JP7357115B2 - Surveying system, surveying method and installation equipment for the surveying system - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Act (1) December 12, 2017 to December 26, 2017, National Route 171 in Kyoto Prefecture (2) December 21, 2017, Kyoto Ohara field, Ohara seawall repair Used in construction (3) January 5, 2018 to February 7, 2018, National Route 171 in Kyoto Prefecture (4) October 30, 2017 to October 31, 2017, Saikyo, Kyoto City Near Nakayama intersection (5) January 18, 2018 to January 30, 2018, near Karasuma Sanjo intersection (6) January 31, 2018, Kobe Sports Park tennis courts (7) 2018 February 5th, Iriyanishi, Seika-cho, Soraku-gun, Kyoto Prefecture (8) February 7th, 2018, Shinomachi Oji, Kameoka City, Kyoto Prefecture (9) February 9th, 2018, Kamitoba Minami Shimada-cho, Minami-ku, Kyoto City (10) February 16, 2018, on the premises of Chubu International Airport (11) February 27, 2018, on the premises of Osaka International Airport (12) May 25, 2018, Kansai Branch of Toa Road Industries Co., Ltd. Published at the Construction Division Training Program (13) June 20, 2018, Published at the 4th Surveying and Geospatial Information Innovation Conference (14) September 26, 2018, 55th Kyoto City Venture Company Appraisal Published at the Committee (15) Published on October 18, 2018, at the “Corporate Forest/Industry-Academia Forest” subsidy project presentation (16) Published on October 18, 2018, at the Golden Egg Excavation Project 2018. Published in the presentation materials for applications (17) Published on October 24, 2018, at the project results presentation and case study exhibition business meeting to support manufacturing small and medium-sized businesses and small-scale business prototype development, etc. (18) 2018 Published on November 11, 2018 at the presentation for the first round of Golden Egg Excavation Project 2018.

The present invention relates to a surveying system including a total station and a laser scanner capable of emitting laser light for scanning and measuring the three-dimensional shape of a measurement target, a surveying method for the surveying system, and an attachment device.

2. Description of the Related Art Techniques for measuring the three-dimensional shape of an object to be measured using a laser scanner are conventionally known. In surveying a three-dimensional shape using a laser scanner, first, a laser scanner is installed at a known point whose coordinates have been specified in advance (for example, Patent Document 1). Then, a laser scanner installed at a known point emits a laser beam toward the object to be measured, performs scanning in the horizontal and vertical directions, receives the laser beam reflected from the object, and then Measure the three-dimensional shape of an object.

JP2008-082782A

When surveying the three-dimensional shape of an object to be measured using a laser scanner as in Patent Document 1, first, it is necessary to accurately arrange the laser scanner at a position whose coordinates are specified in advance. Therefore, in a surveying system 501 using a conventional laser scanner, as shown in FIG. By measuring the coordinates of the two first targets 4 and the second targets 5 using the laser scanner 3, the coordinates of the two first targets 4 and the second targets 5 with respect to the laser scanner 3 are measured. do. Then, based on the coordinates of the two first targets 4 and second targets 5 with respect to the reference point and the coordinates of the two first targets 4 and second target 5 with respect to the laser scanner 3, the position of the laser scanner 3 with respect to the reference point is determined. It is necessary to measure accurately in advance. Therefore, in the conventional surveying system 501, it is necessary to scan each of the two first targets 4 and second targets 5 using the laser scanner 3, and it takes time to survey the position of the laser scanner 3. There is a problem that it takes

The present invention has been made with attention to such problems, and an object of the present invention is to simplify the work of measuring the position of a laser scanner in three-dimensional surveying using a laser scanner.

In order to solve this problem, the present invention takes the following measures.

