JP7378545B2 - Target equipment and surveying method - Google Patents

Description

The present invention relates to a surveying technique for detecting the orientation of a target.

In surveying using a TS (total station), a target device including a rod-shaped member including a reflecting prism is used (see, for example, Patent Document 1). In surveying using this target device, TS positioning is performed using a reflecting prism with the tip of a vertical rod-shaped member in contact with the ground. Get coordinates. Then, by performing this work at various locations on the land to be surveyed, the land is surveyed.

In the above-mentioned work, a worker holds a target device in his hand and conducts surveys at a plurality of locations while walking. At this time, guidance to the next surveying position is performed from the TS side using a terminal or the like held by the worker. At this time, it is convenient to know the horizontal angle (direction in the horizontal plane) of the target device with respect to the TS. Usually, the horizontal angle is detected using a magnetic sensor or a gyro sensor. Furthermore, a technique for detecting orientation using GPS is also known.

Japanese Patent Application Publication No. 2009-229192

Horizontal angle detection using a magnetic sensor is affected by metal structures. For example, near a bridge, it is affected by reinforcing bars and steel frames in concrete. Additionally, there is a technique for driving corrugated steel into the ground to reinforce the ground, but the accuracy of the magnetic sensor may deteriorate due to the effects of this underground steel. Additionally, gyro sensors have a problem with output drift. There are gyro sensors that have improved this point, but they are expensive and large. GPS cannot be used (or even if it can be used, its accuracy is reduced) in places where navigation satellites cannot be seen (in valleys, under bridges, in tunnels, indoors, underground, forests, etc.).

The above problem also occurs when it is desired to know the direction of a UAV (Unmanned Aerial Vehicle) with respect to the TS. For example, a technique for tracking UAVs using TS is known (US2014/0210663). In this technique, it is important to know the attitude of the UAV with respect to the TS, but the same problem as described above occurs when detecting the attitude using the above-mentioned azimuth sensor, gyro sensor, and GPS.

Against this background, an object of the present invention is to provide a technology that can measure the attitude of a survey target using laser light.

The present invention is a surveying method for surveying, using a surveying device, a target device including a spiral target having a spiral uneven structure on its surface and a reflecting prism arranged on the spiral axis of the spiral target, the method comprising: The surveying device includes a functional unit that performs positioning using ranging light and a laser scanner unit that performs laser scanning, and a horizontal angle Hm of the surveying device with respect to a horizontal angle reference direction is obtained in advance, and a horizontal angle Hm of the target device is obtained in advance. Let Dm be the angle formed by the reference direction and the optical axis of the functional part of the surveying device, and the position of the specific part of the spiral uneven structure viewed from a specific direction and the position of the reflection center of the reflecting prism. The relationship between L and Dm is obtained in advance, and the position of the reflecting prism is measured by positioning using the distance measuring light of the surveying device, and the distance between The position of the specific part is measured by laser scanning using a scanner unit, the distance between the measured position of the reflecting prism and the measured position of the specific part is calculated, and The actual value of the Dm is determined based on the distance obtained in advance and the relationship between the L and the Dm obtained in advance. This is a surveying method to find the angle Ht with respect to the angle reference direction .

In the present invention, the Ht may be calculated by Ht=Hm-Dm+180°.

According to the present invention, a technique can be obtained that can measure the attitude of a survey target using laser light.

It is a conceptual diagram of an embodiment. FIG. 1 is a perspective view of a surveying instrument according to an embodiment. FIG. 1 is a front view of a surveying instrument according to an embodiment. FIG. 3 is a principle diagram showing a mechanism for measuring the horizontal angle of a spiral target. It is a graph showing the relationship between the horizontal angle (horizontal axis) and the distance L (vertical axis) between the position of the valley of the spiral target and the position of the reflection center of the all-round reflection prism. FIG. 3 is a diagram illustrating a method of determining a horizontal angle of a target device in an absolute coordinate system. FIG. 3 is a diagram illustrating a method for determining the position of a valley of a spiral target. It is a block diagram of a surveying instrument. 3 is a flowchart illustrating an example of a processing procedure. It is a figure showing an example of a display screen of a terminal. It is a figure showing an example of a display screen of a terminal. FIG. 3 is a conceptual diagram showing an overview of another embodiment. FIG. 3 is a conceptual diagram showing an overview of another embodiment. It is a figure which shows the waveform pattern of the cross-sectional shape of a spiral target. FIG. 3 is a diagram showing the relationship between the optical axis of the ranging light of the TS function unit and the laser scanning direction. FIG. 3 is a principle diagram showing a mechanism for measuring the horizontal angle of a spiral target. FIG. 3 is a principle diagram showing a mechanism for measuring the horizontal angle of a spiral target.

1. First embodiment (overview)
FIG. 1 shows an overview of the embodiment. In FIG. 1, the positional relationship between a full-circle reflection prism 110, which is a first target to be laser-positioned, and a helical target, which is a second target with a surface of a helical structure, is specified. 120, a target device 130 is shown in which the rotational position of the helical structure about the axis is detected based on the positional relationship between the position of the all-round reflection prism 110 and the uneven structure in the helical structure.

In FIG. 1, a survey instrument 400 measures the position and horizontal angle (orientation in the horizontal direction) of a target device 130. Here, the surveying instrument 400 is installed horizontally at a position whose coordinates are known in the absolute coordinate system, and its orientation in the horizontal direction in the absolute coordinate system is determined. This is the same as in the case of a surveying instrument such as a normal TS.

