JP7353126B2 - surveying system - Google Patents

Description

The present invention relates to a surveying system capable of measuring a desired measurement target.

Generally, when surveying a predetermined measurement point, a pole provided with a prism, for example, is installed at the measurement point and leveled so that it is vertical. In addition, the prism is sighted from a surveying device such as a total station installed at a known point, and the distance to the prism and the horizontal angle and vertical angle of the sighting direction with respect to the known direction are measured, and the horizontal distance and horizontal angle to the prism are measured. , we are looking for the vertical height of the prism.

Conventionally, an operator manually leveled the pole using a level such as a bubble tube provided on the pole, which required skill and took time to perform the measurement.

Furthermore, since it is necessary to perform measurements while maintaining the leveled pole in a vertical position, measurements cannot be taken at measurement points where the pole cannot be installed vertically, such as in the corners of a room.

JP 2018-9957 Publication Japanese Patent Application Publication No. 2018-124141

The present invention provides a surveying system that allows surveying without vertically leveling a pole provided with a prism.

The present invention is a surveying system that includes a surveying device and a target pole that can communicate with the surveying device, and the target pole includes a pole installed so that its lower end coincides with a measurement point, and a predetermined position of the pole. The surveying device includes a prism provided at the prism, and a terminal device provided at the upper end of the pole. a driving section for horizontally rotating and deflecting the ranging light in the vertical direction and emitting the ranging light in a predetermined direction; an angle measuring section for detecting the emission direction of the ranging light; and the ranging section. a first arithmetic control section that controls the driving section, and the terminal device includes a camera that acquires an image, a tilt sensor that detects tilt angles of three axes with respect to a reference angle, and a first calculation control section that controls photographing of the camera. The first calculation control unit is configured to perform the measurement based on the image received from the terminal device, the detection result of the tilt sensor, and a known distance from the lower end of the pole to the prism. The present invention relates to a surveying system configured to calculate three-dimensional coordinates of points.

The present invention also relates to a surveying system in which the second arithmetic control unit is configured to execute zero set processing using the detection result of the inclination sensor at the time when the pole becomes vertical as a reference angle. .

Further, in the present invention, the surveying device further includes a tracking section that emits tracking light coaxially with the distance measuring light, and the first calculation control section causes the tracking section to detect and track the prism. This relates to a surveying system configured in a similar manner.

Further, in the present invention, the surveying device further includes a guide light irradiation unit that blinks and irradiates a guide light at predetermined time intervals in the same plane as the distance measurement light, and the guide light is directed toward the optical axis of the distance measurement light. It is configured so that light of different colors can be seen depending on the direction, and the second calculation control unit causes the camera to acquire images when the guide light is turned on and when it is turned off, and based on the difference between each image, The present invention relates to a surveying system configured to detect the guide light from.

Further, in the present invention, the second arithmetic control unit determines the horizontal direction of rotation of the surveying device based on the color of the guide light detected in the image, and causes the surveying device to move in a predetermined direction in the determined rotation direction. The present invention relates to a surveying system configured to cause the camera to acquire two images each time the surveying device rotates in angle, and to repeat rotation of the surveying device and acquisition of the images until the color of the guide light changes.

Furthermore, in the present invention, the second calculation control section calculates a deviation between the position of the guide light detected in the image and the center of the image, and adjusts the horizontal direction of the surveying device based on the deviation. The present invention relates to a surveying system configured to determine the amount of rotation.