A surveying system according to the present invention is a surveying system equipped with a total station installed at a known point, and a laser scanner capable of emitting laser light to perform scanning and surveying the three-dimensional shape of a measurement target. The total station has a first target, emits distance measuring light to a second target, receives reflected light reflected at the second target, and measures the second target relative to the known point. measuring the coordinates, the laser scanner is fixedly installed at a specific position different from the known point, has the second target, and scans the first target by emitting a laser beam; The coordinates of the first target with respect to the laser scanner are measured, and the coordinates of the first target with respect to the known point are obtained based on the distance between the total station and the first target, and the coordinates of the first target with respect to the laser scanner are obtained. Based on the distance to the second target, the coordinates of the second target with respect to the laser scanner are obtained, and the coordinates of the first target and the second target with respect to the known point and the coordinates of the second target with respect to the laser scanner are obtained. The coordinates of the laser scanner with respect to the known point are obtained based on the coordinates of the first target and the second target.

In the surveying method of the surveying system according to the present invention, a total station installed at a known point and having a first target emits ranging light to a second target, and receives reflected light reflected at the second target. a first step of measuring the coordinates of the second target with respect to the known point; and a second step of obtaining the coordinates of the first target with respect to the known point based on the distance between the total station and the first target. a laser scanner fixedly installed at a specific position different from the known point and having the second target emits a laser beam to scan the first target; a third step of measuring the coordinates of the target; a fourth step of obtaining the coordinates of the second target relative to the laser scanner based on the distance between the laser scanner and the second target; and a fourth step of obtaining the coordinates of the second target relative to the known point. a fifth step of acquiring the coordinates of the laser scanner with respect to the known point based on the coordinates of the first target and the second target and the coordinates of the first target and the second target with respect to the laser scanner; The method is characterized by comprising a sixth step of emitting a laser beam to perform scanning using a scanner to measure the three-dimensional shape of the object to be measured.

In the surveying system and the surveying method of the surveying system according to the present invention, since the relative position of the first target with respect to the total station does not change, the distance measuring light is emitted to the first target, and the coordinates of the first target with respect to the known point are There is no need to measure. In addition, since the relative position of the second target with respect to the laser scanner does not change, in order to measure the coordinates of the second target with respect to the laser scanner, the laser scanner emits a laser beam to the second target and performs scanning. There's no need to do it. Therefore, in three-dimensional surveying using a laser scanner, the work of measuring the position of the laser scanner can be simplified. In addition, when the laser scanner emits a laser beam to scan the first target, by using the automatic rotation mechanism of the total station, the direction of the first target on the total station is automatically adjusted to the direction of the laser scanner. It can be changed in the direction. Therefore, the efficiency of surveying work is improved.

As described above, according to the present invention, since the relative position of the first target with respect to the total station does not change, the total station emits ranging light to the first target and measures the coordinates of the first target with respect to a known point. There's no need to. Therefore, in three-dimensional surveying using a laser scanner, the work of measuring the position of the laser scanner can be simplified.

1 is a diagram showing a schematic configuration of a surveying system according to a first embodiment of the present invention. FIG. 2(a) is a diagram showing a method of attaching the first target to the top surface of the total station in FIG. 1, and FIG. 2(b) is a diagram showing a state in which the first target is attached to the top surface of the total station in FIG. FIG. FIG. 3 is a diagram illustrating the attachment device of FIG. 2; 1 is a diagram showing a surveying method of a surveying system according to a first embodiment of the present invention. FIG. 2 is a diagram showing a schematic configuration of a surveying system according to a second embodiment of the present invention. It is a figure showing the surveying method of the surveying system concerning a 2nd embodiment of the present invention. 1 is a diagram showing a schematic configuration of a conventional surveying system.

Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
A surveying system 1 according to a first embodiment of the present invention includes a total station 2, a laser scanner 3, a first target 4, and a second target 5, as shown in FIG. The total station 2 is installed above the reference point (known point). The first target 4 is, for example, a reflection plate, and the second target 5 is, for example, a reflection prism (360-degree reflection prism).

The total station 2 emits ranging light toward the second target 5 and receives the reflected light reflected from the second target 5. Thereby, the total station 2 can obtain the distance to the second target 5 based on the number of times the light wave oscillates from emission to reception. Therefore, the total station 2 can determine the coordinates of the second target 5 with respect to the reference point.