The absolute coordinate system is a coordinate system used in GNSS. In an absolute coordinate system, coordinates are specified by longitude, latitude, and altitude above mean sea level. Note that a local coordinate system determined on the spot can also be used as the coordinate system.

(Surveying instrument)
The surveying instrument 400 will be explained below. The surveying instrument 400 has a configuration in which a TS function section 200 and a laser scanner section 300 are combined. The TS function unit 200 functions as a TS (total station). TS is described in, for example, Japanese Patent Application Laid-Open Nos. 2009-229192 and 2012-202821.

The laser scanner unit 300 performs a process (laser scan) to obtain a laser scan point group. Techniques related to laser scanners are described in, for example, Japanese Patent Application Publication No. 2010-151682, Japanese Patent Application Publication No. 2008-268004, and US Pat. No. 8,767,190. Further, as a laser scanner, it is also possible to adopt a form in which scanning is performed electronically as described in US Publication No. US2015/0293224.

The survey instrument 400 will be described below with reference to FIGS. 2 and 3. The surveying instrument 400 has a horizontal rotation section 11. The horizontal rotation unit 11 is held on a pedestal 12 in a horizontally rotatable state. The pedestal 12 is fixed to the top of a tripod (not shown). The horizontal rotating part 11 has a substantially U-shape with two extending parts extending upward, and the vertical rotating part 13 has a height angle (elevation angle and depression angle) between these two extending parts. is maintained in a state where it can be controlled.

The horizontal rotation unit 11 is electrically rotated horizontally with respect to the pedestal 12. The vertical rotating section 13 is rotated in a vertical plane by a motor. Angle control of the horizontal rotation unit 11 in the horizontal plane is performed by a horizontal rotation drive unit 207 (see FIG. 8) built in the horizontal rotation unit 11. Angle control of the vertical rotation section 13 in the vertical plane is performed by a vertical rotation drive section 208 (see FIG. 8) built in the horizontal rotation section 11.

A horizontal rotation angle control dial 14a and an elevation angle control dial 14b are arranged in the horizontal rotation section 11. By operating the horizontal rotation angle control dial 14a, the horizontal rotation angle of the horizontal rotation section 11 is adjusted, and by operating the elevation angle control dial 14b, the elevation angle ( (elevation and depression) adjustments are made.

A sight 15a for roughly aiming is arranged at the top of the vertical rotating part 13. Furthermore, an optical sight 15b (see FIG. 3) having a narrower field of view than the sight 15a and a telescope 16 capable of more precise collimation are arranged in the vertical rotation unit 13.

An optical system that guides the image captured by the sight 15b and the telescope 16 to the eyepiece section 17 is housed inside the vertical rotation section 13. The image captured by the sight 15b and the telescope 16 can be visually recognized by looking through the eyepiece 17. The image captured by the telescope 16 can be captured by a camera 211 (see FIG. 8) arranged inside the vertical rotating section 13.

The telescope 16 serves as an optical system for laser light for distance measurement and tracking light for tracking and capturing a distance measurement object (for example, a dedicated reflective prism serving as a target). The optical system is designed so that the optical axes of the ranging light and the tracking light coincide with the optical axis of the telescope 16. The structure of this part is the same as that of commercially available TS.

Displays 18 and 19 are attached to the horizontal rotating section 11. The display 18 is integrated with the operation section 210. The operation unit 210 is provided with a numeric keypad, a cross-shaped operation button, and the like, and various operations related to the surveying instrument 400 and input of data are performed. The displays 18 and 19 display various information, survey data, etc. necessary for operating the surveying instrument 400. The reason why there are two displays at the front and rear is so that the displays can be viewed from either the front or the rear without rotating the horizontal rotation unit 11.

A laser scanner section 300 is fixed to the upper part of the horizontal rotation section 11. The laser scanner section 300 has a first tower section 301 and a second tower section 302. The first tower section 301 and the second tower section 302 are connected at a joint section 303, and the space above the joint section (the space between the first tower section 301 and the second tower section 302) is scanned. It is covered with a protective case 304 made of a material that transmits laser light. Inside the protective case 304, a columnar rotating section 305 that protrudes horizontally from the first tower section 301 is arranged. The tip of the rotating part 305 has an obliquely cut off shape, and a diagonal mirror 306 is fixed to the tip.

The rotating section 305 is driven by a motor housed in the first tower section 301, and rotates with its extending direction (horizontal direction) as a rotation axis. In addition to the motor described above, the first tower section 301 houses a drive circuit for driving the motor, a control circuit thereof, a sensor for detecting the rotation angle of the rotating section 305, and peripheral circuits for the sensor.

Inside the second tower section 302, there is a light emitting part for emitting laser scanning light, a light receiving part for receiving the laser scanning light reflected from the object, an optical system related to the light emitting part and the light receiving part, and a scanning point. Contains a distance calculation unit that calculates the distance to. The laser scanner section 300 also includes a scan point position calculation section that calculates the three-dimensional coordinates of the scan point based on the rotation angle of the rotation section 305, the horizontal rotation angle of the horizontal rotation section 11, and the distance to the scan point.

A single beam of laser scanning light is emitted from inside the second tower section 302 toward the diagonal mirror 306, is reflected there, and is emitted to the outside via the transparent case 304. The laser scan light is emitted in pulses from the light emitting section at a repetition frequency of several kHz to several hundred kHz, and is horizontally irradiated onto the diagonal mirror 306 at the tip of the rotating rotating section 305, where it is reflected at right angles. As the rotating unit 305 rotates around the horizontal axis, the laser scanning light is scanned along the vertical plane and irradiated with pulses in a radial manner.

