JP4358952B2 - Surveying instrument and surveying method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a surveying instrument having an automatic focusing function, and more particularly to a surveying instrument which automatically performs sequential focusing on a plurality of positions.
[0002]
[Prior art]
There are two types of surveying: surveying for measuring position and obtaining information, and surveying for specifying a position based on information.
[0003]
There is a survey that specifies the position based on the latter information, for example, a stakeout of a survey work that is the basis for erecting a telegraph pole or the like along a road at a predetermined distance.
[0004]
With reference to FIG. 7, stakeout will be described.
[0005]
From the total station 1 installed at the given point (known point), the pole 2 with the distance measuring prism 3 held by the operator is collimated according to the survey information indicating the standing position.
[0006]
The position of the pole 2 is measured from the distance (distance measurement) and the direction angle (angle measurement) by collimating the distance measurement prism 3. If there is a difference from the set value, the operator is instructed and this operation is repeated. When the pole 2 finally reaches a predetermined position, one setting operation is completed. Further, the pole 2 is moved and similarly set to a predetermined position. Usually, stakeout repeats this work many times.
[0007]
The total station 1 used for such work is generally a total station in which an angle measuring function for electrically reading an angle and a distance measuring function for measuring a distance by a light wave are integrated with a theodolite.
[0008]
A program corresponding to the work is stored in the control unit of the total station, and a work procedure is set according to the program. The stakeout repeats surveying according to this work procedure. The work is somewhat easier as much as it is stored, but basically it is almost the same, and the measurement is repeated until the pole 2 matches a predetermined position.
[0009]
[Problems to be solved by the invention]
As described above, in the stakeout, the measurement is repeated using the distance measuring device until the predetermined position is reached. The distance measuring device used in the surveying device is very accurate and can measure with an error of several millimeters. Therefore, while positioning with high accuracy is possible, it takes a certain amount of time, and it is necessary to maintain the pole 2 so that it does not shake during measurement. For this reason, several measurements are required for one alignment.
[0010]
As described above, stakeout requires time to set one position and is unexpectedly demanding work. However, high-precision measurements are necessary near the set position, but not so much accuracy is necessary otherwise, it is sufficient if the approximate distance is known.
[0011]
The present invention has been made in view of such circumstances, and it is an object of the present invention to perform stakeout quickly and to reduce the labor of an operator.
[0012]
[Means for Solving the Problems]
The present invention provides a surveying instrument comprising an automatic focusing unit, a storage unit storing at least distance information related to a point finding, and a control calculation unit that controls the automatic focusing unit based on the distance information and performs focusing. The automatic focusing means has a detecting means for detecting the in-focus state, and the control calculation section is a distance from the detection result from the detecting means to the measurement target. , And a difference between the distance measurement result and the distance information is calculated, and the calculation result is displayed on the distance display unit. Further, the storage unit is distance information on a plurality of points. And a work procedure program, and a surveying instrument that sequentially focuses a plurality of points. Further, the present invention stores distance information for the point to be obtained, focuses on the measurement object, measures the distance from the focused state to the measurement object, and obtains a difference between the distance information and the distance measured. , Relating to a surveying method for obtaining a point by moving a measurement object so that the difference is 0, and also relating to a surveying method for obtaining a point based on a display in which the difference between the distance information and the distance measured is displayed It is.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0014]
FIG. 1 shows a surveying instrument which is a total station 1, and a gantry 6 is mounted on a tripod (not shown) via a base unit 5, and a collimating telescope unit 7 is supported on the gantry 6. Yes. The base unit 5 has leveling screws 8, and leveling is performed by the leveling screws 8 so that the mount 6 is horizontal. The gantry 6 can be rotated about a vertical axis, and the collimating telescope unit 7 can be rotated about a horizontal axis. The gantry 6 is provided with a manual focusing knob 9. As shown in FIG. 3, the focus knob 9 is a combination of a coarse dial knob 31 and a fine dial knob 32, and the coarse dial knob 31 is rotatably provided as an outer ring of the focus knob 9. The fine dial knob 32 is rotatably provided inside the coarse dial knob 31. The coarse dial knob 31 is connected to, for example, a potentiometer, and the fine dial knob 32 is connected to, for example, a rotary encoder.