In the surveying system 1 of this embodiment, the first target 4 is placed above the total station 2 by the mounting device 10, as shown in FIG. The attachment device 10 is attached to the top surface of the total station 2. As shown in FIG. 3, the attachment device 10 includes a rectangular flat part 11, two protrusions 12 that protrude downward from the lower surface of the flat part 11, and upwardly protrude from the upper surface of the flat part 11. It has a cylindrical portion 13. The two protrusions 12 are planar and are respectively arranged at the ends of the longer sides of the lower surface of the planar portion 11 . Therefore, a recess 16 is formed by the flat portion 11 and the two protrusions 12. The length of the two protrusions 12 in the longitudinal direction is approximately the same as the length of the upper end 2a of the total station 2, and the width of the recess 16 (distance between the two protrusions 12) is the same as the length of the upper end 2a of the total station 2. The width is approximately the same as the width of . A protrusion 2A for positioning is formed to protrude from the upper end 2a of the total station 2, and a fitting recess into which the protrusion 2A for positioning is fitted is formed on the inner circumferential surface of the recess 16 of the mounting device 10. 10A is formed. Therefore, when the attachment device 10 is placed on the top surface of the total station 2 such that the upper end 2a of the total station 2 is placed inside the recess 16, the convex portion 2A is fitted into the fitting recess 10A, so that the attachment device 10 is positioned relative to the upper end 2a of the total station 2.

When the mounting device 10 is placed on the upper surface of the total station 2, the upper end 2a of the total station 2 supports the lower surface of the flat portion 11, so that the flat portion 11 becomes horizontal. A long hole 12a extending in the longitudinal direction is formed in each of the two protrusions 12. In the two protrusions 12, the two elongated holes 12a are formed apart from the lower surface of the flat part 11 by the thickness of the upper end 2a of the total station 2. The mounting member 12b is placed inside the two elongated holes 12a with the lower surface of the flat portion 11 of the mounting device 10 being supported by the upper end 2a of the total station 2. The mounting member 12b has substantially the same cross-sectional shape as the elongated hole 12a, and is longer than the distance between the two protrusions 12. The mounting member 12b is parallel to the lower surface of the flat portion 11 when placed inside the two elongated holes 12a.

Therefore, when the mounting member 12b is placed inside the elongated hole 12a with the lower surface of the flat part 11 of the mounting device 10 being supported by the upper end 2a of the total station 2, the lower surface of the flat part 11 and the mounting member 12b are The upper end 2a of the total station 2 located inside the recess 16 of the mounting device 10 is held by the upper surface. In this way, the mounting device 10 is mounted on the top surface of the total station 2. The center position of the cylindrical portion 13 of the mounting device 10 attached to the upper surface of the total station 2 coincides with the center position of the total station 2 (reference position of the total station 2) in plan view.

Thereafter, the first target 4 is attached to the cylindrical portion 13 of the attachment device 10. A holding groove 5a having substantially the same shape as the cylindrical part 13 is formed on the lower surface of the first target 4, and the cylindrical part 13 of the attachment tool 10 is attached so as to be disposed inside the holding groove 5a. The center position of the holding groove 5a coincides with the center position of the cylindrical portion 13 in plan view. Therefore, the center position of the first target 4 coincides with the center position of the total station 2 in plan view. Therefore, the center position of the first target 4 is placed above the center position of the total station 2 by a predetermined distance. The distance (predetermined distance) between the center position of the first target 4 and the center position of the total station 2 is set in advance depending on the configuration of the attachment device 10 and the like. Therefore, the total station 2 can determine the coordinates of the first target 4 with respect to the total station 2.

The laser scanner 3 is, for example, a 3D laser scanner, and emits a line laser beam, for example, in the vertical and horizontal directions to the object to be measured, and the laser pulse travels back and forth between the measurement point of the object and the sensor. By measuring , the distance to the measurement point can be determined. Further, the laser scanner 3 can determine the horizontal angle and vertical angle of the measurement point with respect to the laser scanner 3 by measuring the direction in which the line laser beam is emitted. Therefore, the laser scanner 3 can emit a laser beam to perform scanning, and can determine the coordinates of the first target 4 and the second target 5 with respect to the laser scanner 3, as well as survey the three-dimensional shape of the object to be measured. be.

The surveying method of the surveying system 1 of this embodiment will be explained based on FIG. 4.