In the surveying instrument 400, when a radial laser scan from the laser scanner unit 300 is performed on a vertical plane, the laser scan is performed along a vertical line (see FIG. 15). That is, the radial laser scanning light from the laser scanner unit 300 forms a collection of bright spots (reflection spots) distributed on a vertical line on the vertical plane. As shown in FIG. 15, the positional relationship between the TS function section 200 and the laser scanner section 300 is set so that the optical axis of the telescope 16 intersects with the vertical line formed by the bright spot of the laser scanning light by the laser scanner section 300. has been done.

In other words, the surveying instrument 400 is set so that the optical axis of the telephoto pole 16 is included in the fan-shaped scan surface (the surface swept by the scanning laser beam) on which the laser scan from the laser scanner unit 300 is performed. In this configuration, the scanning direction in the elevation angle direction of the laser scanner section 300 is orthogonal to the horizontal direction, and the horizontal angle of the scanning light (direction in the horizontal direction) and the horizontal angle of the optical axis of the telescope 16 (TS function section 200 horizontal angles) match.

Further, by performing the above laser scan while horizontally rotating the horizontal rotation unit 11, the laser scan can be performed within the required range.

The scanning light reflected from the object follows a path opposite to that of the irradiation light, and is received by a light receiving section inside the second tower section 302. The scan point (reflection point of the scan light) can be positioned based on the emission timing and light reception timing of the scan light, the angular position (height angle: elevation angle or depression angle) of the rotating section 305 at that time, and the horizontal rotation angle of the horizontal rotating section 11. It is done. The principle of positioning is the same as that of the distance measuring unit 202 described later.

The target device 130 is used for positioning work at civil engineering construction sites and the like. During this work, positioning is performed by the TS function unit 200 targeting the all-round reflection prism 110. The target device 130 includes a rod-shaped member 131 serving as a support member, a full-circle reflection prism 110 fixed to the upper part of the rod-shaped member 131, a helical target 120 fixed to the upper part of the full-circle reflection prism 110, and an upper part of the helical target 120. A terminal 132 is fixed to the terminal via a supporting member.

The full-circle reflection prism 110 changes the direction of the incident light by 180 degrees and reflects it. As the all-round reflection prism 110, a normal product used for surveying using TS is adopted. Here, the reflection center P of the all-round reflection prism 110 is adjusted to be on the helical axis of the helical target 120. Although it is also possible to use a reflective prism that is not a full-circle reflection type, there is a limit to the angle range that can be accommodated. The spiral target 120 will be described later.

The terminal 132 includes an image display device such as a liquid crystal display. A guide display is provided on this image display device to guide a worker handling the target device 130 to the position of positioning work using the all-round reflection prism 110. This guide display will be described later. As the terminal 132, a tablet or a smartphone is used. A dedicated terminal may be prepared as the terminal 132.

For example, the case of pile driving work will be explained. Pile driving is the process of identifying a predetermined position on a drawing at the actual site at a construction or civil engineering work site, and driving a marker stake (or attaching some kind of landmark) there. It is. In this work, the following operations are performed for a plurality of piling candidate positions: searching for a piling point, identifying it, and then driving a stake to that position. At this time, the target device 130 is used to specify the piling point.

For example, a worker moves on foot to a scheduled piling position while holding the rod-shaped member 131 in his hand. At this time, the worker moves to the target position using the guide display on the terminal 132. At this time, a guide display is created using information about the horizontal direction (posture) of the target device 130 obtained using the spiral target 120. The technology related to this guide display will be described later.

The piling point is identified by bringing the tip of the rod-shaped member 131 into contact with the ground surface, standing the target device 100 there, and performing positioning of the total reflection prism 110 by the TS function unit 200. This work is the same as normal surveying work using TS.

(Spiral target)
FIG. 4 shows a target device 130 configured with a full-circumference reflective prism 110 and a spiral target 120 fixed on the top thereof, as viewed from the side (in a direction perpendicular to the spiral axis). The target device 130 is equipped with a level (not shown), and is installed using this level so that the helical axis (Z axis in FIG. 4) of the spiral target 120 is in the vertical direction.

A helical shaft is an axis of a helical structure, and an example of a helical shaft is a rotation shaft of a screw. The target device 130 is fixed to the top of a rod-shaped member that serves as a support member, but the rod-shaped member is not shown in FIG. 4 . Further, the terminal 132 and its support structure are also omitted from the illustration.

The helical target 120 has a helical axis extending in the direction in which the rod-shaped member 131 extends. The spiral structure is set such that the phase advances by one period (phase difference 2π) with one rotation around the axis. In other words, the structure is such that when the spiral is rotated once around the helical axis, the same shaped portion as seen from the side moves in the direction of the helical axis with a phase difference of 2π. Although the spiral structure is not limited to this, this structure is the simplest.

The shape of the uneven cross section of the spiral surface is a triangular wave shape in which triangular shapes are repeated and successive. The surface of the spiral target 120 serves as a reflective surface for laser scanning light. The surface of the spiral target 120 is made of a material and in a state that reflects the laser scanning light in an appropriate state.

Now, consider state (A) as the reference state. Here, it is assumed that the helical axis of the helical target 120 is vertical. At the bottom of (A), the direction of the viewpoint viewed from vertically above is conceptually shown.

Here, consider a case where the target device 130 (the spiral target 120) is rotated 1/4 clockwise (rotated 90 degrees clockwise) from the state shown in (A) when viewed from vertically above. In this case, a state in which the helical structure advances upward by a phase difference of π/2 (in the positive Z-axis direction) can be seen. That is, the visual state shifts from (A) to (B).