According to the present invention, there is provided a surveying system comprising a surveying device and a target pole capable of communicating with the surveying device, the target pole comprising a pole installed so that its lower end coincides with a measurement point, and a The surveying device includes a prism provided at a predetermined position and a terminal device provided at the upper end of the pole, and the surveying device includes a distance measuring unit that emits distance measuring light and calculates the distance to the prism, and a driving section for horizontally rotating the device and deflecting the distance measuring light in a vertical direction and emitting the distance measuring light in a predetermined direction; an angle measuring section for detecting the emission direction of the distance measuring light; and the distance measuring section. and a first arithmetic control unit that controls the drive unit, and the terminal device includes a camera that acquires an image, a tilt sensor that detects tilt angles of three axes with respect to a reference angle, and controls photography of the camera. The first calculation control unit is configured to perform a calculation based on the image received from the terminal device, the detection result of the tilt sensor, and a known distance from the lower end of the pole to the prism. Since the configuration is configured to calculate the three-dimensional coordinates of the measurement point, it is possible to measure the measurement point in a position where the target pole cannot be leveled vertically, such as in the corner of a room, which reduces measurement time and improves measurement accuracy. It has an excellent effect of improving performance.

1 is a schematic diagram showing a surveying system according to an embodiment of the present invention. 1 is a configuration diagram showing the configuration of a surveying device according to an embodiment of the present invention. FIG. 1 is a configuration diagram showing the configuration of a terminal device according to an embodiment of the present invention. It is a flow chart explaining measurement using the above-mentioned surveying system. (A) is an explanatory diagram showing a menu screen, (B) is an explanatory diagram showing an environment setting screen, and (C) is an explanatory diagram showing a state in which calibration is executed from the environment setting screen. (A) is an explanatory diagram showing the case where an instrument station is selected from the instrument installation screen, and (B) is an explanatory diagram showing the case where the back viewpoint is selected from the instrument installation screen. (A) to (C) are explanatory diagrams showing zero set screens. It is an explanatory diagram showing a radiation observation screen. It is an explanatory view showing an image acquired by a camera of a terminal device. (A) is an explanatory diagram showing a measurement result screen, and (B) is an explanatory diagram showing an enlarged image screen.

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

First, referring to FIG. 1, an outline of a surveying system according to an embodiment of the present invention will be explained.

The surveying system 1 includes a surveying device 2 and a target pole 3. The surveying device 2 is, for example, a total station having a tracking function, and is installed at a predetermined installation point 5 via a support device such as a tripod 4. Further, the surveying device 2 can measure the three-dimensional coordinates of a desired measurement point with the machine center (instrument station) as a reference, and can also measure the three-dimensional coordinates of a desired measurement point with the installation point 5 as a reference based on the height of the instrument station. It is possible to measure three-dimensional coordinates.

Note that the installation point 5 may be a point with known three-dimensional coordinates, or may be an unknown point without three-dimensional coordinates. If the installation point 5 is an unknown point, after the surveying device 2 is installed, the three-dimensional coordinates of the installation point 5 are determined by the back perspective method, back intersection method, or the like.

The surveying device 2 includes a leveling section 6 provided on the tripod 4, a surveying device main body 7 provided horizontally rotatably on the leveling section 6, and a surveying device main body 7 provided on the top surface of the surveying device main body 7. It has a guide light irradiation section 9.

The leveling unit 6 includes a sensor (not shown) for detecting the inclination of the leveling unit 6 and a motor (not shown) for driving a leveling screw for leveling the leveling unit 6. The leveling section 6 is automatically leveled based on the detection result of the sensor.

The surveying device main body 7 has a distance measuring section 14 (described later). Further, the surveying device main body 7 has a vertically elongated slit-shaped light projection window 11, and the distance measuring section 14 emits distance measuring light onto a distance measuring optical axis 12 that can be deflected in the vertical direction. It is configured to measure the distance to the prism 13 based on the reflected distance measuring light reflected by the object to be measured (prism 13 to be described later). Further, the surveying device main body 7 has a tracking section 8 (described later). The tracking unit 8 is configured to emit a tracking light coaxially with the ranging light (on the ranging optical axis 12) and perform laser tracking based on the reflected tracking light reflected by the prism 13. .