[0015]
The gantry 6 is provided with an operation input unit 26. As shown in FIG. 2, the operation input unit 26 has a display unit 27 and operation keys 28. When performing automatic focusing by distance measurement and angle measurement, or when performing manual focusing, the operation input unit 26 operates on the total station 1. In the case of conditions, for example, stake out, the positions for a plurality of points are known in advance, so the distance to the total station 1 and each point is input by the operation key 28, and the input work conditions or The distance measurement, the measurement result of the angle measurement, and the like are displayed on the display unit 27.
[0016]
In addition to displaying the measured value of the distance to the measurement object, the display unit 27 is provided with a distance display part 27a for displaying the approximate distance to the measurement object. Yes, the lower end is 0, and the upper end is ∞, and the position of the measurement object is displayed by the position of the horizontal line displayed on the distance display portion 27a. The operation key 28 has a numeric keypad portion 28a and a function selection key portion 28b, and the function selection key portion 28b selects a function such as a distance measurement mode, an automatic focus mode, or a manual focus mode.
[0017]
Next, referring to FIG. 4, a schematic configuration of the automatic focusing device of the surveying instrument will be described.
[0018]
The total station 1 includes a control calculation unit 16, a distance measurement unit 51, an angle measurement unit 54, and a focusing unit 22. The control calculation unit 16 includes a storage unit 21, a data input / output unit 23, the operation input unit 26, the A display unit 27 is connected.
[0019]
The distance measuring unit 51 drives and controls the light emitting unit 52 to irradiate the object to be measured, that is, the prism 3 provided on the pole 2, and the reflected distance measuring light reflected by the prism 3 is received by the light receiving unit. 53, the received light signal is input to the distance measuring unit 51, the distance to the prism 3 is calculated in the distance measuring unit 51, and the calculation result is input to the control calculating unit 16. The control calculation unit 16 calculates the difference between the calculated distance and the distance information of the obtained point, and displays the distance measurement distance and the difference between the distance information on the display unit 27.
[0020]
The angle measurement unit 54 receives a detection signal from a vertical angle encoder 55 that detects the tilt angle of the collimating telescope unit 7 and a detection signal from a horizontal angle encoder 56 that detects the rotation angle of the gantry 6. Then, the angle of the collimation direction in the state where the prism 3 is collimated by the collimating telescope unit 7 is measured. The measurement result is input to the control calculation unit 16. The angle measurement is displayed on the display unit 27.
[0021]
The focusing unit 22 performs automatic focusing of the collimating telescope unit 7. The focusing operation is controlled by the control calculation unit 16 as described later.
[0022]
The storage unit 21 stores a work procedure program 24 relating to a specific work procedure such as a stakeout, and stores work conditions such as position information of each position (determined point) obtained from the operation input unit 26. ing. As described above, the position information includes distance information from the total station 1 to the pole 2.
[0023]
As one work procedure defined by the work procedure program 24, when there are a plurality of points, for example, the focus is gradually focused from the focus on the measurement object having the nearest point toward the measurement object far away. When focusing on one point, first, focusing on the point is performed based on the signal from the encoder 20 based on the distance information, and then the automatic focusing operation by the control calculation unit 16 is performed. The focusing unit 22 is controlled by the above, and accurate focusing is performed on the target object (the pole 2) held in the vicinity of the point. When focusing for one point is completed, focusing for the next point is repeated in the same procedure.
