JPH1114357A - Automatic tracking device of surveying equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the variation in tracking accuracy, and track a surveying object at a high speed even if a distance up to the surveying object changes in an automatic tracking device in which a surveying equipment body is rotated so that the surveying object is positioned on the optical axis L of an objective lens. SOLUTION: Two CCD line sensors 52 and 53 are arranged in a light receiving means 5 in which a surveying object image is formed by an objective lens so as to respectively extend in the vertical-lateral direction. A light projecting means 3 is arranged to project the pulse light on a surveying object so as to expand in a cross shape. The reflected light reflected by a reflecting prism arranged on the surveying object is received, and positions in the vertical direction and the horizontal direction of a central point of an image of the surveying object are detected by the two CCD line sensors. Driving motors 61 and 62 are controlled so that a deviation between a central point position of the image and an optical axis position of the objective lens becomes zero, and a surveying equipment body is rotated.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic tracking device of a surveying instrument in which the optical axis of a telescope coincides with a moving or stationary surveying object, and in particular, for detecting a position radiated from the surveying object. The present invention belongs to the technical field of optical position detection in which characteristic light is received and the position of the survey target is accurately detected based on the light receiving position.

[0002]

2. Description of the Related Art Conventionally, in an automatic tracking device of a surveying instrument of this kind, a characteristic light for position detection is projected on a surveying object and reflected by a reflecting prism disposed on the surveying object.
The reflected light is received by a light receiving means such as a photoelectric conversion panel, and the attitude of the surveying instrument body including the telescope is changed so that the center point of the received image coincides with the optical axis of the telescope. Further, there is also an apparatus in which a light projecting means is attached to a surveying object to receive characteristic light projected from the light projecting means.

In order to make the center point of the received image coincide with the optical axis of the telescope, for example, as disclosed in Japanese Patent Application Laid-Open No. 6-347270, a light receiving element having a light receiving surface divided into four parts in the vertical and horizontal directions is disclosed. And JP-A-7-198.
As disclosed in Japanese Patent No. 383, a device using a CCD area sensor or the like is known. That is, in the case of using the four-division light receiving element, the light receiving surface is divided into four parts around the center position corresponding to the optical axis position of the telescope up, down, left and right, and based on the difference in the amount of received light in each divided plane The center point of the received light image is detected, and the attitude of the surveying instrument body is changed so that the center point is located at the center position of the light receiving surface. In the case of using a CCD area sensor, an image of the object to be measured is fetched as image data, and the deviation between the address of the center point of the image and the address of the center position of the CCD area sensor corresponding to the optical axis position of the telescope. Is calculated, and the attitude of the surveying instrument body is changed according to the deviation.

[0004]

However, when the four-division light receiving element is used as in the former prior art, the distance between the surveying instrument and the surveying object changes, and the size of the light receiving image changes. Sometimes, even if the deviation amount between the center position of the four-divided light receiving element and the center point of the received light image is equal, the difference in the amount of received light on each divided surface changes. As a result, the distance between the surveying instrument and the surveying object There is a problem that the tracking accuracy of the survey target varies due to the change in the distance.

On the other hand, when the latter CCD area sensor is used, the position detection cannot be performed at a shorter time interval since the image capturing cycle of the CCD area sensor is generally about 1/60 second. In addition, since the amount of image processing over the entire area of the CCD area sensor is enormous, it takes time to perform image processing calculations.
There is a problem that high-speed automatic tracking becomes difficult. still,
It is conceivable to use a dedicated high-speed image processing device,
In this case, the adverse effects of an increase in the size of the apparatus and an increase in cost are remarkable.

In addition, in the above-mentioned conventional automatic tracking device of a surveying instrument, since the light projected from the light projecting means spreads and the amount of light per unit area decreases as the object to be measured is far away, it is necessary for position detection. In order to ensure a sufficient light quantity, when tracking a surveying object at a long distance, the spread angle of the light projected from the light projecting means is made relatively narrow. However, in this case, although the amount of reflected light from the survey target can be sufficiently increased, the projection range of the light is relatively narrow, so that there is a disadvantage that the survey target is easily lost.

The present invention has been made in view of the above-mentioned points, and an object of the present invention is to improve the accuracy of tracking even when the distance to the object to be surveyed changes by devising the structure of the light receiving means. And to enable high-speed tracking.