The guide light irradiation section 9 flashes the guide light 15 at predetermined time intervals (for example, at 0.3 second intervals) so that the guide light 15 has an optical axis in the same plane as the distance measuring optical axis 12. The guide light 15 is, for example, visible light consisting of red light and green light, and the color of the guide light 15 when directly facing the distance measuring optical axis 12 and when viewed from the left side of the distance measuring optical axis 12 are different. The color of the guide light 15 is different from the color of the guide light 15 when viewed from the right side of the distance measuring optical axis 12. For example, when the guide light 15 directly faces the distance measuring optical axis 12, both red and green light can be seen, and only red light can be seen from the right side of the distance measuring optical axis 12, and the distance measuring light It is configured so that only green light can be seen from the left side of the axis 12.

The target pole 3 includes a pole 16 having a pointed lower end, the prism 13 provided in the middle of the pole 16, and a terminal device 17 provided at the upper end of the pole 16.

The prism 13 is, for example, a full-circumference prism having retroreflectivity, and the optical center of the prism 13 is located on the axis of the pole 16. Further, the distance from the lower end of the pole 16 to the optical center of the prism 13 is known.

The terminal device 17 is, for example, a smartphone, and is capable of communicating with the surveying device 2 using a wireless communication means such as a wireless LAN or Bluetooth (registered trademark). Further, the terminal device 17 is configured to be able to remotely control the surveying device 2 via the communication means. Furthermore, the terminal device 17 has a camera 18 (described later), and the positional relationship (distance) between the lower end of the pole 16 and the optical center of the camera 18 is known.

Note that the optical center of the camera 18 may be located on the axis of the pole 16 or may be offset from the axis of the pole 16. If the optical center of the camera 18 is offset from the axis of the pole 16, the amount of offset with respect to the optical axis direction of the camera 18 is known, for example.

Further, the target pole 3 has a level (not shown) such as a bubble tube, and the target pole 3 can be leveled in a vertical position via the level.

Next, referring to FIG. 2, the configuration of the surveying device 2 will be explained.

The surveying device 2 includes a horizontal rotation drive section 19 for rotating the surveying device main body 7 with respect to the leveling section 6, and a horizontal angle detection device for detecting the rotation angle (horizontal angle) of the surveying device main body 7. 21, a vertical rotation drive unit 22 for rotating a deflection member (for example, a mirror) for deflecting the ranging optical axis 12 in a vertical plane, and a rotation angle (vertical angle) of the deflection member for detecting the rotation angle. It has a vertical angle detector 23 for this purpose. The surveying device 2 also includes a first calculation control section 24, a first storage section 25, a first communication section 26, a display section 27, and an operation section 28.

The horizontal rotation drive unit 19 and the vertical rotation drive unit 22 constitute a drive unit of the surveying device 2, and the horizontal angle detector 21 and the vertical angle detector 23 determine the irradiation direction of the distance measuring light. An angle measurement unit for detection is configured.

As the first arithmetic control section 24, a CPU specialized for this embodiment, a general-purpose CPU, an embedded CPU, a microprocessor, or the like is used. Further, as the first storage section 25, semiconductor storage memories such as RAM, ROM, Flash ROM, and DRAM, magnetic storage memories such as HDD, optical storage memories such as CDROM, etc. are used.

The first storage unit 25 stores a sequence program for controlling the distance measurement operation, a distance measurement program for calculating distance by the distance measurement operation, and detection results of the horizontal angle detector 21 and the vertical angle detector 23. an angle measuring program for calculating the irradiation direction (angle) of the distance measuring optical axis 12 based on the above, a measuring program for calculating the three-dimensional coordinates of a desired measurement point based on the distance and angle, and a measuring program for calculating the three-dimensional coordinates of a desired measurement point based on the distance and angle; A leveling program for leveling, a prism detection program for detecting the prism 13, a tracking program for causing the tracking section 8 to track the prism 13, and a communication program for communicating with the terminal device 17. , a drive control program for controlling the horizontal rotation drive unit 19, the vertical rotation drive unit 22, etc., and a display program for displaying measurement results and the like on the display unit 27.

The first storage unit 25 also stores data such as measurement data (distance measurement data and angle measurement data) when measuring a measurement point, data received from the terminal device 17 via the first communication unit 26, etc. is stored. The first calculation control unit 24 develops and executes various programs stored in the first storage unit 25, and executes various processes.