[0024]
Further, as another work procedure defined by the work procedure program 24, the total station 1 side in a state in which the object to be measured (the pole 2) is collimated by the collimating telescope unit 7 and autofocusing is performed is stake out. In accordance with the operator's instructions, the worker on the pole 2 side moves the pole 2 toward the score. By the automatic focusing, the approximate distance to the pole 2 at this time is measured by the signal from the encoder 20. As the distance information, distance data for the obtained point is input in advance, and the difference between the distance data up to the first obtained point and the distance measured is calculated. This difference is displayed on the distance display section 27a, and the operator on the total station 1 side gives an instruction to the worker on the pole 2 side so that the difference is eliminated. When the pole 2 is in the vicinity of the sought point, the distance measurement unit 51 performs accurate distance measurement on the pole 2, and the difference between the distance measurement distance and the distance data is calculated. Displayed on the unit 27a, the worker on the total station 1 side gives an instruction to the worker on the pole 2 side so that this difference is eliminated.
[0025]
The focusing unit 22 will be described with reference to FIG.
[0026]
The objective lens unit 11, the beam splitter 12, the focusing screen 13, and the eyepiece lens unit 14 are disposed on the same optical axis to form the imaging optical system 10, and the imaging optical system 10 is the collimation. It is stored in the telescope unit 7. On the split optical axis of the beam splitter 12, a linear sensor 15 is disposed at a position conjugate with the focusing screen 13. The linear sensor 15 is electrically connected to the control calculation unit 16, and the objective lens unit 11 is connected to a focusing drive unit 17 for automatic focusing.
[0027]
The objective lens unit 11 is for forming an image of the pattern of the pole 2, and is composed of an objective lens 18 and a movable internal lens 19, and the internal lens 19 is in focus. The image of the pole 2 and the prism 3 can be focused on the focusing screen 13 and the linear sensor 15 by being moved along the optical axis by the driving unit 17.
[0028]
The beam splitter 12 is used to divide light into the eyepiece 14 direction and the linear sensor 15 direction. The eyepiece unit 14 is used by a surveyor to view the pole 2. A cross line with respect to the collimation axis is drawn on the focusing screen 13, and a collimation image is formed on the focusing screen 13. The collimation direction is obtained by making the center of the image coincide with the intersection of the crosshairs. Further, an erecting optical system including a reflecting mirror or a prism is placed in front of the focusing screen 13 (not shown).
[0029]
The linear sensor 15 corresponds to a pattern detection unit and a photoelectric conversion unit, and converts a collimation target pattern image formed by the objective lens unit 11 into an electrical signal. Level detection and automatic focusing are performed based on the detection signal. The linear sensor 15 is, for example, a CCD linear sensor, and any sensor can be adopted as long as it is a linear image sensor in which light receiving elements such as photodiodes are arranged one-dimensionally. In addition, the linear sensor 15 in FIG. 5 is arrange | positioned so that it may become horizontal.
[0030]
The operation input unit 26 and the manual focusing control unit 33 are connected to the control calculation unit 16. The manual focusing control unit 33 drives the focusing driving unit 17 based on the focusing signal input from the focusing knob 9 and indicates that the focusing signal is input from the focusing knob 9. Input to the control calculation unit 16.
[0031]
The control calculation unit 16 performs the automatic focusing control according to the automatic focusing mode / manual focusing mode selection signal from the operation input unit 26 or effectively manually outputs the signal from the manual focusing control unit 33. Decide whether to use focus control. Alternatively, when a signal about a state in which a focusing signal is input from the focusing knob 9 is input from the manual focusing control unit 33, the signal from the manual focusing control unit 33 is validated, You may make it the signal from the said control calculating part 16 become effective after the signal from the manual focusing control part 33 stops and predetermined time passes. A signal from the linear sensor 15 is input to the control calculation unit 16 and used as a feedback signal for focusing.