[0008]

In order to achieve the above object, according to a solution of the present invention, in a light receiving means, two photoelectric conversion means having a large number of light receiving portions arranged in a longitudinal direction cross each other. Are disposed so as to extend in two directions.
The center point of the received light image is detected in the direction.

More specifically, the invention according to claim 1 is a light receiving means for forming an image of the characteristic light for position detection radiated from an object to be surveyed by an objective lens, and a drive for changing the attitude of the body of the surveying instrument. Means for controlling the operation of the driving means based on the output signal from the light receiving means so that the center point of the image of the survey object formed on the light receiving means is located on the optical axis of the objective lens. The automatic tracking device of the surveying instrument thus configured is targeted. A first photoelectric conversion unit having a plurality of light receiving units arranged in parallel so as to extend in a first setting direction orthogonal to the optical axis direction of the objective lens;
A second photoelectric conversion unit having a plurality of light receiving units arranged in parallel so as to extend in a second setting direction orthogonal to the optical axis direction of the objective lens and intersecting the first setting direction; did.

According to this structure, the characteristic light from the object to be measured is received by the first and second photoelectric conversion means, and the image of the object to be measured in the first and second set directions is received based on the light receiving positions. The center point position is detected. That is, the center position of the range of the light receiving section that receives the characteristic light in the first photoelectric conversion unit is the first position of the center point of the image of the survey target.
Is detected as a position with respect to the set direction. Similarly, the second photoelectric conversion means detects the position of the center point of the image to be measured in the second set direction. Then, if the center point position of the image in each of the first and second set directions intersecting with each other is detected, the center point of the image can be specified and the deviation from the optical axis position can be obtained accurately, By changing the attitude of the surveying instrument main body by the driving means based on this deviation, the object to be surveyed can be accurately tracked.

At this time, even when the distance between the surveying instrument and the surveying object changes and the size of the image of the surveying object changes, the center point of the image can be accurately detected. Fluctuations can be prevented. Also, since a large number of light receiving portions in the first and second photoelectric conversion means need only be arranged in the first and second setting directions, respectively, the number of light receiving portions is smaller than that of, for example, a CCD area sensor. Significantly less. For this reason, when obtaining the center point position of the image to be measured, unnecessary information can be significantly reduced, and the amount of calculation processing for position detection can be significantly reduced. Therefore, even if a relatively small processing unit is used,
The time for position detection can be shortened, and accordingly, the tracking operation can be speeded up.

According to a second aspect of the present invention, there is provided a light receiving means for forming an image of the characteristic light for position detection emitted from the object to be measured by an objective lens, and a driving means for changing a posture of the surveying instrument main body, A surveying instrument that operates and controls a driving unit based on an output signal from the light receiving unit so that a center point of an image of a survey target formed on the light receiving unit is located on an optical axis of the objective lens. For automatic tracking devices.
The light receiving means is provided at a position for receiving a transmitted light from the beam splitter and a beam splitter for transmitting a part of the light from the objective lens and reflecting the remaining light, and an optical axis of the transmitted light. A first photoelectric conversion unit having a number of light receiving units arranged side by side so as to extend in a first setting direction orthogonal to the first direction, and provided at a position for receiving reflected light from the beam splitter; Second photoelectric conversion means having a large number of light receiving portions arranged side by side so as to extend in a second setting direction orthogonal to the optical axis direction and intersecting the first setting direction.

According to this configuration, similarly to the first aspect of the present invention, it is possible to specify the center point position of the image of the object to be surveyed and accurately determine the deviation from the optical axis position, and drive based on this deviation. By controlling the means, it is possible to accurately track the survey target. At that time, even if the distance between the surveying instrument and the surveying object changes, it is possible to prevent a change in tracking accuracy,
Further, high-speed tracking can be performed using a relatively small-scale arithmetic processing device.

In addition, since the light from the objective lens is split by the beam splitter and separately incident on the first and second photoelectric conversion means arranged at different positions, the two photoelectric conversions are performed. The degree of freedom of arrangement of the means is improved.

In the third aspect of the present invention, the first and second setting directions in the first or second aspect of the invention are orthogonal to each other.

In this way, if the center point position of the image of the object to be surveyed is detected in the first and second set directions, the center point position of the image of the object to be measured is directly obtained from the detection result. Can be. Therefore, the arithmetic processing for position detection is facilitated.