In this case, the position (BTM) of the valley of the spiral target 120 on the vertical line including the optical axis of the TS function section 200 moves from the state (A) to the state (B). The amount of movement at this time is equivalent to 1/4 period in terms of the period of the spiral. This phenomenon in which the valley position (BTM) advances due to the rotation of the spiral is the same principle as that when a screw rotates, the valley portion of the screw thread advances.

Here, if the direction of rotation is reversed, the valley position (BTM) moves in the opposite direction (negative direction of the Z axis). In this way, the position of the valley (BTM) on the vertical line intersecting the optical axis of the TS functional unit 200 moves on the helical axis (Z-axis) as the helical target 120 rotates.

That is, the distance L between the position (BTM) of the valley of the helical structure on the helical axis and the reflection center of the all-round reflection target 110 changes as the helical target 120 rotates. FIG. 4 shows a state in which L=L1 in the state (A) becomes L=L2 (L1<L2) by rotating the spiral target 120 by 1/4.

Here, it is assumed that the state shown in FIG. 4A is the state in which the front of the spiral target 120 is viewed from the surveying instrument 400, and the horizontal rotation angle Dm of the spiral target 120 with respect to the surveying instrument 400 is 0°. Then, from the state of FIG. 4A, if the clockwise direction is + rotation and the reverse rotation direction is - rotation when viewed from the vertically upward direction, then the distance between the distance L and the horizontal rotation angle Dm is as shown in FIG. There is a relationship between

By the way, according to the principle described later, the position of the valley on the helical axis of the helical target 120, that is, the height V1 in the vertical direction, can be specified by laser scanning. On the other hand, the position (height V2) of the reflection center P of the all-round reflection target 110 on the helical axis can be specified by the TS function unit 200. Therefore, the value of L in FIG. 4 can be calculated from V1-V2.

Therefore, the relationship shown in FIG. 5 is obtained in advance. Then, the value of L is determined from the difference between the vertical position of the valley (BTM) obtained from the laser scan of the spiral target 120 and the vertical position of the reflection center P of the total reflection target 110 determined by the TS function unit 200. By applying the value of L to the relationship shown in FIG. 5, the horizontal angle Dm (see FIG. 6), which is the orientation of the spiral target 120 (target device 130) in the horizontal direction with respect to the surveying instrument 400, can be obtained.

The horizontal angle Hm of the TS function unit 200 with respect to the reference direction (for example, north direction) is acquired at the time of installation of the surveying instrument 400 and is known. Therefore, the horizontal angle Ht of the target device 130 in the absolute coordinate system can be determined from the relationship shown in FIG.

The method for calculating Ht will be explained below. First, it is assumed that the horizontal angle Hm of the TS function unit 200 is measured as an angle in a clockwise direction with north as a reference. Since the surveying instrument 400 is calibrated to determine the horizontal angle standard when it is installed, the horizontal angle Hm can be obtained from the output of the horizontal angle detection section 205.

Dm is the angle between the reference direction of the horizontal angle of the target device 130 (in this case, the front direction) and the optical axis of the TS function section 200. Dm can be obtained from the relationship shown in FIG. 5 by determining the distance L in the vertical direction between the valley position BTM in FIG. 4 and the reflection center P of the all-round reflection prism 110.

Here, Ht is an angle measured in a clockwise direction with north as a reference, and is calculated from the horizontal angles Hm and Dm using the formula shown in FIG. 6. In this way, the horizontal angle Ht (orientation in the horizontal direction) of the target device 130 in the absolute coordinate system is calculated.

What is shown in FIG. 4 can be regarded as a method for determining the horizontal angle of the helical target 120 (target device 130) based on the difference in the phase of the helix with respect to the reflection center P of the all-round reflection prism 110. That is, in FIGS. 4A and 4B, the state of the phase of the spiral uneven structure (triangular wave structure) with respect to the position of the reflection center P of the all-round reflection prism 110 on the vertical line is different. Specifically, in the state (B), the phase of the spiral (the phase of the triangular wave) with respect to the reflection center P is ahead by 1/4 period (π/2) with respect to the state (A). There is a unique relationship between this difference in phase state and the rotational position (horizontal angle) of the spiral target 120. This unique relationship is illustrated in FIG.

That is, in the example of FIG. 4, the difference in the phase state of the spiral structure is detected as a difference in the valley position BTM, and L is used as a specific parameter. This phase difference can be understood not only by the valley but also by parameters that characterize the waveform of the unevenness of the spiral structure. According to this technology, by obtaining the relationship between the shape of the unevenness of the spiral structure and the horizontal rotation angle in advance, the horizontal rotation angle of the spiral target can be determined from the uneven shape of the spiral structure when the spiral target is viewed from the direction perpendicular to the helical axis. The rotational position can be determined.

(How to find the valley position)
A method for determining the position of the valley of the spiral target 120 in FIG. 4 (the position of the valley on the vertical line intersecting the optical axis of the TS functional unit 200) will be described. Processing related to calculating the position of the valley is performed by the position calculation unit 217 of a specific part within the surveying instrument 400.

FIG. 7 describes the principle of processing for identifying the position of a spiral valley. In this technique, a laser scanner unit 300 performs a linear laser scan along a vertical line that intersects with the optical axis of the TS function unit 200. 7(A) shows the helical target 120, FIG. 7(B) shows the distribution of laser scan points on the helical structure surface at the first rotation angle, and FIG. 7(C) shows the helical target 120. , the distribution of laser scan points on the helical structure surface at a second rotation angle is shown.

