JP6680628B2 - Laser scanner - Google Patents

Description

  TECHNICAL FIELD The present invention relates to a laser scanner that irradiates a distance measuring light and acquires three-dimensional point cloud data.

  Conventionally, a three-dimensional laser scanner has been known as a surveying device for acquiring a large number of three-dimensional data (3D data, three-dimensional point cloud data) of a measurement target in a short time.

  The three-dimensional laser scanner is installed on a tripod, rotates and irradiates the pulsed light through the scanning unit, scans the measuring object, and performs distance measurement and angle measurement for each pulsed light, thereby measuring the object to be measured. Obtaining dimensional data.

  However, since the three-dimensional laser scanner is configured to rotate and irradiate the pulsed light while rotating the scanning unit at a high speed, it is difficult to indicate a specific one point such as an instruction of a measurement setting point.

  Therefore, in addition to acquiring the 3D point cloud data and measuring the shape of the measurement object, in addition to the 3D laser scanner, the laser pointer light is emitted to indicate the measurement point when performing the measurement work. A surveying device such as a total station was needed.

JP, 2015-125099, A

  The present invention provides a laser scanner capable of performing both measurement work and measurement work for three-dimensional point cloud data acquisition.

  The present invention relates to a distance measuring light emitting unit that emits distance measuring light, a distance measuring unit that performs distance measurement based on the reception result of reflected distance measuring light, and a pointer that emits laser pointer light in a known relationship with the distance measuring light. A light emitting unit, an angle measuring unit for detecting the emitting direction of the distance measuring light, a distance measuring light emitting unit, the distance measuring unit, a telescope unit including the pointer light emitting unit, which is rotatable in a horizontal direction and a vertical direction, A rotation driving unit for rotating the telescope unit and a control calculation unit having a storage unit in which drawing data having a known coordinate system are stored, and the control calculation unit controls the distance measuring light within a required range. Irradiate in rotation, acquire three-dimensional point cloud data based on the distance measurement result and direction angle detection result for each of the distance measurement lights, and display the measurement results of points common to the three-dimensional point cloud data and the drawing data. Based on the drawing data, the three-dimensional point cloud data is matched with the drawing data. Those of the laser scanner that is configured as to irradiate the laser pointer light for a given survey setting point.

  Further, according to the present invention, the laser pointer light is coaxial with the distance measuring light, the telescope unit is rotated vertically, and the control calculation unit is configured to operate the laser when the optical axis of the distance measuring light coincides with the measuring point. The present invention relates to a laser scanner that controls the pointer light emitting unit so that pointer light is emitted.

  According to the present invention, the laser pointer light is coaxial with the distance measuring light, the telescope unit is vertically swung, and the control calculation unit has an optical axis of the distance measuring light coincident with the measuring point. The present invention relates to a laser scanner that controls the pointer light emitting section so that the laser pointer light is sometimes emitted.

  Further, according to the present invention, the control calculation unit obtains the three-dimensional point cloud data by irradiating the distance measuring light and the laser pointer light when the optical axis of the distance measuring light coincides with the measuring point. The present invention relates to a laser scanner that simultaneously executes the irradiation of the.

  Furthermore, the present invention further comprises an imaging unit provided on an imaging optical axis coaxial with the laser pointer light and the distance measuring light, and the imaging unit acquires a background image including an irradiation point of the laser pointer light. The present invention relates to a possible laser scanner.

  According to the present invention, the distance measuring light emitting unit that emits the distance measuring light, the distance measuring unit that measures the distance based on the reception result of the reflected distance measuring light, and the laser pointer light is irradiated in a known relationship with the distance measuring light. A pointer light emitting section, an angle measuring section for detecting the emission direction of the distance measuring light, and a telescope which includes the distance measuring light emitting section, the distance measuring section, and the pointer light emitting section and is rotatable in the horizontal and vertical directions. Section, a rotation driving section for rotating the telescope section, and a control calculation section having a storage section in which drawing data having a known coordinate system is stored, and the control calculation section requires the distance measuring light. Rotate and irradiate in a range, obtain three-dimensional point cloud data based on the distance measurement result and direction angle detection result for each distance measurement light, and measure points common to the three-dimensional point cloud data and the drawing data. Based on the result, the three-dimensional point cloud data is matched with the drawing data, and the drawing data is matched. Since the laser pointer light is radiated to the designated measurement point on the computer, both measurement work and measurement work can be performed, and versatility and workability can be improved. It has an excellent effect that it can.