The first communication unit 26 has a function of transmitting data from the surveying device 2 to the terminal device 17 or receiving data from the terminal device 17 to the surveying device 2. The operation section 28 allows input of measurement conditions, etc., and the display section 27 displays a setting screen, measurement results, etc.

Next, referring to FIG. 3, the configuration of the terminal device 17 will be explained.

The terminal device 17 includes a second calculation control section 31, a second storage section 32, a second communication section 33, the camera 18, a tilt sensor 34, and a display operation section 35.

As the second arithmetic control section 31, a CPU specialized for this embodiment, a general-purpose CPU, an embedded CPU, a microprocessor, or the like is used. Further, as the second storage section 32, semiconductor storage memories such as RAM, ROM, Flash ROM, and DRAM, magnetic storage memories such as HDD, optical storage memories such as CDROM, etc. are used.

The second storage unit 32 stores a zero set program for setting a predetermined angle as a reference angle, and a tilt program for calculating the tilt angles of three axes based on the reference angle based on the detection result of the tilt sensor 34. An angle calculation program, an imaging program for causing the camera 18 to take a predetermined image such as a still image or a moving image, and rotation of the optical axis of the camera 18 with respect to the distance measuring optical axis 12 based on the image acquired by the camera 18. A rotation angle calculation program for calculating angles, a tracking return program for restoring interrupted tracking processing, an operation command creation program for creating operation commands for remotely controlling the surveying device 2, and a program for communicating with the surveying device 2. Various programs are stored therein, such as a communication program for performing operations, a display program for displaying camera images, operation screens, etc. on the display/operation section 35, and an operation program for inputting various settings and instructions from the display/operation section 35. ing.

Further, the second storage unit 32 stores the reference angle data when the zero is set, the image data acquired by the camera 18, the tilt angle data when the measurement is executed, and the data transmitted through the second communication unit 33. The measurement data etc. received by the surveying device 2 are stored. The second arithmetic control unit 31 develops and executes various programs stored in the second storage unit 32, and executes various processes.

The second communication unit 33 has a function of transmitting data from the terminal device 17 to the surveying device 2 or receiving data from the surveying device 2 to the terminal device 17. The tilt sensor 34 is, for example, an acceleration sensor, and is capable of detecting tilt angles of three axes with respect to a predetermined reference angle. Here, the three axes include two axes in the front-back direction and the left-right direction with respect to a predetermined direction, and one axis in the vertical direction. Further, the display operation section 35 displays various setting screens, measurement results, etc., and allows input of various instructions, measurement conditions, etc. via the various setting screens.

Next, measurements using the surveying system 1 will be explained with reference to the flowchart of FIG. 4 and FIGS. 5 to 10. Note that FIGS. 5 to 10 are examples of various setting screens, output screens, etc. displayed on the display operation section 35.

STEP: 01 First, the surveying device 2 is installed at the predetermined installation point 5, and the surveying device 2 is started. The installation point 5 may be a known point or an unknown point. When the surveying device 2 is started, the first arithmetic and control section 24 causes the leveling section 6 to automatically perform leveling.

STEP: 02 When the surveying device 2 is installed, select the settings button 37 from the menu screen 36 (see FIG. 5(A)) displayed on the display/operation section 35, and select the environment setting screen 40 (see FIG. 5(B)). ). Furthermore, by pressing the acceleration sensor calibration button 38 displayed on the environment setting screen 40, the second calculation control unit 31 executes the calibration of the tilt sensor 34 (see FIG. 5(C)). .

In the calibration, it is confirmed whether the tilt sensor 34 operates normally. For example, when the terminal device 17 is tilted by 1 degree via a slant or the like, it is checked whether the tilt sensor 34 detects 1 degree. Alternatively, since the tilt sensor 34 is a gravitational acceleration sensor, the tilt sensor 34 is calibrated based on a change in the direction of gravity when the terminal device 17 is tilted.

