the reference point optical path refractor. As well as feedback control
By operating the rotation angle of the plurality of wedge prisms in the relay point optical path refractor, the laser light emitted from one of the bidirectional laser oscillators irradiates the reference point receiver. The measurement method according to claim 3, wherein the output value is feedback-controlled. A plurality of optical path refractors are provided between the reference point and the relay point to refract the optical path by combining a plurality of wedge prisms,
The optical path refractor is provided with a reference side light receiver irradiated with laser light emitted from the reference point laser oscillator and a relay side light receiver irradiated with laser light emitted from the bidirectional laser oscillator. ,
By manipulating the rotation angle of the plurality of wedge prisms of the optical path refractor, the output value of the reference side light receiver is fed back so that the laser light emitted from the reference point laser oscillator irradiates the reference side light receiver. And controlling the laser light emitted from the reference point laser oscillator to automatically reach the relay point receiver,
The output value of the relay-side light receiver is operated such that the laser light emitted from one of the bidirectional laser oscillators irradiates the relay-side light receiver by operating the rotation angle of the plurality of wedge prisms of the optical path refractor. Feedback control, so that the laser light emitted from one of the bidirectional laser oscillators automatically reaches the reference point receiver,
Based on the refraction angle of the laser light at the reference point optical path refractor, the relay point optical path refractor, and the optical path refractor, the optical axis of the laser light emitted from the reference point laser oscillator and the bidirectional laser oscillator The measurement method according to claim 4, wherein a relative angle with the optical axis of the emitted laser light is calculated. 6. The measuring method according to claim 5, wherein the refraction angles of the reference point optical path refractor, the relay point optical path refractor, and the optical path refractor are calculated based on rotation angles of the plurality of wedge prisms. . A measuring device that relays laser light emitted from a reference point to a survey point by relaying it at a relay point, and measures the position of the survey point,
The reference point is irradiated with a reference point laser oscillator that emits laser light, a reference point optical path refractor that refracts laser light emitted from the reference point laser oscillator, and laser light emitted from the relay point. A reference point receiver
At the relay point, a bidirectional laser oscillator that emits laser light in two directions with the optical axis substantially aligned, a relay point optical path refractor that refracts the laser light emitted from one of the bidirectional laser oscillator, and a reference A relay point receiver that is irradiated with laser light emitted from a point,
Each of the reference point optical path refractor and the relay point optical path refractor includes a pair of wedge prisms that are rotatably provided, a pair of drive units that individually rotate the pair of wedge prisms, and the pair of wedges. A pair of angle detectors for detecting the rotation angle of each prism;
By operating the rotation angle of the pair of wedge prisms in the reference point optical path refractor, the output value of the relay point receiver so that the laser light emitted from the reference point laser oscillator irradiates the relay point receiver And controlling the rotation angle of the pair of wedge prisms in the relay point optical path refractor so that the laser light emitted from one of the bidirectional laser oscillators irradiates the reference point light receiver. A control device that feedback controls the output value of the reference point receiver;
Based on the refraction angle of the laser light at the reference point optical path refractor and the relay point optical path refractor, the optical axis of the laser light emitted from the reference point laser oscillator and the laser light emitted from the bidirectional laser oscillator An arithmetic unit for calculating a relative angle between the optical axis of
Is provided. A plurality of optical path refractors that refract the optical path are provided between the reference point and the relay point, and the optical path refractor includes a pair of rotatable wedge prisms and a pair of wedge prisms. A pair of drive units that rotate individually, and a pair of angle detection units that detect the rotation angle of each of the pair of wedge prisms,
The optical path refractor is provided with a reference side light receiver irradiated with laser light emitted from the reference point laser oscillator and a relay side light receiver irradiated with laser light emitted from the bidirectional laser oscillator. ,
The controller controls the rotation angle of the pair of wedge prisms of the optical path refractor so that the laser light emitted from the reference point laser oscillator irradiates the reference side light receiver. Feedback control of the output value of the reference point so that the laser light emitted from the reference point laser oscillator automatically reaches the relay point light receiver and manipulates the rotation angle of the pair of wedge prisms of the optical path refractor Then, feedback control of the output value of the relay-side light receiver is performed so that the laser light emitted from one of the bidirectional laser oscillators irradiates the relay-side light receiver, and the laser beam is emitted from one of the bidirectional laser oscillators. The laser beam automatically reaches the reference point receiver,
The arithmetic device comprises: an optical axis of a laser beam emitted from the reference point laser oscillator based on a refraction angle of the laser light at the reference point optical path refractor, the relay point optical path refractor, and the optical path refractor; The measuring apparatus according to claim 7, wherein a relative angle between the optical axis of laser light emitted from the bidirectional laser oscillator is calculated. The arithmetic unit calculates a refraction angle of the reference point optical path refractor, the relay point optical path refractor, and the optical path refractor based on a rotation angle of each of the pair of wedge prisms. The measuring device described in 1.

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