1 is a schematic diagram of a laser scanner according to a first embodiment of the present invention. It is a schematic block diagram of this laser scanner. It is a block diagram which shows the optical system of the telescope part in this laser scanner. It is a flowchart explaining the instruction | indication process of the survey setting point which concerns on the 1st Example of this invention. It is a block diagram which shows the optical system of the telescope part which concerns on the 2nd Example of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  First, an outline of a laser scanner 1 according to the first embodiment of the present invention will be described with reference to FIG.

  A tripod 2 is installed at a predetermined position, a leveling section 3 is provided on the tripod 2, and a base section 4 is provided on the leveling section 3. A horizontal rotation drive unit 5 is housed in the base unit 4. The horizontal rotation drive unit 5 has a horizontal rotation shaft 6 extending vertically, and a suspension unit 7 which is a horizontal rotation unit is attached to an upper end of the horizontal rotation shaft 6.

  The frame 7 has a recess 8 in which a telescope unit 9 which is a vertical rotating unit is housed. The telescope unit 9 is rotatably supported by the frame unit 7 via a vertical rotation shaft 10. The telescope unit 9 is provided with a telescope (lens unit) 11 having a distance measuring optical axis, and the telescope unit 9 houses a distance measuring unit 16 (see FIG. 2).

  A vertical rotation drive unit 12 is housed in the suspension unit 7, and the vertical rotation drive unit 12 is connected to the vertical rotation shaft 10 having a horizontal axis. The vertical rotation drive unit 12 rotates the telescope unit 9 around the entire circumference in the vertical direction. A vertical angle detector 13 is provided on the vertical rotary shaft 10, and the vertical angle detector 13 detects the rotation angle of the vertical rotary shaft 10 and further detects the vertical angle of the vertical rotary shaft 10. Has become. Further, a control calculation unit 17 is housed in the suspension unit 7.

  The horizontal rotation drive unit 5 is connected to the horizontal rotation shaft 6 having a vertical axis, and the support unit 7 is rotated by the horizontal rotation drive unit 5 in the entire horizontal direction. Further, a horizontal angle detector 14 is provided on the horizontal rotation shaft 6, and the horizontal angle detector 14 detects the rotation angle of the suspension section 7, and further detects the horizontal angle of the suspension section 7. It has become like. The vertical angle detector 13 and the horizontal angle detector 14 constitute a direction angle detector.

  Thus, the telescope unit 9 is rotated in two directions, vertical and horizontal, in a desired state by the rotary drive unit constituted by the horizontal rotary drive unit 5 and the vertical rotary drive unit 12. The vertical angle and horizontal angle are detected by the vertical angle detector 13 and the horizontal angle detector 14 in real time.

  Next, referring to FIG. 2, an outline of the configuration of the laser scanner 1 will be described.

  In FIG. 2, 17 is a control calculation unit, 18 is an angle measurement unit, 19 is a storage unit, 21 is an operation unit, and 22 is a display unit.

  The telescope unit 9 includes the telescope 11, a distance measuring light emitting unit 24, the distance measuring unit 16 that receives reflected distance measuring light 25, and a pointer light emitting unit 27 that emits laser pointer light 26. The distance measuring light emitting unit 24 emits a distance measuring light (pulse laser beam) 23 on the distance measuring optical axis, and the distance measuring light 23 is irradiated through the telescope 11. Further, the pointer light emitting section 27 emits the laser pointer light 26 on the distance measuring optical axis, and the laser pointer light 26 is emitted through the telescope 11.

  Light emission of the distance measuring light emitting unit 24 is controlled by the control calculating unit 17, and the distance measuring light 23 is emitted. The distance measuring unit 16 obtains the round-trip time of the pulsed light for each pulse based on the light receiving signal when the reflected distance measuring light 25 reflected from the measuring point or the measuring object is received, and measures the measuring point. Distance (Time Of Flight). Further, the distance measuring unit 16 can perform prism measurement using a retroreflector (for example, prism) as the measurement target or non-prism measurement using the measurement target as a natural object. Further, the pointer light emitting section 27 emits a pulse of the laser pointer light 26 at a predetermined timing, for example.

  The vertical angle detection signal from the vertical angle detector 13 is input to the angle measuring unit 18, and the angle measuring unit 18 calculates the vertical angle of the vertical rotary shaft 10 based on the vertical angle detection signal. The horizontal angle detection signal from the horizontal angle detector 14 is input to the angle measuring unit 18, and the angle measuring unit 18 calculates the horizontal angle of the frame unit 7 based on the horizontal angle detection signal. A vertical angle and a horizontal angle are obtained for each distance measurement by the distance measuring light 23, and a direction angle at each measurement point with respect to the laser scanner 1 is obtained from the vertical angle and the horizontal angle.