STEP: 03 When the calibration is completed, the terminal device 17 is attached to the upper end of the pole 16, and the terminal device 17 and the surveying device 2 are communicably connected by a predetermined wireless communication means. At this time, the attitude of the terminal device 17 may be arbitrary.

STEP: 04 After the surveying device 2 and the terminal device 17 are connected, the height from the lower end of the pole 16 to the prism 13 and the height from the lower end of the pole 16 to the camera 18 are determined via the display operation unit 35. Measure the height with a tape measure, etc. After measurement, only the prism height (mirror height), which is the height from the lower end of the pole 16 to the optical center of the prism 13, is input.

Note that the calibration of the tilt sensor 34, the attachment of the terminal device 17 to the pole 16, and the input of the prism height may be performed in advance. In this case, the process in STEP:02, the process in STEP:04, and the attachment process in STEP:03 can be omitted.

STEP: 05 Next, the origin of the surveying device 2 is determined. In the origin determination step, first, the radiation observation button 49 is selected from the menu screen 36 to call up the instrument installation screen 41. The instrument installation screen 41 displays a map of the surrounding area or a list of instrument station candidates. The operator selects, from the map or list, an instrument station that will serve as a reference for measurement, that is, a point that will serve as the origin of measurement, via the instrument installation screen 41 (see FIG. 6(A)). After selecting the origin, the operator selects a point (back viewpoint) having known three-dimensional coordinates from the map or list via the instrument installation screen 41 (see FIG. 6(B)). Thereby, the first calculation control unit 24 calculates the three-dimensional coordinates of the origin based on the three-dimensional coordinates of the back viewpoint.

STEP:06 When the back point is selected, the instrument installation screen 41 is switched to the zero set screen 42 (see FIG. 7(A)). On the zero set screen 42, the user selects the rotation button 43 to switch to a rotation operation screen (not shown) for horizontally rotating the surveying device main body 7. On the rotation operation screen, it is possible to rotate the surveying device main body 7 clockwise, counterclockwise, and stop the rotation. Specifically, in response to various operations, the second calculation control section 31 transmits a horizontal rotation instruction command to the surveying device 2 via the second communication section 33. The first calculation control unit 24 drives the horizontal rotation drive unit 19 based on the received horizontal rotation instruction command, and horizontally rotates the surveying device main body 7 in a clockwise or counterclockwise direction.

The rotation of the surveying device main body 7 continues until a rotation stop operation is performed on the rotation operation screen. The operator determines the orientation of the surveying device main body 7 based on the color of the guide light 15. That is, the rotation of the surveying device main body 7 is stopped at a position where both the red and green guide lights 15 are visible. Further, at this time, the horizontal angle (direction angle) detected by the horizontal angle detector 21 is transmitted to the terminal device 17 via the first communication unit 26 .

STEP: 07 Note that at the time the screen is switched to the zero set screen 42, a prism detection command and a tracking instruction command are automatically transmitted from the second calculation control section 31 to the surveying apparatus 2. The first arithmetic control unit 24 executes a prism scan and scans a predetermined range with the distance measuring light when the prism can be detected and tracked, that is, when the surveying device main body 7 stops rotating. do. In this state, the tracking icon 44 indicating the tracking state displayed on the zero set screen 42 is displayed as searching, indicating that the detection process is in progress.

When the prism 13 is detected, the first calculation control unit 24 continues to track the prism 13. When the prism 13 is being tracked, the tracking icon 44 is displayed as tracking, which indicates that the tracking process is in progress, as shown in FIG. 7(B).

During the tracking process, distance measurement by the distance measuring section 14 and angle measurement by the horizontal angle detector 21 and the vertical angle detector 23 are performed in real time, and the measurement results are transmitted via the first communication section 26. It is transmitted to the terminal device 17 in real time. The received measurement results are displayed on the zero set screen 42 in real time.