[0032]
The focus driving unit 17 is for moving the internal lens 19 by a predetermined amount based on a focus command signal from the control calculation unit 16. In the present embodiment, an arc motor is employed as the motor of the focusing drive unit 17. However, any motor that can reciprocate the internal lens 19 like an ultrasonic motor or the like can be used. Driving means can also be employed. The encoder 20 is attached to the focusing drive unit 17 so that the rotation amount of the motor, that is, the movement amount of the internal lens 19 is detected.
[0033]
The control calculation unit 16 takes in the signal from the linear sensor 15, differentiates the taken out output signal, and determines the in-focus state from the rising and falling edges.
[0034]
The control calculation unit 16 issues a focus command signal to the focus drive unit 17 based on the determination result of the focus state, drives the focus drive unit 17, and an image is formed on the linear sensor 15. Thus, the internal lens 19 is moved back and forth along the optical axis. As the internal lens 19 moves, the edge and contrast of the image on the linear sensor 15 change, and the control calculation unit 16 detects and focuses the position with the highest edge and contrast. .
[0035]
In this embodiment, the contrast method is used for autofocusing, but the present invention is not limited to this method, and other methods may be used.
[0036]
Further, the in-focus state and the position of the internal lens 19 during the in-focus state are detected by the encoder 20, and the detection signal of the encoder 20 is input to the control calculation unit 16. A position detection signal of the encoder 20 at the in-focus position is detected, and the distance from the position of the internal lens 19 detected by the encoder 20 to the total station 1 and the pole 2 is calculated. The calculation result is displayed on the distance display section 27a.
[0037]
Incident light incident from the objective lens unit 11 is divided by the beam splitter 12 and condensed on the linear sensor 15.
[0038]
When performing manual focusing, the manual selection mode is selected by the function selection key unit 28b. Alternatively, an automatic / manual switching function may be set in the control calculation unit 16 so that when a signal is input from the manual focusing control unit 33, the signal from the manual focusing control unit 33 is given priority.
[0039]
Note that the return from the manual focusing mode to the automatic focusing mode automatically switches to the automatic focusing mode when a signal from the manual focusing control unit 33 is not input to the control calculation unit 16 for a predetermined time. It is like. In addition, after the focusing operation is completed in the automatic focusing mode, the automatic focusing mode may be switched after a predetermined time has elapsed.
[0040]
In the manual focusing control unit 33, the coarse dial knob 31 is a potentiometer and the fine dial knob 32 is a rotary encoder. However, the coarse dial knob 31 is a rotary encoder, and the fine dial dial. The knob 32 may be a potentiometer. The focusing knob 9 may be omitted, and a focusing operation key 28c may be provided in the operation input unit 26, and manual focusing may be performed using the focusing operation key 28c.
[0041]
The stakeout will be described with reference to FIG.
[0042]
STEP 1: The stakeout mode is selected by the function selection key unit 28b of the operation display unit 26, and stakeout is started.
[0043]
STEP 2: A work procedure program for stakeout in the work procedure program 24 is called from the storage unit 21.
[0044]
STEP 3: Distance information for the first point is called.
[0045]
STEP 4: The pole 2 is collimated and automatic focusing is started.
[0046]
STEP 5: Rough ranging is performed based on the signal from the encoder 20 by automatic focusing.
[0047]
STEP 6: The difference between the approximate distance measurement result and the distance information is calculated, and the calculation result is displayed on the distance display unit 27a.
[0048]
STEP 7: It is determined whether or not the approximate distance measurement result matches the distance information. If they do not match, the process proceeds to STEP 8, and if they match, the process proceeds to STEP 9.
[0049]
STEP 8: The pole 2 is moved in a direction in which the difference between the approximate distance measurement result and the distance information is reduced. After the movement, the process proceeds to STEP 4, and the difference between the approximate distance measurement result and the distance information is set to zero.
[0050]
STEP 9: When the difference between the approximate distance measurement result and the distance information becomes zero, the distance measurement unit 51 performs precise distance measurement.