According to a fourth aspect of the present invention, the first and second photoelectric conversion means in the third aspect of the present invention comprise a CCD.
By using a line sensor, high detection accuracy can be obtained at relatively low cost.

According to a fifth aspect of the present invention, in the third aspect of the present invention, the light projecting means for projecting the light to the object to be surveyed, and the light arranged on the object to be surveyed and projected from the light projecting means is provided. A light reflector for reflecting light, and the light receiving means receives the light reflected by the light reflector as characteristic light for position detection.

In this configuration, the light projected from the light projecting means is reflected by the light beam reflector and emitted from the object to be surveyed as characteristic light for position detection. That is, it is only necessary to provide a light reflector on the object to be surveyed, and there is no need to provide a light emitting means, so that the configuration of the system is simplified. Note that, for example, a reflection prism may be used as the light reflector.

According to a sixth aspect of the present invention, the light projecting means according to the fifth aspect of the present invention comprises a first and a second orthogonal light emitting means.
And two light projectors for projecting light so as to be biased and spread in the set directions, respectively, and project the light along the optical axis of the objective lens to the object to be measured.

That is, the light projected from the two projectors is projected along the optical axis of the objective lens, spreads in a first or second set direction orthogonal to each other, and is projected in a cross shape. For this reason, although the actual light projection range is narrower than when the light is projected so as to spread uniformly in all directions, the light amount per unit area can be increased accordingly. In addition, in the first and second setting directions, a light projection range having a small length but a sufficient length is secured, and the light projection range has a substantially large outer diameter. Therefore, in the present invention, it is possible to sufficiently increase the amount of light per unit area without substantially narrowing the projection range of the light projected onto the surveying target, thereby making it easy to detect the surveying target and to make it difficult to lose sight. it can.

According to a seventh aspect of the present invention, in each of the light emitting devices according to the sixth aspect of the present invention, each of the light emitters has one end connected to the light emitting source and the other end arranged in the first and second set directions, respectively. A configuration is provided in which a bundle of fibers is provided, and light generated by the light emitting source is projected from the other end of the optical fiber.

In this configuration, the configuration of each projector according to the sixth aspect of the present invention is specifically specified, and the light generated by the light emitting source is biased and spread in the first and second setting directions via the optical fiber. Projected. That is, by using the optical fiber, the projection direction of the light from the light emitting source can be easily set, and the degree of freedom of the arrangement of the light emitting source is improved, so that the light emitting means can be made more compact. .

According to an eighth aspect of the present invention, the first and second aspects of the invention according to any one of the third to seventh aspects are provided.
Are set in the vertical direction and the horizontal direction, respectively. The driving means rotates the surveying instrument body about the vertical axis and the horizontal axis, respectively.

With this configuration, the first and second set directions in the inventions of claims 3 to 7 are specified in the vertical direction and the horizontal direction, respectively. Then, based on the position of the center point of the image of the surveying object detected in each of these directions, the surveying instrument body is rotated around the vertical axis and the horizontal axis by the driving means, respectively, to track the surveying object. That is, the amount of rotation of the surveying instrument main body by the driving means can be directly obtained from the center point position of the image of the surveying object detected by the first and second photoelectric conversion means. Therefore, the control of the driving means in the tracking operation is facilitated, and accordingly, the tracking can be speeded up.

Further, since the cross-shaped light projected from the light projecting means spreads out in the vertical and horizontal directions, respectively, the light projecting means is disposed integrally with the surveying instrument main body and the vertical axis or horizontal By turning around the axis, the projection range of the projection light can be easily made extremely wide.

[0027]

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

FIG. 1 shows a surveying instrument 1 provided with an automatic tracking system according to the present invention. The surveying instrument 1 includes a lower board 12 horizontally supported by a tripod 11 at a survey origin position. Above the lower plate 12, a horizontal plate 13 is disposed so as to be rotatable around a vertical axis y. Above the horizontal plate 13, a surveying instrument main body 15 is formed by a pair of right and left supports 14, 14, and a horizontal axis x. It is supported so that it can rotate around. The surveying instrument body section 15 automatically tracks the surveying target 2 as described later, and measures the relative position of the surveying target 2 with respect to the above-mentioned surveying origin position. Reference numeral 16 denotes a telescope for collimation by an operator.