In the first step S1, the total station 2 emits ranging light to the second target 5, receives the reflected light reflected at the second target 5, and measures the coordinates of the second target 5 with respect to the reference point. do. The coordinates of the second target 5 with respect to the reference point are measured in consideration of the height of the total station 2 (the distance between the reference point and the reference position or center position of the total station 2).

In the second step S2, the coordinates of the first target 4 with respect to the reference point are obtained based on the distance between the center position of the total station 2 and the first target 4. The coordinates of the first target 4 with respect to the reference point are measured in consideration of the height of the total station 2 (the distance between the reference point and the reference position or center position of the total station 2). For example, when the position of the first target 4 and the center position of the total station 2 match in plan view, the height of the total station 2 (height of the center position of the total station 2), the height of the first target 4 and the total station 2 The height of the first target 4 is obtained based on the distance from the center position.

In the third step S3, the laser scanner 3 performs scanning by emitting laser beams to the first target 4 and the second target 5, respectively, and the first target relative to the laser scanner 3 (reference position of the laser scanner 3) 4 and the coordinates of the second target 5 are measured.

In the fourth step S4, based on the coordinates of the first target 3 and second target 5 with respect to the reference point and the coordinates of the first target 4 and second target 5 with respect to the laser scanner 3, The coordinates of the reference position of the scanner 3 are acquired.

In the fifth step S5, the laser scanner 3 emits a laser beam to perform scanning to measure the three-dimensional shape of the object to be measured.

The surveying system 1 of this embodiment is a surveying system equipped with a total station 2 installed at a reference point and a laser scanner 3 capable of emitting laser light to perform scanning and surveying the three-dimensional shape of an object to be measured. The total station 2 has a first target 4, emits ranging light to a second target 5, receives the reflected light reflected at the second target 5, and measures distance measurement light relative to the reference point. The coordinates of the two targets 5 are measured, and the laser scanner 3 emits laser beams to scan the first target 4 and the second target 5 installed at two locations, respectively. The coordinates of the target 4 and the second target 5 are measured, and the coordinates of the first target 4 with respect to the reference point are obtained based on the distance between the total station 2 and the first target 4, and the coordinates of the first target 4 with respect to the reference point are obtained. Based on the coordinates of the first target 4 and the second target 5 and the coordinates of the first target 4 and the second target 5 with respect to the laser scanner 3, the coordinates of the laser scanner 3 with respect to the reference point are acquired.

The surveying method of the surveying system 1 of the present embodiment is such that a total station 2 installed at a reference point and having a first target 4 emits ranging light to a second target 5, and reflects it at the second target 5. A first step (S1) of receiving the reflected light and measuring the coordinates of the second target with respect to the reference point, and determining the coordinates of the first target 4 with respect to the reference point based on the distance between the total station 2 and the first target 4. In the second step (S2) of acquiring, the laser scanner 3 emits laser beams to scan the first target 4 and the second target 5 installed at two locations, respectively. A third step (S3) of measuring the coordinates of the first target 4 and the second target 5, the coordinates of the first target 4 and the second target 5 with respect to the reference point, and the coordinates of the first target 4 and the second target 5 with respect to the laser scanner 3; A fourth step (S4) of acquiring the coordinates of the laser scanner 3 with respect to the reference point based on the coordinates of and a fifth step (S5).

As a result, in the surveying system 1 and the surveying method of the surveying system 1 of this embodiment, since the relative position of the first target 4 with respect to the total station 2 does not change, the total station 2 transmits the ranging beam to the first target 4. There is no need to emit the coordinates of the first target 4 with respect to the reference point. Therefore, in three-dimensional surveying using the laser scanner 3, the work of measuring the position of the laser scanner 3 can be simplified.

In the surveying system 1 and the surveying method of the surveying system 1 of this embodiment, the first target 4 is placed above the center position of the total station 2 at a predetermined distance.

Thereby, the surveying system 1 of this embodiment can easily obtain the coordinates of the first target 4 with respect to the reference point.

The attachment device 10 of this embodiment is used in the surveying system 1 and the surveying method of the surveying system 1 of this embodiment, and is configured to be able to attach the first target 4 to the total station 2.

As a result, with the attachment device 10 of this embodiment, the first target 4 that reflects the laser beam emitted from the laser scanner 3 can be easily attached to the total station 2.