  The control calculation unit 17 causes the vertical rotation drive unit 12 to rotate the telescope unit 9 at a predetermined speed and at a high speed in the vertical direction all around. Further, the control calculation unit 17 causes the horizontal rotation drive unit 5 to synchronize with the vertical rotation of the telescope unit 9 to horizontally rotate the support unit 7 at a predetermined speed. The laser scanning of the required range is performed by the cooperation of the vertical rotation and the horizontal rotation, and the three-dimensional point cloud data of the required range can be acquired. Further, the control calculation unit 17 can set the measurement pitch (interval between measurement points) by setting the scan speed and the repetition frequency of pulsed light emission, and at the same time, the pointer light emission unit 27 can change the laser pointer light 26. You can set the timing of light emission.

  Various programs for operating the laser scanner 1 are stored in the storage unit 19. For example, a measurement program for performing distance measurement and angle measurement, a drive control program for controlling the drive of the horizontal rotation drive unit 5 and the vertical rotation drive unit 12, the distance measurement light by the distance measurement light emitting unit 24. 23, a distance measurement light control program for controlling the light emission of 23, a laser pointer light control program for controlling the light emission of the laser pointer light 26 by the pointer light emitting section 27, a measurement pitch setting program for setting a measurement pitch, A timing setting program for setting the emission timing of the laser pointer light 26, a matching program for matching the measurement result with the design drawing data, a display program for displaying various information on the display unit 22 and the like are stored.

  Further, the storage unit 19 is provided with a data storage area for storing various data such as measurement data and design drawing data (hereinafter referred to as drawing data) having a known coordinate system such as absolute coordinates.

  Measurement conditions such as measurement range and measurement density are input from the operation unit 21, position data (for example, three-dimensional data) of measurement setting points is input to the control calculation unit 17, or measurement start, measurement stop, etc. Is input. The position data of the measurement setting points may be preset based on the drawing data and stored in the storage unit 19 together with the drawing data.

  The display unit 22 displays the measurement conditions such as the measurement range, the measurement state, or the measurement result.

  Next, referring to FIG. 3, the optical system of the telescope unit 9 will be described.

  As described above, the telescope unit 9 houses the lens unit (telescope) 11, the distance measuring light emitting unit 24, the distance measuring unit 16, the pointer light emitting unit 27, the internal reference optical path 28, and the like. .

  The distance measuring light emitting unit 24 has a light emitting unit 29, an optical path splitting member 31 such as a half mirror and a beam splitter, and a first beam splitter 32. The light emitting unit 29 is, for example, a semiconductor laser or the like, and emits a laser beam of infrared light which is invisible light on the distance measuring optical axis as the distance measuring light 23.

  Further, the optical path dividing member 31 reflects a part of the distance measuring light 23 and guides it as the internal reference light 33 to the internal reference light path 28. Further, the first beam splitter 32 has an optical characteristic of reflecting the distance measuring light 23 of invisible light and transmitting the laser pointer light 26 of visible light. The distance measuring light emitting unit 24 is controlled by the control calculating unit 17 so as to emit the distance measuring light 23 in a required state such as a required light intensity and a required pulse interval.

  Further, the distance measuring unit 16 has a second beam splitter 34, an optical path coupling unit 35, and a light receiving element 36. The second beam splitter 34 is, for example, a half mirror, reflects a part of the laser pointer light 26 of visible light and the distance measuring light 23 of invisible light, and transmits a part of the reflected distance measuring light 25. It has optical characteristics. The optical path combining unit 35 combines the reflected distance measuring light 25 that has passed through the second beam splitter 34 and the internal reference light 33 that has passed through the internal reference light path 28 so that the light receiving element 36 receives the light. It has become.

  The light receiving element 36 converts the received reflected distance measuring light 25 and the internal reference light 33 into a reflected light receiving signal and an internal light receiving signal, and sends them to the control calculation section 17. ing. The control calculation unit 17 obtains a light receiving time difference between the reflected light receiving signal and the internal light receiving signal for each of the distance measuring lights 23, and measures the distance based on the light receiving time difference between the internal reference light 33 and the reflected distance measuring light 25. It is designed to measure the distance to the light irradiation point (measurement point).