FIG. 2 shows an optical system for position detection provided in the surveying instrument main body 15. Reference numeral 3 denotes light projecting means for projecting characteristic light for position detection onto the object 2 to be measured. Reflecting prism 21 as a light beam reflector disposed on object 2
An objective lens 5 for forming an image of reflected light from the objective lens 5 is a light receiving means for receiving the light from the objective lens 4 and detecting the center point C of the image 2a of the survey target 2. Then, driving motors 61 and 62 as driving means are operated by the controller 6 receiving the input signal from the light receiving means 5, and the surveying instrument main body 15 is rotated around the horizontal axis x and the vertical axis y. It has become.

The light projecting means 3 converts the pulse light generated by the semiconductor laser device (not shown) into a vertical direction (y direction) as a first setting direction and a horizontal direction as a second setting direction. The projection is performed so as to be biased and spread in the direction (x direction). That is, the light projecting means 3 has one end connected to the semiconductor laser device, and the other end arranged in the vertical and horizontal directions as shown in FIG.
With a bunch of. The pulse light generated by the semiconductor laser device is projected from the other end of each of the optical fibers 31, 31,... Then, the divergence angle is set to a predetermined divergence angle, and is projected onto the survey target 2 along the optical axis L of the objective lens 4. With such a configuration using the optical fibers 31, 31,..., The setting of the light projection direction is facilitated, and the degree of freedom in the arrangement of the semiconductor laser device is improved. 3 has a compact configuration.

The light receiving means 5 forms an image of the light condensed by the objective lens 4 via the concave lens 41, and transmits approximately 50% of the light from the objective lens 4 while A beam splitter 51 for reflecting the remaining approximately 50%, a first CCD line sensor 52 as first photoelectric conversion means vertically arranged at a position for receiving the transmitted light from the beam splitter 51, and the beam splitter A second CCD line sensor 53 as second photoelectric conversion means is provided at a position where the reflected light from the light receiving section 51 is received. Thus, the objective lens 4
Is split by the beam splitter 51 and made incident on the first and second two CCD line sensors 52 and 53 which are separately arranged.
The degree of freedom in the arrangement of the CD line sensors 52 and 53 is improved. Reference numerals 54 and 55 denote optical filters that transmit only light in a specific wavelength region including pulsed light generated by the semiconductor laser device 51.

The first CCD line sensor 52 is provided as shown in FIG.
As shown in the figure, the reference light receiving position S1 corresponding to the optical axis L of the transmitted light from the beam splitter 51 passes through the reference
Direction), and a light receiving surface 52a having a large number of light receiving cells as light receiving portions arranged in the vertical direction at intervals of, for example, 8 μm.
The vertical position of “a” is detected with high accuracy. That is, the light receiving surface 52 a of the first CCD line sensor 52 is connected to the optical fibers 31, 3 arranged vertically in the light projecting means 3.
The pulse light projected from 1,... Is received. Then, the address of each light receiving cell in the light receiving range (the area shown by hatching in the figure) corresponding to the image 2a of the survey target 2 is output to the controller 6, and the controller 6 receiving this signal inputs the light receiving cell. Of these, the address of the central light receiving cell is detected with high accuracy as the position in the vertical direction of the center point C of the image 2a.

Similarly, the second CCD line sensor 53
Are arranged so as to extend in the horizontal direction (x direction) through a reference light receiving position S2 corresponding to the optical axis of the reflected light from the beam splitter 51, as shown in FIG. The horizontal position of the image 2a is detected. Then, the horizontal position of the center point C of the image 2a is detected with high accuracy based on the output signal from the second CCD line sensor 52.

When the surveying object 2 moves away, the outer diameter of the image 2a of the surveying object 2 decreases according to the distance from the surveying instrument 1. The center point C of the image 2a is shown in FIGS. As shown, the detection is performed with high accuracy irrespective of a change in the distance between the surveying instrument 1 and the survey target 2.

The charge and discharge timings of the first and second CCD line sensors 52 and 53 are controlled so as to be synchronized with the emission timing of the pulsed light, whereby the first and second CCD line sensors 52 and 53 are controlled. The incidence of external light other than the pulse light on the line sensors 52 and 53 is reduced to improve the S / N ratio of the pulse light.