(Second embodiment)
A surveying system 101 according to a second embodiment of the present invention includes a total station 2, a laser scanner 3, a first target 4, and a second target 5, as shown in FIG. The total station 2 is installed above the reference point (known point). The first target 4 is, for example, a reflection plate, and the second target 5 is, for example, a reflection prism (360-degree reflection prism).

The total station 2 has a first target 4 attached thereto, emits ranging light toward a second target 5, and receives reflected light reflected from the second target 5. Thereby, the total station 2 can obtain the distance to the second target 5 based on the number of times the light wave oscillates from emission to reception. Therefore, the total station 2 can determine the coordinates of the second target 5 with respect to the reference point. The first target 4 is placed above the total station 2 by means of a mounting device 10, as shown in FIG. The attachment device 10 has the same configuration as the first embodiment, and is attached to the top surface of the total station 2. When the attachment device 10 is held at the upper end 2a of the total station 2, the center position of the first target 4 supported by the attachment device 10 is the same as the center position of the total station 2 (reference position of the total station 2) in plan view. Match. Therefore, the center position of the first target 4 is placed above the center position of the total station 2 by a predetermined distance. The distance (predetermined distance) between the center position of the first target 4 and the center position of the total station 2 is set in advance depending on the configuration of the attachment device 10 and the like.

The total station 2 has a remote control 2a. The remote control 2a of the total station 2 is attached above the second target 5 arranged above the laser scanner 3. The total station 2 is equipped with a mechanism that rotates so that when the remote controller 2a is operated, a portion of the total station 2 that emits distance measuring light (emission direction) automatically faces in the direction of the remote controller 2a. Therefore, when the first target 4 is attached to the upper end of the total station 2 by the attachment device 10, it is attached so that the direction of the reflective surface of the first target 4 matches the direction of the part of the total station 2 that emits the ranging light. It will be done. In addition, after rotating in the direction of the remote controller 2a, the total station 2 automatically rotates while searching for the 360-degree reflective prism, so that the part of the total station 2 that emits the ranging light (the emitting direction) points in the direction of the 360-degree reflective prism. It has a mechanism that allows it to be fixed in the facing position.

The laser scanner 3 emits a line laser beam to the object to be measured, for example in the vertical and horizontal directions, and measures the time it takes for the laser pulse to travel back and forth between the measurement point of the object and the sensor. You can find the distance to a point. Therefore, the laser scanner 3 can determine the coordinates of the first target 4 with respect to the laser scanner 3. The second target 5 is placed above the laser scanner 3 by a mounting device 10, as shown in FIG. The attachment device 10 has the same configuration as the first embodiment, and is attached to the upper surface of the laser scanner 3. Therefore, the laser scanner 3 has an upper end portion having substantially the same shape as the upper end portion 2a of the total station 2, and the attachment device 10 is attached to the upper end portion of the laser scanner 3. At the upper end of the laser scanner 3, like the upper end 2a of the total station 2, a protrusion for positioning is formed to protrude, and the protrusion is formed on the inner circumferential surface of the recess 16 of the mounting device 10. By being fitted into the fitting recess 10A, the mounting tool 10 is positioned relative to the upper end of the laser scanner 3. Further, a holding groove having substantially the same shape as the cylindrical part 13 is formed on the lower surface of the second target 5, and the cylindrical part 13 of the attachment tool 10 is installed so that it is disposed inside the holding groove of the second target 5. It will be done. When the attachment device 10 is held at the upper end of the laser scanner 3, the center position of the second target 5 supported by the attachment device 10 will be the center position of the laser scanner 3 (the reference position of the laser scanner 3) in a plan view. ) matches. Therefore, the center position of the second target 5 is placed above the center position of the laser scanner 3 by a predetermined distance. The distance (predetermined distance) between the center position of the second target 5 and the center position of the laser scanner 3 is set in advance depending on the configuration of the attachment device 10 and the like. Therefore, the laser scanner 3 can determine the coordinates of the second target 5 with respect to the laser scanner 3. As described above, the remote control 2a is attached above the second target 5, but the center position of the remote control 2a is the same as the center position of the second target 5 and the center position of the laser scanner 3 (laser scanner 3) in plan view. (reference position).