STEP:08 While the tracking of the prism 13 is being executed, the operator vertically levels the pole 16 based on a level (not shown) provided on the target pole 3, and presses the OK button 46. Press . When the OK button 46 is pressed, the second calculation control unit 31 sets (zero-sets) the detection result of the tilt sensor 34 at the time when the OK button 46 is pressed as a reference angle (0°). . Further, the second calculation control unit 31 sets (zero-sets) the directional angle at the time when the OK button 46 is pressed as the reference azimuth (0°).

STEP:09 When the zero set is completed, the display operation section 35 switches from the zero set screen 42 to the camera height input screen 47 (see FIG. 7(C)). Preparation for measurement is completed by inputting the camera height measured in STEP:04 via the camera height input screen 47.

STEP: 10, STEP: 11 When the measurement preparation is completed, the second calculation control section 31 switches the display on the display operation section 35 from the camera height input screen 47 to the radiation observation screen 48 (see FIG. 8). Alternatively, the radiation observation button 49 is selected from the menu screen 36 to switch to the radiation observation screen 48.

The operator moves the target pole 3 to a predetermined measurement point while capturing the surveying device 2 with the camera 18. Also, align the lower end of the pole 16 with the measurement point, hold the target pole 3 in an arbitrary posture, and press the REC button 51 to instruct the start of measurement. By pressing the REC button 51, the second calculation control unit 31 causes the camera 18 to acquire an image 52 (see FIG. 9), stores it in the second storage unit 32, creates a measurement start command, and It is transmitted to the surveying device 2 via the second communication unit 33.

Incidentally, the photographing by the camera 18 is executed when the guide light 15 is turned on. Further, when photographing with the camera 18, it is desirable to take a picture with the guide light 15 positioned near the center of the image 52.

At this time, the second calculation control unit 31 transmits the measurement start command as well as the detection result of the tilt sensor 34 and the image 52 acquired by the camera 18. The first calculation control unit 24 determines the two-axis inclination angle of the target pole 3 (for example, the left-right direction and the direction toward and away from the surveying device 2) and the vertical direction based on the detection result of the inclination sensor 34. (Whether the target pole 3 is facing upward or downward) is calculated. That is, the first calculation control unit 24 calculates the three-axis inclination angle of the target pole 3.

Further, the first calculation control unit 24 determines the rotation angle of the target pole 3 (the optical axis of the camera 18 with respect to the distance measuring optical axis 12) based on the deviation between the center of the image 52 and the position of the guide light 15. rotation angle). The first calculation control unit 24 calculates the three-dimensional coordinates of the measurement point based on the inclination angle and rotation angle of the three axes of the target pole 3, the distance measurement result, the angle measurement result, the prism height, and the camera height. Further, the calculation result is stored in the first storage section 25 and transmitted to the terminal device 17 via the first communication section 26.

When the measurement at the measurement point is performed, the second calculation control section 31 switches the display on the display operation section 35 from the radiation observation screen 48 to the measurement result screen 53 (see FIG. 10(A)). On the measurement result screen 53, the XY coordinates in the coordinate system with the instrument station of the surveying device 2 as the origin, the height of the measurement point with respect to the instrument station (H coordinate), and the prism height (mirror light) input in advance are displayed. The image 52 and the like are displayed. Note that by pressing the image 52 on the measurement result screen 53, it is possible to switch to an enlarged image screen 54 in which only the image 52 is displayed on the display operation section 35, as shown in FIG. 10(B). I can do it.

After measuring a measurement point, if another measurement point is to be measured, the target pole 3 is moved to the other measurement point and prism measurement is performed again. Further, if there are no other measurement points to be measured, the measurement process is ended.

Here, the radiation observation screen 48 displays the status of the surveying device 2 and various buttons for remotely controlling the surveying device 2. For example, in FIG. 8, 55 indicates the remaining battery level of the surveying device 2, 56 indicates the communication state with the surveying device 2, 57 indicates the tracking state of the prism 13 by the surveying device 2, and 58 indicates the state of tracking of the prism 13 by the surveying device 2. The leveling state of the surveying device 2 is shown. Further, the tracking icon 44 and the rotation button 43 are displayed on the radiation observation screen 48. The battery remaining amount 55, the communication state 56, the tracking state 57, and the leveling state 58 are configured so that each state can be easily recognized by using predetermined icons, animations, etc.