The controller 6 receives the output signals from the first and second CCD line sensors 52 and 53 and determines the center point C of the image 2a of the survey target 2 with respect to the reference light receiving positions S1 and S2. The amount of deviation in the vertical and horizontal directions is calculated, and the operation of the drive motors 61 and 62 is controlled so that the amount of deviation becomes zero. As a result, the surveying instrument body 15 is rotated around the horizontal axis x and the vertical axis y, and the center point C of the image 2a of the survey target 2 is set at the reference light receiving position S1,.
It will be located at S2. That is, the survey target 2 is positioned on an extension of the optical axis L of the objective lens 4,
The attitude of the surveying instrument body 15 is changed.

Next, the operation of the automatic tracking device and the operation and effect thereof will be described along the procedure of the surveying operation using the surveying instrument 1 according to the above embodiment.

When measuring the position of the surveying object 2 using the surveying instrument 1, first, a surveying origin position is determined at a place where the surveying object 2 provided with the reflecting prism 21 can be visually recognized, and the surveying origin position is determined at the surveying origin position. Machine 1 is installed. Then, the reflection prism 2 of the survey target 2 is set in the visual field of the collimating telescope 16.
The direction of the surveying instrument main body 15 is roughly set so that a is recognized, and then the automatic tracking device is operated to project pulse light from the light projecting means 3.

That is, the pulse light generated by the semiconductor laser device 31 is projected onto the survey target 2 via the objective lens 4. At this time, since the pulse light is spread in a cross shape deviating up, down, left, and right, respectively, the actual light projection range is narrower than in the case where the pulse light is spread uniformly in all directions.
The amount of light per unit area can be increased. Moreover,
A sufficiently long light projection range is secured in each of the vertical and horizontal directions. That is, the light amount per unit area can be sufficiently increased without substantially narrowing the projection range of the light projected onto the survey target 2. Thus, the survey target 2 can be easily detected and hardly lost.

The pulse light reflected and reflected by the reflecting prism 21 is condensed by the objective lens 4 and received by the light receiving means 5. That is, the light condensed by the objective lens 4 is split into transmitted light and reflected light by the beam splitter 51, and enters the light receiving surfaces 52a and 53a of the first or second CCD line sensors 52 and 53, respectively (FIG. 4). To FIG. 7). Then, based on the output signals from the first and second CCD line sensors 52 and 53, the position in the vertical and horizontal directions of the center point C of the image 2a of the survey target 2 is detected, respectively. The vertical and horizontal deviations from the reference light receiving positions S1 and S2 are accurately and directly calculated.

At this time, even when the object 2 is relatively close to the surveying instrument 1 (see FIGS. 4 and 5) and the outer diameter of the image 2a is relatively large, the object 2 is Even if the outside diameter of the image 2a is relatively small (see FIGS. 6 and 7), the deviation between the center point C of the image 2a and the reference light receiving positions S1, S2 does not change. . For this reason,
Even if the distance between the surveying instrument 1 and the surveying target 2 changes, it is possible to prevent the tracking accuracy of the surveying target 2 from fluctuating. The light receiving surfaces 5 of the first and second CCD line sensors 52, 53
In 2a and 53a, since the light receiving cells only need to be arranged in the longitudinal direction, the number of light receiving cells is much smaller than that of a conventional CCD area sensor in an automatic tracking device. For this reason, the amount of arithmetic processing when detecting the center point C of the image 2a of the survey target 2 can be significantly reduced. Therefore, even if the controller 6 is a relatively small-scale arithmetic processing device, the calculation time for position detection can be shortened, and accordingly, the tracking operation can be speeded up.

Then, in accordance with the vertical and horizontal deviations detected by the first and second CCD line sensors 52, 53, the controller 6 drives the driving motor 61,
62 is operated, whereby the surveying instrument main body 15 is rotated around the horizontal axis x and the vertical axis y. At this time, the control amount of the drive motors 61 and 62 is directly obtained from the vertical and horizontal deviation amounts, so that the control in the tracking operation is facilitated.

As described above, the surveying instrument main body 15 is
Is automatically tracked, and the position measurement of the survey target 2 is performed by the operation of the operator while the center point C of the image 2a of the survey target 2 is always located at the reference light receiving positions S1 and S2. Will be That is, although not shown, a distance measuring laser is emitted from the distance measuring laser oscillator to the reflecting prism 21, while a laser beam reflected from the reflecting prism 21 is received by the distance measuring light receiving unit and reciprocated. Are counted, and the linear distance to the survey target 2 is measured. At this time, the rotation angles of the surveying instrument body 15 around the horizontal axis x and the vertical axis y are respectively detected by the encoder, and the horizontal angle and the vertical angle of the survey target 2 are measured based on the rotation angles.