The surveying method of the surveying system 101 of this embodiment will be explained based on FIG. 6.

In the first step S101, the total station 2 emits ranging light to the second target 5, receives the reflected light reflected from the target 5, and measures the coordinates of the second target 5 with respect to the reference point. The coordinates of the second target 5 with respect to the reference point are measured taking into account the height of the total station 2. When starting a survey by emitting ranging light from the total station 2, it is necessary to make the reflective surface of the second target 5 face toward the total station 2. In this embodiment, when a worker near the laser scanner 3 operates the remote control 2a of the total station 2, the total station 2 is rotated to face the direction of the remote control 2a, and then attached to the laser scanner 3. The second target 5, which is the 360-degree reflective prism, is searched for and automatically rotated. Thereby, the part of the total station 2 that emits the distance measuring light is fixed in a state facing the direction of the 360-degree reflecting prism. Therefore, by operating the remote control 2a, a worker near the laser scanner 3 can emit ranging light from the total station 2 to the second target 5 and perform surveying while being in the vicinity of the laser scanner 3. It is possible.

In a second step S102, the coordinates of the first target 4 with respect to the reference point are obtained based on the distance between the center position of the total station 2 and the first target 4. The coordinates of the first target 4 with respect to the reference point are measured in consideration of the height of the total station 2 (the distance between the reference point and the reference position or center position of the total station 2). For example, when the position of the first target 4 and the center position of the total station 2 match in plan view, the height of the total station 2 (height of the center position of the total station 2), the height of the first target 4 and the total station 2 The height of the first target 4 is obtained based on the distance from the center position.

In the third step S103, the laser scanner 3 emits a laser beam to scan the first target 4, and the coordinates of the first target 4 with respect to the laser scanner 3 are measured. As described above, when emitting laser light and starting scanning, it is necessary to make the reflective surface of the first target 4 face the direction of the laser scanner 3. In this method, a worker near the laser scanner 3 goes to the first target 4 and rotates the first target 4 so that the reflective surface of the first target 4 faces the direction of the laser scanner 3. However, especially when the distance between the laser scanner 3 and the first target 4 is long, this work is very complicated. In contrast, in this embodiment, when a worker near the laser scanner 3 operates the remote control 2a of the total station 2, the total station 2 is rotated so as to face the direction of the remote control 2a, and then the laser The second target 5 attached to the scanner 3, which is a 360-degree reflective prism, is searched for and automatically rotated. Thereby, the part of the total station 2 that emits the distance measuring light is fixed in a state facing the direction of the 360-degree reflecting prism. As described above, in step S102, when the total station 2 emits the distance measuring light to the second target 5 and performs the survey, the part of the total station 2 from which the distance measuring light is emitted is already 360 degrees. It is facing the direction of the reflecting prism. Therefore, the portion of the laser scanner 3 that emits the laser beam faces toward the first target 4 attached to the total station 2 in plan view. A worker near the laser scanner 3 operates the laser scanner 3 to adjust the height direction (height in the emission direction) of the portion of the laser scanner 3 that emits the laser beam. The reflective surface of the target 4 is now facing the direction of the laser scanner 3. Therefore, a worker who is around the laser scanner 3 can scan the first target 4 by emitting a laser beam from the laser scanner 3 while being around the laser scanner 3 . Therefore, when emitting a laser beam and starting scanning, a worker near the laser scanner 3 must move the first target 4 so that the reflective surface of the first target 4 faces the direction of the laser scanner 3. There is no need to go to the location 4, which improves the efficiency of surveying work.

In the fourth step S104, the coordinates of the second target 5 with respect to the laser scanner 3 (the reference position of the laser scanner 3) are acquired based on the distance between the center position of the laser scanner 3 and the second target 5.

In the fifth step S105, based on the coordinates of the first target 3 and second target 5 with respect to the reference point and the coordinates of the first target 4 and second target 5 with respect to the laser scanner 3, The coordinates of the reference position of the scanner 3 are acquired.

In the sixth step S106, the laser scanner 3 emits a laser beam to perform scanning to measure the three-dimensional shape of the object to be measured.