If a problem occurs in the communication state 56, the tracking state 57, or the leveling state 58 while the surveying device 2 is tracking the prism 13, the second calculation control unit 31 Notification processing such as displaying characters on the radiation observation screen 48, vibrating the terminal device 17, and making the terminal device 17 make a sound is performed. Alternatively, the icons, animations, etc. of various states may be configured to change depending on whether the various states are normal or when a problem is occurring.

Regarding malfunctions in the communication state 56 and the leveling state 58, the connection between the surveying device 2 and the terminal device 17 and the leveling of the surveying device 2 can be performed again by remote control from the terminal device 17. Bye. Further, regarding a problem with tracking, when the worker is notified that tracking is impossible, the operator may perform the process of STEP: 07 again to execute the detection and tracking process of the prism 13. On the other hand, the first calculation control section 24 and/or the second calculation control section 31 may be made to automatically execute the tracking return process.

In the tracking return process, two images 52 are acquired with the camera 18 directed toward the surveying device 2. The acquisition interval of the image 52 is the same interval as the blinking interval of the guide light 15 (for example, 0.3 second interval), and when the surveying device 2 is present within the photographing range of the camera 18, the The image 52 with the guide light 15 turned on and the image 52 with the guide light 15 turned off are respectively acquired.

The second calculation control unit 31 calculates the difference between the image 52 with the guide light 15 turned on and the image 52 with the guide light 15 turned off through image processing, and detects the guide light 15. The guide light 15 is configured to have a different color depending on its direction with respect to the distance measuring optical axis 12, that is, whether it is viewed from the right side or the left side of the distance measuring optical axis 12. Therefore, the second calculation control section 31 determines the rotation direction of the surveying device main body 7 based on the detected color of the guide light 15.

The first calculation control unit 24 rotates the surveying device main body 7 by a predetermined angle, for example, 30°, based on the determined rotation direction, and the second calculation control unit 31 rotates the surveying device main body 7 by a predetermined angle, for example, by 30 degrees. Two images 52 are acquired each time.

The second calculation control unit 31 stops the rotation of the surveying device main body 7 at the time when the guide lights 15 of two colors, red and green, are detected. Further, the second calculation control unit 31 causes the surveying device 2 to perform prism detection and tracking processing, and ends the tracking return processing.

Alternatively, the second calculation control section 31 may calculate the amount of rotation of the surveying device main body 7 based on the deviation between the detected guide light 15 and the center of the image 52. The first calculation control unit 24 rotates the surveying device main body 7 by the calculated amount of rotation, and then acquires two images 52.

When the two-color guide light 15 is detected from the image 52, the second calculation control unit 31 causes the surveying device 2 to perform prism detection and tracking processing, and ends the tracking return processing.

Note that the two tracking return processes described above may be used in the normal detection and tracking process of the prism 13 in STEP:07.

As described above, in this embodiment, the target pole 3 is configured by attaching the terminal device 17 such as a smartphone to the upper end of the pole 16. Therefore, the second communication section 33 and the camera 18 of the terminal device 17 can be used as the communication section and camera of the target pole 3. Therefore, there is no need to separately provide a communication section or a camera on the target pole 3, and the device configuration can be simplified and manufacturing costs can be reduced.

Further, in this embodiment, the tilt angle of the three axes of the target pole 3 and the rotation of the target pole 3 with respect to the ranging optical axis 12 are calculated based on the detection result of the tilt sensor 34 and the image 52. I can do it.

Therefore, even if the target pole 3 is tilted, it is possible to measure the measurement point, and there is no need to level the target pole 3 vertically. It becomes possible to measure measurement points located at positions that cannot be measured, thereby shortening measurement time and improving measurement accuracy.