Therefore, the surveying instrument 1 according to this embodiment
According to this, the moving surveying object 2 can be automatically tracked by the surveying instrument 1, and the position measurement of the surveying object 2 can be performed extremely easily. At this time, even if the distance between the surveying instrument 1 and the surveying target 2 changes, the tracking operation does not change, so that the surveying accuracy is kept high. In addition, it is possible to automatically track the survey target 2 at high speed without losing sight.

<Other Embodiments> The present invention is not limited to the above embodiments, but includes various other embodiments. That is, in the above embodiment, the light from the objective lens 4 in the light receiving means 5 is split by the beam splitter 51 and made incident on the first and second CCD line sensors 52 and 53 arranged at different positions. However, the present invention is not limited to this. For example, the CCD line sensors may be arranged in a cross shape, and light may be incident on them.

In the above embodiment, the first and second CCD line sensors 52 as the first and second photoelectric conversion means,
53 are arranged in the up-down direction or the left-right direction so as to be orthogonal to each other, but the invention is not limited to this. For example, two CCD line sensors may be arranged so as to intersect each other at 45 degrees. The CCD line sensors may be arranged to cross each other. Further, a light receiving element other than the CCD line sensor can be used.

In the above embodiment, the pulse light is projected by the light projecting means 3 so as to spread in a cross shape in the projection direction. However, the present invention is not limited to this. For example, the light is spread in a circular shape, an elliptical shape, or a rectangular shape. Light may be projected as described above, and the light to be projected may not be pulsed light.

In the above embodiment, the pulse light projected from the light projecting means 3 is projected to the surveying target 2 via the objective lens 4, but the invention is not limited to this. For example, as shown in FIG. A through hole 4a is formed in the center of the lens 4;
The pulse light may be projected onto the survey target 2 through the through hole 4a.

In the above embodiment, the light projecting means 3 is configured to project the pulse light generated by the semiconductor laser device 31 so as to spread in a vertical or horizontal direction via a bundle of optical fibers 32a and 33a. However, the present invention is not limited to this. For example, a plurality of semiconductor laser devices may be arranged side by side in the vertical or horizontal direction to project light.

In the above-described embodiment, the characteristic light for position detection is projected from the light projecting means 3 to the surveying object 2. However, the present invention is not limited to this. May be arranged, and light may be projected therefrom.

[0051]

As described above, according to the automatic tracking device of the surveying instrument according to the first aspect of the present invention, the first and second photoelectric conversion means are provided so as to intersect with each other, and the image of the object to be surveyed is provided. The deviation between the center point and the optical axis position of the objective lens is determined, and the attitude of the surveying instrument body is changed based on the deviation. Thereby, even if the distance between the surveying instrument and the surveying target changes, it is possible to prevent a change in tracking accuracy. In addition, the amount of arithmetic processing for position detection can be significantly reduced as compared with a conventional CCD area sensor or the like, so that the time for position detection can be reduced even when a relatively small-scale arithmetic processing device is used. Thus, the speed of the tracking operation can be increased.

According to the second aspect of the invention, the same effects as those of the first aspect of the invention can be obtained, and the first and second photoelectric conversion means can be arranged at different positions, respectively. The degree of freedom is improved.

According to the third aspect of the present invention, the first and second setting directions are set so as to be orthogonal to each other, so that the arithmetic processing for position detection is facilitated.

According to the fourth aspect of the present invention, high detection accuracy can be obtained at relatively low cost by using a CCD line sensor as the photoelectric conversion means.

According to the fifth aspect of the present invention, since it is only necessary to provide a light reflector on the object to be surveyed, the configuration of the system is simplified.

According to the invention described in claim 6, the light quantity per unit area can be sufficiently increased without substantially narrowing the projection range of the light projected on the surveying object, and the surveying object can be easily detected and It can be hard to lose track of.

According to the seventh aspect of the present invention, the projection direction of light from the light emitting source can be easily set by using the optical fiber, and the degree of freedom of the arrangement of the light emitting source is improved, thereby projecting the light. The means can be made compact.

According to the eighth aspect of the present invention, the control in the tracking operation of the surveying instrument can be facilitated and the tracking speed can be increased, and the projection range of the projection light can be easily made extremely wide. it can.