The surveying system 101 of this embodiment is a surveying system that includes a total station 2 installed at a reference point and a laser scanner 3 that can emit laser light to perform scanning and measure the three-dimensional shape of an object to be measured. The total station 2 has a first target 4, emits ranging light to a second target 5, receives the reflected light reflected at the second target 5, and measures distance measurement light relative to the reference point. The laser scanner 3 measures the coordinates of the second target 5, and the laser scanner 3 has the second target 5, and performs scanning by emitting a laser beam to the first target 4. The coordinates of the first target 4 with respect to the reference point are obtained based on the distance between the total station 2 and the first target 4, and the coordinates of the first target 4 with respect to the reference point are obtained based on the distance between the laser scanner 3 and the second target 5. The coordinates of the second target 5 with respect to the laser scanner 3 are acquired, and the coordinates of the first target 4 and the second target 5 with respect to the reference point and the coordinates of the first target 4 and the second target 5 with respect to the laser scanner 3 are obtained. Based on this, the coordinates of the laser scanner with respect to the reference point are obtained.

The surveying method of the surveying system 101 of this embodiment is such that a total station 2 installed at a reference point and having a first target 4 emits ranging light to a second target 5, and the distance measuring light is reflected at the second target 5. A first step (S101) of receiving reflected light and measuring the coordinates of the second target 5 with respect to the reference point, and determining the coordinates of the first target 4 with respect to the reference point based on the distance between the total station 2 and the first target 4. (S102), and a third step (S102) in which the laser scanner 3 emits a laser beam to scan the first target 4, and measures the coordinates of the first target with respect to the laser scanner 3. S103), a fourth step (S104) of acquiring the coordinates of the second target 5 with respect to the laser scanner 3 based on the distance between the laser scanner 3 and the second target 5, and a fourth step (S104) of acquiring the coordinates of the second target 5 with respect to the reference point. A fifth step (S105) of acquiring the coordinates of the laser scanner 3 with respect to the reference point based on the coordinates of the target 5 and the coordinates of the first target 4 and the second target 5 with respect to the laser scanner 3; A sixth step (S106) of emitting laser light to perform scanning and measuring the three-dimensional shape of the object to be measured is provided.

As a result, in the surveying system 101 and the surveying method of the surveying system 101 of this embodiment, since the relative position of the first target 4 with respect to the total station 2 does not change, the distance measuring light is emitted to the first target 4, There is no need to measure the coordinates of the first target 4 with respect to the reference point. Furthermore, since the relative position of the second target 5 with respect to the laser scanner 3 does not change, the laser scanner 3 emits a laser beam to the second target 5 in order to measure the coordinates of the second target with respect to the laser scanner 3. There is no need to emit light and perform scanning. Therefore, in three-dimensional surveying using the laser scanner 3, the work of measuring the position of the laser scanner 3 can be simplified. Furthermore, when the laser scanner 3 emits a laser beam to scan the first target 4, the direction of the first target 4 on the total station 2 is automatically adjusted by using the automatic rotation mechanism of the total station 2. can be changed in the direction of the laser scanner 3. Therefore, the efficiency of surveying work is improved.

In the surveying system 101 and the surveying method of the surveying system 101 of this embodiment, the first target 4 is placed above the center position of the total station 2 at a predetermined distance apart, and the second target 5 is placed above the center position of the total station 2 . It is placed above the center position and separated by a predetermined distance.

Thereby, in the surveying system 101 of this embodiment, the coordinates of the first target 4 with respect to the reference point can be easily acquired, and the coordinates of the second target 5 with respect to the laser scanner 3 can be easily acquired.

The attachment device 10 of this embodiment is used in the surveying system 101 and the surveying method of the surveying system 101 of this embodiment, and is configured to be able to attach the first target 4 to the total station 2.

As a result, with the attachment device 10 of this embodiment, the first target 4 that reflects the laser beam emitted from the laser scanner 3 can be easily attached to the total station 2.

Although the embodiments of the present invention have been described above, the specific configuration of each part is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the present invention.