In this example, a plane is used as the slope of the spiral mountain. Therefore, we find the equation of the line along the slope from multiple scan points along the surface of the spiral, find the three-dimensional position of the valley from the intersection of two vertically adjacent lines, and then find its coordinates in the vertical direction. . In this way, the valley position (BTM) is determined. As a method for determining the position of the valley (BTM), it is also possible to determine the positions of the tops of two peaks that sandwich the valley, and to determine the intermediate value thereof.

Then, the distance L between the valley position (BTM) in the vertical direction and the reflection center P of the all-round reflection prism 110 is calculated, and from the relationship shown in FIG. ) with respect to the horizontal rotation angle (Dm in FIG. 6) is determined.

As described above, the rotational position of the helical target around the helical axis is specified using the periodicity in the axial direction of the helical structure of the helical target.

(TS/laser scanner combined surveying device)
The internal configuration of the surveying device 400 in FIG. 1 will be described. FIG. 8 shows a block diagram (configuration diagram) of the surveying device 400.

The TS function section 200 includes a storage section 201, a ranging section 202, a tracking light transmitting section 203, a tracking light receiving section 204, a horizontal angle detection section 205, an elevation angle detection section 206, a horizontal rotation drive section 207, and a vertical rotation drive section. 208, displays 18 and 19, an operation section 210, a camera 211, an arithmetic control section 212, a communication section 216, and a position calculation section 217 for a specific part. Further, the calculation control unit 212 includes a positioning calculation unit 213, a scan density setting unit 214, and a horizontal angle calculation unit 215. It is also possible to configure at least one of the positioning calculation section 213, the scan density setting section 214, and the horizontal angle calculation section 215 separately from the calculation control section 212.

The storage unit 201 is composed of a data storage device such as a semiconductor memory circuit. The storage unit 209 stores data necessary for the operation of the surveying device 400, an operation program, and data obtained by the operation.

The distance measuring unit 202 measures the distance between the surveying instrument 400 and the object to be measured (the all-round reflective prism 110). As the origin of distance measurement, a predetermined position such as the position of the light emitting part of the distance measurement section 202 or the imaging position within the telescope 16 is adopted.

The distance measuring unit 202 includes a light emitting element (such as a laser diode) that emits distance measuring light, a peripheral circuit of the light emitting element, and a light receiving element (photo) that receives the distance measuring light reflected from the distance measuring object (all-round reflective prism 110). (diode, etc.), a peripheral circuit of the light receiving element, and an arithmetic circuit that calculates the distance to the object to be measured based on the output of the light receiving element.

Positioning processing in the ranging section 202 is performed as follows. The distance measuring light from the light emitting element is divided into two parts by an optical system such as a half mirror, one part is irradiated onto the positioning target, and the other part is guided to a reference optical path (not shown). The reference optical path has a known optical path length, and the distance measuring light transmitted through the reference optical path is guided to the light receiving element as the reference distance measuring light. The light receiving element receives the ranging light reflected from the positioning target object and the reference ranging light transmitted through the reference optical path.

The distance measurement light reflected from the positioning target and the reference distance measurement light from the reference optical path arrive at the light receiving element at different times, so a phase difference occurs between the output signals (detection signals) from both light receiving elements. . The distance to the positioning target is calculated from this phase difference. This distance calculation is performed by an arithmetic circuit within the distance measuring section 202.

The tracking light transmitting unit 203 emits tracking light that tracks a target (all-round reflection prism 110) that is a positioning object. The tracking light receiver 204 receives the tracking light reflected from the target. The tracking light receiving section 204 is composed of a CCD or CMOS image sensor. The horizontal angle and elevation angle of the optical axis of the ranging section 202 are controlled so that the reflected light from the target of the tracking light is centered in the field of view. Control of the horizontal angle and elevation angle of the optical axis is performed by the horizontal rotation drive unit 207 and the vertical rotation drive 208 based on control signals generated by the calculation control unit 212.

The horizontal angle detection section 205 detects the horizontal angle of the horizontal rotation section 11 (see FIG. 1). Horizontal angle detection is performed with a rotary encoder. The horizontal angle detection section 205 also detects the horizontal rotation angle of the laser scanner section 300. The elevation angle detection unit 206 detects the elevation angle (elevation angle and depression angle) of the vertical rotation unit 13. Vertical angle detection is performed with a rotary encoder.

The horizontal rotation drive section 207 drives the horizontal rotation of the horizontal rotation section 11 . Drive is performed by a motor. The horizontal rotation unit 207 also horizontally rotates the laser scanner unit 300. The vertical rotation drive unit 208 drives vertical rotation (elevation angle and depression angle operation) of the vertical rotation unit 13. Drive is performed by a motor.

The displays 18 and 19 display various types of image information necessary for operating the surveying instrument 400 and image information of survey results. As the displays 18 and 19, a liquid crystal display or an organic EL display is used. The operation unit 210 is an operation interface that includes various buttons and the like for operating the surveying instrument 400. The camera 211 photographs the image captured by the telescope 16.

The arithmetic control unit 212 functions as a computer including a CPU, memory, and various interfaces, and controls the overall operation of the surveying instrument 400. It is also possible to perform part of the calculations in the calculation control unit 212 using a dedicated IC such as an FPGA. This also applies to the position calculation unit 217 of the specific portion. The calculation control unit 212 includes a positioning calculation unit 213, a scan density setting unit 214, and a horizontal angle calculation unit 215.

