JPH08178652A - Surveying device - Google Patents

Abstract

PURPOSE: To enable a point measuring instrument to be traced automatically even if the point measuring instrument is out of the viewing field of an origin device by providing a point measuring instrument and GPS receiver as an origin device. CONSTITUTION: A communication device 20b of a point measuring instrument 2 sends the point measuring instrument coordinate in which a GPS receiver 20a has measured azimuth to a total station 1 (origin device). The total station 1 captures the origin device coordinate by means of a GPS antenna 13 and the GPS receiver and calculates a tracing azimuth by receiving a point measuring device coordinate by means of a communication antenna 14. This tracing azimuth is input to a drive control unit and drive toward a point measuring instrument 2, and light emitting at a light emitting unit is started. When the microscope 12 faces the direction of the rough point measuring instrument 2, the reflecting light from the light emitting unit to a reflecting prism 21 is thereby input to a light receiving unit. As a result of tracing, when the reflecting light beams coincide with the optical axis of the microscope 12, a surveying calculation unit calculates the azimuth and distance up to a measuring point and records them in a data collector 17.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention measures the azimuth and distance from an origin to a measuring point by irradiating light from the originating device to the measuring apparatus and receiving reflected light from the measuring apparatus. Regarding surveying equipment.

[0002]

2. Description of the Related Art An apparatus for measuring a direction and a distance between an origin and a measuring point by using a light beam has been put into practical use. This device is a measuring device equipped with a reflecting prism installed at the measuring station,
It consists of an origin device that is installed at the origin and emits modulated light to the point measuring device.The telescope of the origin device measures the azimuth by capturing the reflecting prism of the point measuring device at the center of the field of view. The distance from the origin to the measuring point is measured by receiving the reflected light of the light applied to the measuring point and detecting the modulation signal phase thereof.

In a general survey site, it is common to survey the azimuths and distances of a plurality of survey points with respect to one origin. In this case, conventionally, a person who moves the measuring device between a plurality of measuring points and an origin device are in charge, and when the measuring device is installed at each measuring point, a telescope (light emitting / receiving unit) of the origin device It was necessary to have a staff member to turn the direction.

[0004]

However, when surveying a plurality of measuring points around the above-mentioned one origin, it is not necessary to move the origin device, but one person is required to direct the telescope to the measuring device. Met. In order to automate this and eliminate the staff in charge of the transmission device, a total station equipped with an automatic tracking function has been put into practical use. The automatic tracking function is a function of automatically changing the direction of the telescope so that when the reflection prism of the point measuring device deviates from the center of the field of view of the telescope, it becomes the center of the field of view.

As a result, since the telescope of the origin device is driven by the movement of the point measuring device, a staff member on the origin side becomes unnecessary. However, in order for the automatic tracking function to work, it is necessary to move the point measuring device slowly so that it does not fall out of the field of view of the origin device. Has a problem in that it cannot capture the point measuring device and maintain automatic tracking. In addition, the field of view between the station and the origin must always be secured, but when the station is being transported between multiple stations, the field of view for the origin is secured on all of its movement paths. Not necessarily. Therefore, when the measurement side device passes a place where there is no view to the origin device,
As a result, the tracking function is lost, and the origin device cannot capture the point measuring device after that.

The present invention provides a surveying device capable of automatically capturing even if the point measuring device is out of the field of view of the origin device by grasping the approximate direction from the origin device to the point measuring device by GPS positioning. The purpose is to provide.

[0007]

According to the present invention, there is provided a point measuring device which is installed at a measuring point and has a reflecting prism, and a light emitting / receiving section which is installed at an origin point and irradiates light toward the reflecting prism. A surveying device comprising an origin device for measuring the azimuth and distance between an origin and a measuring point by receiving the reflected light, the measuring device receiving a GPS signal to measure the position of the measuring device. GPS that outputs point device position information
In addition to providing a receiver, a communication device for transmitting the position information of the point measuring device to the origin device is provided, and the origin device receives the GPS signal from the driving unit that changes the direction of the light emitting / receiving unit and the origin. A GPS receiver that outputs origin device position information indicating the position of the device, a communication device that receives the position measuring device position information sent from the point measuring device, and the origin device position information and the position measuring device position information. Azimuth calculating means for calculating the azimuth from itself to the point measuring device, and drive control means for driving the driving part so that the light emitting / receiving parts face the azimuth calculated by the azimuth calculating means. Is characterized by.