[0051]
STEP 10: The difference between the precise distance measurement result and the distance information is calculated, and the calculation result is displayed on the distance display unit 27a.
[0052]
STEP11, STEP12: It is determined whether or not the difference between the precision distance measurement result and the distance information is 0 (STEP11). If not, the process proceeds to STEP12 and the pole 2 is moved by a distance corresponding to the calculation result. Precision ranging (STEP 9) is performed in the moved state, and the operations after STEP 10 are repeated.
[0053]
STEP13, STEP14: When the difference between the precision distance measurement result and the distance information is 0 and it is determined that a score is obtained (STEP 13), it is determined whether there is a score to be determined next (STEP 14). . If there is a next score, the process returns to STEP 3 and the score determination operation is repeated.
[0054]
STEP 15: If there is no score to be determined next, the stakeout operation is completed.
[0055]
【The invention's effect】
As described above, according to the present invention, the automatic focusing means, the storage unit storing at least distance information related to the point finding, and the control calculation for controlling the automatic focusing means based on the distance information and performing focusing. Because it is not necessary to perform focusing at the time of collimation, and the work is simplified. In addition, the distance to the measurement object is measured based on the focusing, and the measurement object is positioned based on the difference between the distance measurement distance and the distance information. And exerts excellent effects such as significantly reducing the burden on the operator.
[Brief description of the drawings]
FIG. 1 is a front view of an automatic focusing device of a surveying instrument according to the present invention.
FIG. 2 is a front view of an operation display unit of the automatic focusing device of the surveying instrument.
FIG. 3 is a perspective view of a focusing knob used when manual focusing is performed.
FIG. 4 is a block configuration diagram showing an embodiment of the present invention.
FIG. 5 is a block diagram of an imaging optical system and a focusing control unit in the embodiment.
FIG. 6 is a flowchart showing the operation of the embodiment of the present invention.
FIG. 7 is an explanatory diagram showing a state of determining points by a total station.
FIGS. 8A and 8B are explanatory diagrams showing the relationship between the telescope field of view and the size of an object.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Total station 2 Pole 3 Prism 7 Collimating telescope part 9 Focusing knob 11 Objective lens part 12 Beam splitter 13 Focus plate 15 Linear sensor 16 Control calculating part 17 Focus drive part 20 Encoder 21 Storage part 22 Focusing part 26 Operation input part 27 Display section 51 Distance measuring section

Claims (5)

  An automatic focusing unit, a storage unit that stores at least distance information related to the obtained point, a control calculation unit that controls the automatic focusing unit based on the distance information and performs focusing, and the automatic focusing unit Detecting means for detecting a focus state, wherein the control calculation unit obtains an approximate distance to the measurement object based on a detection result from the detection means, and compares the approximate distance with the distance information to determine the measurement object. A surveying instrument that judges whether or not to perform precise distance measurement.   The surveying instrument according to claim 1, further comprising a distance display unit, wherein the control calculation unit calculates a difference between the approximate distance and the distance information, and displays a calculation result on the distance display unit. The storage unit stores distance information regarding a plurality of points and a work procedure program so that the plurality of points are sequentially focused, and the control calculation unit further includes the result of the precise distance measurement and the distance. 3. The surveying instrument according to claim 2, wherein when it is determined that a score has been obtained by comparison with information, it is determined whether or not to focus on the next score. The distance information for the point is stored, focused on the measurement object, the distance from the focused state to the measurement object is measured, the difference between the distance information and the distance measured is obtained, and the distance information and If it is determined whether to perform precision distance measurement based on the difference from the distance measurement, and if it is determined to perform precision distance measurement, perform the precision distance measurement , move the measurement object according to the result of the precision distance measurement , and A surveying method characterized in that a score is obtained so that a difference from distance information is zero. The surveying method according to claim 4, wherein a difference between the distance information and the distance information by the precise distance measurement is displayed, and a score is obtained based on the display.

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