The positioning calculation unit 213 performs calculations related to positioning of the target object (for example, the all-round reflection prism 110) whose distance has been measured by the distance measurement unit 202 (positioning of the position of the target object with respect to the surveying instrument 400). Calculations related to positioning of a target object in the positioning calculation unit 213 are performed as follows. In this process, the distance measurement unit 202 performs measurement based on the distance measurement data of the object obtained by the distance measurement unit 202 and the direction of the optical axis of the distance measurement light obtained by the horizontal angle detection unit 205 and the elevation angle detection unit 206. The position of the target object (all-round reflection target 110) is calculated. That is, the position (three-dimensional coordinates) of the object relative to the surveying instrument 400 is calculated from the distance and direction.

The scan density setting section 214 sets the scan density of the laser scan performed by the laser scanner section 300 on the helical target 120 according to the distance measured by the distance measuring section 202 from the surveying instrument 400 to the all-round reflection prism 110. With this setting, the scan speed is adjusted so that the scan density does not become sparse even when the distance is large, and the scan density is adjusted to a certain level or higher. The specific scan density is determined by the calculation accuracy of the valley portion of the spiral target, but it is preferable to obtain it experimentally in advance so as to obtain the required accuracy. As a guideline, the scan density is set so that three or more scan points can be obtained on the slope forming the spiral.

The horizontal angle calculation unit 215 calculates the distance L between the valley of the spiral target 120 and the reflection center P of the all-round reflection prism 110, and calculates the angle Dm in the horizontal direction with respect to the TS function unit 200 based on the relationship shown in FIG. (see) is calculated, and Ht is further calculated based on the principle of FIG. The communication unit 216 communicates with external devices such as the terminal 132 in FIG. 1 . The specific portion position calculation unit 217 calculates the position of the specific portion in the helical axis direction of the helical structure of the helical target 120 based on the principle shown in FIG. In this example, the valley portion of the spiral structure is used as this specific portion. The method for determining the position of the valley has been described above in connection with FIG. Since the laser scanner section 300 has already been explained in connection with FIG. 1, the explanation here will be omitted.

(Example of processing at terminal 132)
The terminal 132 acquires data on the position of the target device 130 and data on Dm and Ht in FIG. 6 from the surveying instrument 400. Then, the terminal 132 creates the image shown in FIG. 10, for example, and displays it on its own display. Referring to this image, the worker moves the target device 130 to a position where pile driving or surveying is performed. A method for creating the image shown in FIG. 10 will be described below.

FIG. 10 shows an example of a screen display with the upper direction facing the front of the target device 130. First, the current position of the target device 130 in the absolute coordinate system is precisely measured by the TS function unit 200, and the data is acquired from the surveying instrument 400. Further, the target position (the position where the stake is to be driven) has been specified in advance on the drawing, and its data has also been acquired. Further, the front direction Ht (see FIG. 6) of the target device 130 in the absolute coordinate system is calculated on the surveying instrument 400 side.

Therefore, the current position of the target device 130, the target position, and the front direction of the target device 130 in the absolute coordinate system are input into the map software, and based on Ht, the display screen is rotated so that the top is facing forward, and based on Dm, the display screen is rotated so that the top is the front side. , the screen of FIG. 10 is obtained by displaying the direction of the surveying instrument 400.

Since Dm in FIG. 10 is not obtained from a magnetic sensor, a gyro sensor, or a GPS sensor, the problem of reduced accuracy mentioned in the problem section is avoided.

FIGS. 11A and 11B show other examples of guide display on the display of the terminal 132 during piling work.

(Example of processing)
An example of surveying processing using the surveying instrument 400 will be described below. FIG. 9 is a flowchart showing the procedure of the process. The operation program related to the process in FIG. 9 is stored in the storage unit 210 and executed by the calculation control unit 212 in FIG. 8. It is also possible to store the operating program in a suitable storage area or storage medium. It is also possible to store this operating program in an external server or the like and provide it from there.

Here, with reference to FIG. 1, an example of a processing procedure when performing piling work at a civil engineering construction site will be described. First, a worker places the target device 130 vertically at a certain location (initial position) (step S101). Here, a level is disposed on the target device 130, and the worker uses it to bring the tip of the rod-shaped member 131 into contact with the ground while keeping the target device 130 vertical.

Next, the all-round reflection prism 110 is tracked using the automatic target tracking function of the TS function section 200, and further the all-round reflection prism 110 is positioned by the TS function section 200 (step S102). Next, using the laser scanner unit 300, a laser scan is performed on a vertical line intersecting the optical axis of the ranging light of the TS function unit 200 (step S103). At this time, scan conditions are set so that a scan density of a certain level or more can be obtained along the helical axis of the helical target 120.

Next, the position of the valley of the spiral structure of the spiral target 120 on the vertical line is specified according to the principle shown in FIG. 7 (step S104). This process is performed by a specific portion position calculation unit 217 that calculates the position of a specific portion in the helical axis direction of the helical structure. Next, the difference L between the position P of the reflection center of the all-round reflection prism 110 on the vertical line obtained in step S102 and the valley position obtained in step S104 is determined, and from the relationship shown in FIG. The horizontal angle Dm with respect to the surveying instrument 400 is calculated (step S105). At this time, Ht is also calculated. The processes in steps S104 and S105 are performed by the horizontal angle calculation unit 215.

Once Dm and Ht are obtained, they are transmitted to the terminal 132. The terminal 132 that has received the information of Dm and Ht creates the display content shown in FIG. 10, for example, and displays it on the display of the terminal 132 (step S106). The operator moves the target device 130 to the target position while looking at the display in FIG.

2. Second Embodiment FIG. 12 shows an example in which the present invention is applied to a technique for projecting an image from a projector to a positioning position (eg, Japanese Patent No. 6130078). In this case, information on the height of the projector from the projection surface (for example, the floor) and the horizontal orientation of the projector is necessary to appropriate the size and orientation of the image to be projected.