[Brief description of the drawings]

FIG. 1 is a side view showing a schematic configuration of a surveying instrument according to an embodiment of the present invention.

FIG. 2 is a top view showing an optical system for position detection provided in the surveying instrument main body.

FIG. 3 is a front view showing ends of optical fibers arranged side by side so as to extend up, down, left, and right in the light projecting means.

FIG. 4 is a schematic diagram showing vertical position detection of an image of a survey target by a first CCD line sensor.

FIG. 5 is a schematic diagram showing horizontal position detection of an image of a survey target by a second CCD line sensor.

FIG. 6 is a diagram corresponding to FIG. 4 when a survey target is relatively far away;

FIG. 7 is a diagram corresponding to FIG. 5 when a survey target is relatively far away;

FIG. 8 is a diagram corresponding to FIG. 2 according to another embodiment.

[Explanation of symbols]

 Reference Signs List 1 surveying instrument 2 surveying object 2a image of surveying object 3 light projecting means 4 objective lens 5 light receiving means 21 reflecting prism (light beam reflector) 31, 31 optical fiber 51 beam splitter 52, 53 CCD line sensor 61, 62 driving motor (Drive means) C Center point of the image to be measured L Optical axis of objective lens S1, S2 Reference light receiving position

Claims (8)

[Claims] 1. An image forming apparatus comprising: a light receiving unit configured to form an image of characteristic light for position detection emitted from an object to be surveyed by an objective lens; and a driving unit configured to change a posture of a surveying instrument main body. In the automatic tracking device of a surveying instrument, the operation of driving means is controlled based on an output signal from the light receiving means so that the center point of the image of the surveying object is located on the optical axis of the objective lens. The light receiving means includes: first photoelectric conversion means having a plurality of light receiving portions juxtaposed so as to extend in a first setting direction orthogonal to the optical axis direction of the objective lens; A second photoelectric conversion means having a large number of light receiving sections arranged side by side so as to be orthogonal and extend in a second setting direction intersecting with the first setting direction. Automatic tracking device. 2. A light-receiving means for forming an image of characteristic light for position detection radiated from an object to be surveyed by an objective lens, and a driving means for changing a posture of a surveying instrument main body; In the automatic tracking device of a surveying instrument, the operation of driving means is controlled based on an output signal from the light receiving means so that the center point of the image of the surveying object is located on the optical axis of the objective lens. The light receiving means is provided at a position for receiving a transmitted light from the beam splitter and a beam splitter for transmitting a part of the light from the objective lens and reflecting the remaining light, and in a direction of an optical axis of the transmitted light. A first photoelectric conversion unit having a plurality of light receiving units arranged side by side so as to extend in a first set direction orthogonal to each other; an optical axis of the reflected light provided at a position for receiving reflected light from the beam splitter; One And a second photoelectric conversion means having a plurality of light receiving portions arranged in parallel so as to extend in a second setting direction orthogonal to the first setting direction and intersecting the first setting direction. Automatic tracking device. 3. The automatic tracking device of a surveying instrument according to claim 1, wherein the first and second setting directions are orthogonal to each other. 4. The automatic tracking device of a surveying instrument according to claim 3, wherein the first and second photoelectric conversion means are CCD line sensors. 5. The light emitting device according to claim 3, further comprising: a light projecting unit that projects light onto the object to be surveyed; and a light beam reflector that is disposed on the object to be surveyed and reflects light projected from the light projecting unit. An automatic tracking device for a surveying instrument, wherein the light receiving means is configured to receive the light reflected by the light beam reflector as characteristic light for position detection. 6. The light projection device according to claim 5, wherein the light projection means includes two light projectors for projecting light so as to be biased and spread in first and second setting directions orthogonal to each other. An automatic tracking device for a surveying instrument configured to project light along an optical axis. 7. The projector according to claim 6, wherein each of the projectors includes a bundle of optical fibers having one end connected to the light emitting source and the other end arranged in the first and second setting directions, respectively. An automatic tracking device for a surveying instrument, wherein the light generated by the light emitting source is projected from the other end of the optical fiber. 8. The invention according to claim 3, wherein the first and second setting directions are set in a vertical direction and a horizontal direction, respectively. An automatic tracking device for a surveying instrument, characterized in that the instrument body is configured to rotate around a vertical axis and a horizontal axis, respectively.