  The pointer light emitting unit 27 is, for example, a light emitting diode (LED) and emits the laser pointer light 26 of visible light. The control calculation unit 17 drives the horizontal rotation drive unit 5, drives the vertical rotation drive unit 12, and detects the laser pointer light 26 based on the detection results of the vertical angle detector 13 and the horizontal angle detector 14. It is designed to control the timing of light emission.

  When the distance measuring light 23 is emitted from the light emitting unit 29 during the measurement work, a part (most part) of the distance measuring light 23 passes through the optical path splitting member 31 and the first beam splitter. It is incident on 32. The rest of the distance measuring light 23 is reflected by the optical path dividing member 31 as the internal reference light 33, and is guided to the distance measuring unit 16 via the internal reference light path 28.

  The distance measuring light 23 reflected by the first beam splitter 32 is incident on the second beam splitter 34, a part of the distance measuring light 23 is reflected by the second beam splitter 34, and a projection lens or the like is used. It is guided to the lens unit 11 composed of the lens group. The distance measuring light 23 transmitted through the first beam splitter 32 and the second beam splitter 34 is absorbed by an antireflection member (not shown).

  The distance measuring light 23 made into a parallel light flux by the lens unit 11 is applied to a measurement range or an object to be measured (not shown). Further, when the telescope unit 9 is rotated about the vertical rotation shaft 10, the distance measuring light 23 is rotatably irradiated in the vertical plane. Further, the horizontal rotation drive unit 5 rotates the frame unit 7 in the horizontal direction, so that the distance measuring light 23 is rotated and irradiated in the horizontal direction about the horizontal rotation shaft 6. Therefore, by the cooperation of the vertical rotation of the telescope unit 9 and the horizontal rotation of the support unit 7, a predetermined range or the entire measurement range can be scanned by the distance measuring light 23.

  The distance measuring light 23 is scanned within the measurement range and is reflected by the measuring object existing in the measurement range. The reflected distance measuring light 25 enters the lens unit 11, partially passes through the second beam splitter 34, and is guided to the distance measuring unit 16.

  The reflected distance measuring light 25 that has passed through the second beam splitter 34 is received by the light receiving element 36 via the optical path coupling section 35. Further, the internal reference light 33 that has passed through the internal reference light path 28 is received by the light receiving element 36 via the optical path coupling portion 35.

  The control calculation unit 17 measures the distance to the distance measurement light irradiation point (measurement point) based on the light reception time difference between the reflected light reception signal and the internal light reception signal. The control calculation unit is based on the distance to the measurement point, the vertical angle detected by the vertical angle detector 13 for each of the distance measuring lights 23, and the horizontal angle detected by the horizontal angle detector 14. 17 calculates the three-dimensional coordinates of the measurement point. By recording the three-dimensional coordinate value of the measurement point for each of the distance measuring lights 23, it is possible to obtain three-dimensional point cloud data for the entire measurement range or for the measurement object.

  Further, the laser pointer light 26 emitted from the pointer light emitting section 27 passes through the first beam splitter 32 and is reflected by the second beam splitter 34. As a result, the optical axis of the laser pointer light 26 matches the optical axis of the distance measuring light 23, and the laser pointer light 26 is emitted coaxially with the distance measuring light 23. Further, the laser pointer light 26 is applied to any position in the entire measurement range by the cooperation of the vertical rotation of the telescope unit 9 and the horizontal rotation of the support unit 7.

  In order to perform the surveying work after the measurement work is completed, it is necessary to continue to irradiate the designated surveying point with the laser pointer light 26 and to instruct the operator about the surveying point.

  Next, with reference to the flow chart of FIG. 4, acquisition of three-dimensional point cloud data using the laser scanner 1 and instruction processing of measurement points will be described.

  STEP: 01 First, the laser scanner 1 is installed at an arbitrary position, and the leveling unit 3 performs leveling.

  STEP: 02 Next, the frame 7 is horizontally rotated by the horizontal rotation drive unit 5, the telescope unit 9 is vertically rotated by the vertical rotation drive unit 12, and the measurement range is scanned by the laser scanner 1. Acquiring three-dimensional point cloud data of the measurement target.

  STEP: 03 When the three-dimensional point cloud data is acquired, the control calculation unit 17 performs measurement with a known coordinate such as a prism provided at a known point in the measurement result or a bolt hole of a pipe. A point or the like is selected, and the installation position of the laser scanner 1 with respect to the measurement object is made known based on the measurement result of the known point. Further, the position of the laser scanner 1 in the coordinate system of drawing data (drawing coordinate system) is calculated based on the measurement result of known points.