In the first and second embodiments described above, the first target 4 is attached to the total station 2 by the attachment device 10, but the first target 4 may be formed integrally with the total station 2. Although the second target 5 is attached to the laser scanner 3 by the attachment device 10, the second target 5 may be formed integrally with the laser scanner 3. In the first and second embodiments described above, the first target 4 is placed above the center position of the total station 2 at a predetermined distance apart, but the placement of the first target 4 with respect to the total station 2 may be changed. Therefore, the first target 4 may be placed other than above the center position of the total station 2. In the second embodiment, the second target 5 is placed above the center position of the laser scanner 3 at a predetermined distance apart, but the placement of the second target 5 with respect to the laser scanner 3 may be changed. Therefore, the second target 5 may be placed other than above the center position of the laser scanner 3.

In the first and second embodiments described above, the total station 2 is located at the reference point. However, if the total station 2 is not located at the reference point, after specifying the position of the total station 2, the total station 2 is placed at a known point, the coordinates of the laser scanner 3 with respect to the known point may be acquired. In the first and second embodiments described above, an example of the attachment device 10 for attaching the first target 4 above the total station 2 has been described, but the configuration and attachment method of the attachment device 10 are not limited to this. Therefore, the attachment device 10 may be attached to a location other than the upper end of the total station 2 or the laser scanner 3. The mounting device 10 has a positioning convex portion 2A formed on the upper end portion 2a of the total station 2, or a positioning convex portion formed on the upper end portion of the laser scanner 3, on the inner periphery of the recess 16 of the mounting device 10. By being fitted into the fitting recess 10A formed on the surface, it is positioned relative to the upper end 2a of the total station 2 or the upper end of the laser scanner 3. The configuration for positioning against the target is not limited to this.

In the first and second embodiments described above, examples of the surveying method of the surveying system have been described, but in the first embodiment, the order of the first step S1, the second step S2, and the third step S3 is different. good. In the second embodiment, the order of the first step S101, the second step S102, the third step S103, and the fourth step S104 may be different.

1, 101 Surveying system 2 Total station 3 Laser scanner 4 First target 5 Second target 10 Mounting equipment

Claims (4)

A surveying system comprising a total station installed at a known point and a laser scanner capable of emitting laser light to perform scanning and measuring the three-dimensional shape of a measurement target,
The total station has a first target, emits distance measuring light to a second target, receives reflected light reflected at the second target, and measures the second target relative to the known point. measure the coordinates,
The laser scanner is fixedly installed at a specific position different from the known point, and has the second target, and scans the first target by emitting a laser beam. Measuring the coordinates of the first target,
The coordinates of the first target relative to the known point are obtained based on the distance between the total station and the first target,
Based on the distance between the laser scanner and the second target, the coordinates of the second target with respect to the laser scanner are obtained, and
The coordinates of the laser scanner with respect to the known point are obtained based on the coordinates of the first target and the second target with respect to the known point, and the coordinates of the first target and the second target with respect to the laser scanner. A surveying system characterized by: The first target is located above the center position of the total station by a predetermined distance, and
2. The surveying system according to claim 1, wherein the second target is placed above a center position of the laser scanner at a predetermined distance. A total station installed at a known point and having a first target emits ranging light to a second target, receives the reflected light reflected at the second target, and measures the second target at the known point. a first step of measuring the coordinates of;
a second step of obtaining coordinates of the first target with respect to the known point based on the distance between the total station and the first target;
A laser scanner fixedly installed at a specific position different from the known point and having the second target emits a laser beam to scan the first target, and determines the coordinates of the first target with respect to the laser scanner. A third step of measuring
a fourth step of obtaining coordinates of the second target with respect to the laser scanner based on a distance between the laser scanner and the second target;
A first step of acquiring the coordinates of the laser scanner with respect to the known point based on the coordinates of the first target and the second target with respect to the known point and the coordinates of the first target and the second target with respect to the laser scanner. 5 steps and
A surveying method using a surveying system, comprising: a sixth step of emitting and scanning a laser beam using the laser scanner to measure a three-dimensional shape of an object to be measured. The first target is located above the center position of the total station by a predetermined distance, and
4. The surveying method using a surveying system according to claim 3, wherein the second target is placed above a center position of the laser scanner at a predetermined distance.

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