In the case of FIG. 12, the three-dimensional position (horizontal position and height) of the projector 520 equipped with the communication device is determined by the positioning of the all-round reflection prism 110 by the surveying instrument 400, which is installed at a known position and whose reference direction has been determined. is specified. On the other hand, from the relationship between the position of the all-round reflection prism 110 measured by the TS function unit 200 and the position of the spiral valley obtained by laser scanning the spiral target 120 from the laser scanner unit 300, the horizontal position of the projector 520 is determined. An orientation in a direction is determined.

Information on the three-dimensional position and horizontal orientation of the projector 520 is calculated by the surveying instrument 520 and sent to the projector 520. Upon receiving this information, the projector 520 adjusts the image to be projected, its projection position, and the scale and orientation of the projected image.

3. Third Embodiment For example, the present invention can be applied to a technique for specifying the horizontal direction of a moving object. In this case, a target in which a full-circle reflection prism 110 and a spiral target 120 are vertically coupled is fixed to a moving body. At this time, the target is fixed to the moving body so that the helical axis is vertical. For example, a gimbal mechanism is used to ensure that the helical axis of the target is always vertical even if the moving object is tilted. Note that if the target has a structure that tilts together with the moving body, rotation of the moving body around the yaw axis is detected.

In FIG. 13, a target device 510 in which a full-circle reflection prism 110 and a helical target 120 are combined is attached to a UAV (Unmanned Aerial Vehicle) 500 via a gimbal mechanism 501. A case is shown in which the orientation in the horizontal direction is detected.

In this case, the surveying instrument 400 is installed horizontally at a position whose coordinates are known in the absolute coordinate system, and its orientation in the horizontal direction in the absolute coordinate system is determined. Then, the full-circle reflection prism 110 of the flying UAV 500 is tracked and positioned by the TS function unit 200. Further, by laser scanning the helical target 120 in the helical axis direction by the laser scanner unit 300, the horizontal angle (corresponding to Dm in FIG. 6) of the UAV 500 with respect to the surveying instrument 400 based on the principle described in the first embodiment is obtained. Furthermore, the horizontal angle Ht of the UAV 500 in the absolute coordinate system can be obtained by the principle of FIG.

4. Fourth Embodiment Direction detection using a spiral target is not limited to the horizontal direction. For example, the surveying instrument 400 shown in FIG. 1 is used by tilting it horizontally by 90 degrees. In this case, the target device 130 is also used horizontally by 90 degrees. In this case, the angle (height angle) of the target device 130 around the horizontal axis can be measured.

5. Fifth Embodiment It is also possible to detect the rotation angle using only the spiral target without using a reflecting prism. A spiral target 120 is shown in FIG. In this case, point cloud data of the peaks and valleys of the spiral and the flat portions (portion of the cylinder or the outer peripheral surface of the cylinder) can be obtained by performing a laser scan in the elevation angle direction aiming at the helical axis of the spiral target 120. get.

Then, L (L1) in FIG. 16 is obtained based on this point group data. As the starting point of L, a structural portion that can be identified as BTM and whose position on the helical axis does not change even if the helical target 120 is rotated is selected. In the example of FIG. 16, the starting point of L is the boundary between the spiral structure and the non-spiral structure, and the distance from there to the valley position (BTM) of the spiral structure is the measured value of L.

Since L depends on the rotation angle Dm of the spiral target 120, by determining L, Dm can be obtained. This example can be considered as a case where the reference for quantitatively evaluating the position of the valley of the spiral structure is the lower end portion of the spiral target 120.

It is also possible to obtain the distance La of the flat part in the helical axis direction from laser scan data of a flat part that can be identified as the peak and valley parts, instead of the peak and valley parts of the helical structure. Since La and Dm have a proportional relationship as shown in FIG. 5, Dm can be obtained by finding La.

FIG. 17 shows a case where an annular protrusion 121 is provided at the end of the spiral target 120. The annular protrusion 121 does not have a helical structure, and even if the helical target 120 is rotated, the position of its peak in the helical axis direction does not change. Further, the height of the crest of the annular protrusion 121 is set to a different value from the height of the ridge of the spiral structure, so that it can be distinguished from the helical structure by laser scanning.

Here, when the spiral target 120 rotates, the distance L between the top position of the crest of the annular protrusion 121 and the bottom position BTM of the valley of the spiral structure changes. As in this case and in the case of FIG. 5, the rotation angles Dm and L of the helical target 120 have a specific relationship (also a proportional relationship in this case). Therefore, Dm can be measured by the following procedure. First, the relationship between Dm and L is obtained in advance. In the measurement, a laser scan is performed in the height angle direction aiming at the helical axis of the helical target 120, and based on the principle shown in FIG. demand. Then, the distance L in the spiral axis direction (in this case, the distance in the vertical direction) between the top position of the mountain of the annular protrusion 121 and the bottom position BTM of the valley of the spiral structure is calculated, and from the relationship shown in FIG. get.

(Other 1)
The waveform shown in FIG. 14 is an example of the waveform shown by the cross-sectional structure of the helical target (the structure of the cross-section taken along a plane including the helical axis). In either case, the relationship between the phase state of the waveform and the rotation angle around the helical axis needs to be obtained and known in advance. Examples of the waveform include a sine waveform, a sawtooth waveform, a rectangular waveform, and the like, in addition to a triangular waveform as in the example shown in FIG.