  When the laser scanner 1 is provided close to two orthogonal wall surfaces, the laser scanner 1 is rotated in the horizontal direction over the entire circumference to scan the wall surface, and the laser scanner 1 and each wall surface are scanned. It is also possible to obtain each distance and calculate the position of the laser scanner 1 in the drawing coordinate system based on the distance. Further, when the laser scanner 1 is installed at a reference point having known coordinates, the step of STEP: 03 can be omitted.

  STEP: 04 The control calculation unit 17 matches the point cloud data with the drawing data based on the position of the laser scanner 1 in the drawing coordinate system, and converts the coordinates of the point cloud data into the drawing coordinate system.

  STEP: 05 When a predetermined survey setting point is designated based on the drawing data, the control calculation unit 17 transforms the coordinates of the survey setting point in the drawing coordinate system into the coordinate system of the point cloud data. The control calculation unit 17 drives the horizontal rotation drive unit 5 to horizontally rotate the frame unit 7 and directs the telescope unit 9 to the designated measurement setting point. When the horizontal direction of the telescope unit 9 coincides with the measurement setting point, the horizontal rotation drive unit 5 is stopped and the stopped state is maintained. Next, the control calculation unit 17 drives the vertical rotation drive unit 12 to rotate the telescope unit 9 vertically at high speed, and causes the pointer light emitting unit 27 to emit the laser pointer light 26 in a pulsed manner. In this case, it is preferable that the rotation speed is equal to or higher than a level at which an afterimage is maintained when the laser pointer light 26 is visually recognized.

  Here, the vertical angle of the telescope unit 9 when the telescope unit 9 is rotated vertically is always detected by the vertical angle detector 13. Based on the detection result of the vertical angle detector 13, the control calculation unit 17 causes the pointer light emitting unit to irradiate the laser pointer light 26 when the distance measurement optical axis and the coordinates of the measurement point match. The timing of emission of the laser pointer light 26 by 27 is controlled.

  Therefore, the laser pointer light 26 is applied only to the designated surveying point. Further, since the telescope unit 9 is vertically rotated at high speed, the laser pointer light 26 is recognized as continuously irradiating the measuring point.

  As described above, in the present embodiment, the laser scanner 1 continuously irradiates the laser pointer light 26 to the measuring point, and the operator is informed of the measuring point. It is possible to perform measurement work (layout) work using the.

  Further, it is also possible to simultaneously obtain the point cloud data and instruct the measurement setting point. In this case, the laser pointer light 26 is emitted when the distance measuring optical axis coincides with the coordinates of the measurement point while acquiring the point cloud data.

  Therefore, since the laser scanner 1 alone can perform both the measurement work and the measurement work, the versatility of the laser scanner 1 can be improved and the workability can be improved.

  Further, since the laser pointer light 26 is irradiated to the survey setting point, if the laser scanner 1 is used as a survey setting point indicating device, it is not necessary to separately provide a surveying device such as a total station, and the work cost can be reduced. it can.

  Further, since the measurement work and the measurement work can be performed by the laser scanner 1 alone, the coordinate system of the total station and the coordinate system of the laser scanner 1 can be matched like the case where the total station and the laser scanner 1 are used together. Since it is unnecessary, the processing time can be shortened and the workability can be improved.

  In the present embodiment, the telescope unit 9 is rotated vertically at a high speed when the laser pointer light 26 is irradiated to the measurement setting point, but the telescope unit 9 is swung in the vertical direction. Good. Even when the telescope unit 9 is vertically swung, the laser pointer light 26 is used when the optical axis of the distance measuring light 23 coincides with the coordinates of the measuring point by the control calculation unit 17, as in the case of vertically rotating the telescope unit 9. The emission of the pointer light emitting section 27 is controlled so as to illuminate.

  Further, in the present embodiment, the pointer light emitting section 27 is provided and the laser pointer light 26 of visible light is emitted coaxially with the distance measuring light 23 of invisible light. In this case, since the distance measuring light 23 can be used as a laser pointer light for designating a measuring point, the pointer light emitting section 27 can be omitted.

  Further, when the distance D between the optical axis of the distance measuring light 23 and the optical axis of the laser pointer light 26 is known, the distance measuring light 23 and the laser pointer light 26 are not coaxial. Good. In this case, the distance measurement optical axis is changed by the distance D when the drawing coordinate system is converted to the point cloud data coordinate system.