Further, the tilt sensor 34 is a highly responsive acceleration sensor. Therefore, since the inclination sensor 34 can follow the inclination of the target pole 3 with high precision, measurement can be carried out quickly after the lower end of the target pole 3 is aligned with the measurement point, reducing the measurement time. It is possible to shorten the time and improve workability.

Further, in this embodiment, when tracking of the prism 13 by the surveying device 2 is interrupted, tracking recovery processing is automatically performed based on the image 52 acquired by the camera 18. Therefore, even if tracking is interrupted, tracking can be easily restarted by simply pointing the camera 18 at the surveying device 2.

Furthermore, in this embodiment, various settings and measurements can be performed by remote control from the terminal device 17, which improves operability and allows one person to perform measurements, thereby improving work efficiency. be able to.

In this embodiment, the process executed by the first arithmetic control unit 24 may be processed by the second arithmetic control unit 31, or the process executed by the second arithmetic control unit 31 may be It goes without saying that the first calculation control section 24 may process the processing.

Furthermore, the surveying device that can be used in the present invention is not limited to the device described in this embodiment. For example, it is also possible to use a total station that has a cradle section that rotates horizontally with respect to the leveling section and a telescope section that rotates vertically with respect to the cradle section.

1 Surveying system 2 Surveying device 3 Target pole 8 Tracking unit 9 Guide light irradiation unit 12 Distance measurement optical axis 13 Prism 14 Distance measurement unit 15 Guide light 17 Terminal device 18 Camera 24 First calculation control unit 26 First communication unit 31 Second Arithmetic control section 33 Second communication section 34 Tilt sensor 35 Display operation section 52 Image

Claims (5)

A surveying system comprising a surveying device and a target pole capable of communicating with the surveying device, the target pole comprising: a pole installed so that its lower end coincides with a measurement point; and a target pole installed at a predetermined position of the pole. The surveying device includes a distance measuring section that emits distance measuring light and determines the distance to the prism, and a terminal device that rotates the surveying device horizontally. a driving section for deflecting the distance measuring light in the vertical direction and emitting the distance measuring light in a predetermined direction; an angle measuring section for detecting the emission direction of the distance measuring light; and the distance measuring section and the driving section. The terminal device includes a first arithmetic control unit that controls the distance measurement, and a guide light irradiation unit that blinks and irradiates the guide light at predetermined time intervals in the same plane as the distance measuring light, and the terminal device includes a camera that acquires images, and a reference angle. a tilt sensor that detects tilt angles of three axes relative to the camera; and a second calculation control unit that controls photography of the camera, and the first calculation control unit is configured to detect the image received from the terminal device and the tilt sensor. is configured to calculate the three-dimensional coordinates of the measurement point based on the detection result and the known distance from the lower end of the pole to the prism ,
The guide light is configured so that different colors of light can be seen depending on the direction of the distance measurement light with respect to the optical axis, and the second arithmetic control unit displays images of the guide light when it is turned on and when it is turned off, respectively, to the camera. A surveying system configured to acquire a guide light and detect the guide light from within the image based on a difference between each image . 2. The surveying system according to claim 1, wherein the second arithmetic control unit is configured to execute zero set processing using a detection result of the inclination sensor at a time when the pole becomes vertical as a reference angle. The surveying device further includes a tracking unit that emits tracking light coaxially with the distance measuring light, and the first calculation control unit is configured to cause the tracking unit to detect and track the prism. The surveying system according to claim 1 or claim 2. The second calculation control unit determines a horizontal rotation direction of the surveying device based on the color of the guide light detected in the image, and each time the surveying device rotates by a predetermined angle in the determined rotation direction. Any one of claims 1 to 3, wherein the camera is configured to acquire two images, and the rotation of the surveying device and the acquisition of the images are repeated until the color of the guide light changes. The surveying system described in Section . The second calculation control unit calculates a deviation between the position of the guide light detected in the image and the center of the image, and determines the horizontal rotation amount of the surveying device based on the deviation. A surveying system according to any one of claims 1 to 3 configured.

Images