It is also possible that the periodicity of the helical structure has a specific frequency structure and the distribution of laser scan points is determined by frequency analysis. For example, it is possible to adopt a case where the helical structure has a waveform that is a combination of a plurality of different frequencies. In this case, there is a specific relationship between the frequency analysis result and the rotation angle of the helical structure, which has been obtained in advance. Then, the horizontal angle of the spiral target is obtained from the frequency analysis result.

Although FIG. 5 shows a case where the relationship between L and the horizontal angle of the spiral target is linear, it is also possible that this relationship is not linear but nonlinear. What is important is that the relationship between L and the horizontal angle of the spiral target is specified in advance and is known information.

(Other 2)
Although FIG. 4 shows an example in which the position of the valley of the spiral structure is focused, it is also possible to focus on the top portion of the mountain. In this case, the distance L between the position of the top of the mountain of the spiral target 120 and the position of the reflection center of the all-round reflection prism 110 is used.

(Other 3)
As the laser scanner section 300, it is also possible to use one that simultaneously irradiates a plurality of scan beam lights in a fan shape in the horizontal direction (lateral direction). In this case, one of the laser scanning lights is irradiated within a vertical plane that includes the optical axis of the telescope 16 (optical axis of the ranging light).

In this example, laser scanning along the vertical plane (laser scanning in the vertical direction) is not performed in one line, but also in diagonal left and right directions at the same time.

For example, consider laser scan light (laser scan light with an elevation angle of 0°) that is emitted horizontally from the surveying instrument 400 at a certain timing. Here, it is assumed that the horizontal angle as seen from the surveying instrument 400 is measured with the front as a reference (0°), and the right direction is + and the left direction is -. It is assumed that seven laser scan beams are simultaneously irradiated at intervals of 2°. In this case, seven laser scan beams are simultaneously irradiated in the direction of a fan-shaped range of horizontal angles of -6°, -4°, -2°, 0°, +2°, +4°, and +6°. Note that this is just an example, and the number of simultaneously irradiated laser scanning lights and their angular relationship are not limited to the above case.

(Other 4)
A configuration in which the TS function unit 200 is not used is also possible. In this case, the laser scanner section 300 performs positioning of the all-round reflection prism 110. Hereinafter, positioning of the all-round reflection prism 110 by the laser scanner section 300 will be explained.

In this case, first, a laser scan is performed on a region including the all-round reflection prism 110. Since the reflected light from the all-round reflection prism 110 is relatively strong, the scan point where the relatively strongest reflected light was obtained is extracted from the obtained scan points, and the scan point is transferred to the all-round reflection prism 110. 110 as the reflection center.

Note that during laser scanning, if the reflected light from the all-round reflection prism 110 is too strong and the input resistance of the light receiving element of the laser scanner section is exceeded, the laser scanning via a neutral density filter or the emission intensity of the scanning light may be reduced. Respond by dropping it.

(Other 5)
The distance between P and BTM in three-dimensional space can also be used as L in FIG. 4. In this case, assuming the coordinates of BTM as (x ₁ , y ₁ , z ₁ ) and the coordinates of P as (x ₂ , y ₂ , z ₂ ), L=((x ₁ −x ₂ ) ² +(y ₁ − Calculate L by y ₂ ) ² + (z ₁ −z ₂ ) ² ) ^1/2 .

(Other 6)
The helical target 120 has a cylindrical or cylindrical shape with a helical structure on the outer periphery, but the cross-sectional shape cut in the direction perpendicular to the helical axis is not limited to a circle, but may be an ellipse, a polygon, or a polygon with rounded corners. It is also possible to do the following.

INDUSTRIAL APPLICATION This invention is applicable to the technique of measuring the attitude|position of a target object.

DESCRIPTION OF SYMBOLS 11...Horizontal rotation part, 12...Pedestal, 13...Vertical rotation part, 14a...Horizontal rotation angle control dial, 14b...Elevation angle control dial, 15a...Sight, 15b...Sight 15b, 16...Telescope, 17...Eyepiece Parts, 18, 19...Display, 110...Full-circumference reflective prism, 120...Spiral target, 130...Target device, 131...Bar-shaped member, 132...Terminal, 200...TS function section, 300...Laser scanner section, 301...th 1 tower part, 302... Second tower part, 303... Connecting part, 304... Protective case, 305... Rotating part, 306... Diagonal mirror, 400... Survey instrument, 500... UAV501... Gimbal mechanism, 510... Target device.

Claims (2)

a spiral target with a spiral uneven structure on its surface;
and a reflecting prism arranged on the helical axis of the helical target, the surveying method comprising: using a surveying device to survey a target device,
The surveying device includes a functional unit that performs positioning using ranging light and a laser scanner unit that performs laser scanning,
A horizontal angle Hm of the surveying device with respect to a horizontal angle reference direction is obtained in advance,
Let Dm be the angle formed by the reference direction of the horizontal angle of the target device and the optical axis of the functional part of the surveying device,
Let L be the distance between the position of a particular part of the spiral uneven structure and the position of the reflection center of the reflection prism when viewed from a particular direction,
The relationship between the L and the Dm is obtained in advance,
measuring the position of the reflecting prism by positioning using the ranging light of the surveying device;
measuring the position of the specific part by laser scanning using the laser scanner section of the surveying device;
Calculating the distance between the measured position of the reflecting prism and the measured position of the specific part,
Determining the actual value of the Dm based on the calculated distance and the relationship between the L and the Dm acquired in advance;
A surveying method for determining an angle Ht of the target device with respect to the horizontal angle reference direction based on the actual values of the Hm and Dm . The surveying method according to claim 1, wherein the Ht is calculated by Ht=Hm-Dm+180°.

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