  Next, referring to FIG. 5, a second embodiment of the present invention will be described. 5 that are the same as those in FIG. 3 are assigned the same reference numerals and explanations thereof are omitted.

  In the second embodiment, a third beam splitter 37 is provided between the second beam splitter 34 and the optical path coupling unit 35, and an image pickup unit 38 is provided on the reflection optical axis (imaging optical axis) of the third beam splitter 37. It is provided. That is, the imaging optical axis is coaxial with the optical axis of the distance measuring light 23 and the optical axis of the laser pointer light 26. Further, the third beam splitter 37 transmits only the distance measuring light 23 and the reflected distance measuring light 25 which are invisible light, and reflects the reflected laser pointer light and the background light of visible light.

  The image pickup section 38 has an image pickup element 39. The image pickup device 39 outputs a digital image signal, and is composed of an aggregate of pixels such as CCD and CMOS sensor. Each pixel has a position within the image pickup device 39. It can be specified.

  The laser pointer light 26 emitted from the pointer light emitting unit 27 is reflected by the measurement range or the measurement object, and the reflected laser pointer light is incident on the lens unit 11 together with the background light, and the second beam splitter 34 is separated. The light is transmitted through a portion, is reflected by the third beam splitter 37, and is received by the image pickup element 39. A two-dimensional background image including the irradiation point of the laser pointer light 26 is acquired by the digital image signal output from the image pickup device 39.

  Therefore, since the irradiation position of the laser pointer light 26 can be recognized on the image, it is possible to easily visually confirm the position of the measurement setting point and specify the measurement setting point.

  In the first and second embodiments, the laser scanner 1 uses the distance measuring light 23 as pulsed light to measure the distance by the TOF method, but the distance measuring light 23 of the laser scanner 1 is modulated. Alternatively, the phase difference between the emitted light and the reflected light may be obtained, and the distance may be measured based on the phase difference.

DESCRIPTION OF SYMBOLS 1 Laser scanner 5 Horizontal rotation drive section 7 Frame section 9 Telescope section 12 Vertical rotation drive section 13 Vertical angle detector 14 Horizontal angle detector 16 Distance measuring section 17 Control calculation section 19 Memory section 23 Distance measuring light 24 Distance measuring light emitting section 25 reflected distance measuring light 26 laser pointer light 27 pointer light emitting section 38 imaging section

Claims (5)

  A distance measuring light emitting unit that emits distance measuring light, a distance measuring unit that performs distance measurement based on the reception result of reflected distance measuring light, and a pointer light emitting unit that emits laser pointer light in a known relationship with the distance measuring light. An angle measuring unit for detecting the emitting direction of the distance measuring light; a telescope unit including the distance measuring light emitting unit, the distance measuring unit, and the pointer light emitting unit, which is rotatable in the horizontal direction and the vertical direction; and the telescope unit. A rotation driving unit for rotating and a control calculation unit having a storage unit in which drawing data having a known coordinate system is stored, and the control calculation unit irradiates the distance measuring light with rotation within a required range, Three-dimensional point cloud data is acquired based on the distance measurement result and the direction angle detection result for each of the distance measurement lights, and the three-dimensional point cloud data is obtained based on the common measurement result of the three-dimensional point cloud data and the drawing data. Dimensional point cloud data is matched with the drawing data and specified on the drawing data. Laser scanner configured as to irradiate the laser pointer light to the survey setting point.   The laser pointer light is coaxial with the distance measuring light, the telescope unit is rotated vertically, and the control calculation unit is irradiated with the laser pointer light when the optical axis of the distance measuring light coincides with the measuring point. The laser scanner according to claim 1, wherein the pointer light emitting unit is controlled so that the pointer light emitting unit is controlled.   The laser pointer light is coaxial with the distance measuring light, the telescope unit is swung in the vertical direction, and the control calculation unit causes the laser pointer light to move when the optical axis of the distance measuring light coincides with the measuring point. The laser scanner according to claim 1, wherein the pointer light emitting section is controlled so as to be irradiated with.   The control calculation unit simultaneously executes acquisition of the three-dimensional point cloud data by irradiation of the distance measuring light and irradiation of the laser pointer light when the optical axis of the distance measuring light coincides with the measuring point. The laser scanner according to claim 2 or 3.   3. A background image including an irradiation point of the laser pointer light can be acquired by further comprising an imaging unit provided on an imaging optical axis coaxial with the laser pointer light and the distance measuring light. ~ The laser scanner according to claim 4.

Images