[0008]

The surveying device of the present invention comprises an origin device and a measuring device. The point measuring device includes a reflection prism, a GPS receiver, and a communication device, and transmits the position measuring device position information measured by the GPS receiver to the origin device using the communication device.
The origin device includes a light emitting / receiving device, a GPS receiver, and a communication device. The light emitting device irradiates the reflecting prism of the point measuring device with light, and the light receiving device receives the reflected light to perform measurement. Measure the distance and direction to a point (point measuring device). Further, the driving device adjusts the direction of the light emitting / receiving device so that the light emitting / receiving device is correctly oriented to the point measuring device. The drive control of the drive device is performed by the drive control device, and the azimuth from the origin device to the point measuring device is obtained by GPS differential positioning. That is, as described above, the point measuring device uses the GPS
The position information of the measured point device that has been positioned is transmitted to the origin device using the communication device. The origin device receives this using a communication device and at the same time receives its own position (origin device position information) from the GP.
Positioning is performed by the S receiver, and the azimuth toward the measuring point device is calculated based on the measuring point device position information and the origin point device position information. As a result, even if the point measuring device is out of the field of view of the telescope of the origin device, or even if there is a shield between the moving point measuring device and the origin device, the origin device cannot be seen. It is possible to capture a point measuring device without losing sight of it. As a result, even if the origin device is completely unattended, the origin device can reliably capture and track the point measuring device.

As the position measuring device position information transmitted from the measuring device to the origin device, the position coordinates of the measuring device of the independent positioning result are transmitted, and the origin device transmits to the measuring device by a simple differential positioning. The direction may be calculated, and the GP
The so-called raw data such as the phase angle data of the C / A code and the phase integrated value of the carrier wave output by the S receiver are sent as they are, and the raw data of the point measuring device and the raw device are combined for relative positioning in the home device. The azimuth may be obtained by

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a diagram showing an installation state of a surveying instrument according to an embodiment of the present invention. 2 is a schematic external view of an origin device (total station) 1 and a point measuring device 2 of the surveying device. Further, FIG. 3 is a block diagram of the total station.

The total station 1, which is an origin device, is installed on the origin. As the origin, a standard point or a triangular point may be selected, but if it does not exist in a suitable place, a reference point is provided in the suitable place, and the position of this reference point is measured from the standard point and the triangular point to be the origin. .

The point measuring device is installed on the measuring point. It is assumed that multiple measurement points are set around the origin. The point measuring device is provided with three reflecting prisms 21, and the reflecting prisms are installed so as to face the origin when installed. However, each of the reflecting prisms has a conical shape or a polygonal pyramid shape, and the bottom surface is attached with the front side facing, so if it is oriented almost to the origin, the rays coming from the origin will be correctly directed to the origin. Can be reflected. A GPS antenna 22 is installed above the measuring device (on the reflecting prism). Further, the control unit 20 is installed behind the reflection prism 21. A GPS receiver 20a and a communication device 20b are housed in the control unit 20. The communication antenna 23 of the communication device 20b is provided on the side of the front surface (side facing the origin device) of the rotary base 25 of the point measuring device. This is because the antenna is always on the origin side,
In addition, it is for the purpose of not hindering the view of the GPS antenna 22. Further, a survey start switch 24 is connected to the control unit 20. GPS receiver 20a
Receives a GPS signal transmitted from a GPS satellite and obtains the position coordinates (pointing device coordinates) of this positioning device. These coordinates are the coordinates of the GPS coordinate system. That is, the coordinates are orthogonal with the origin at the center of the earth, the x-axis at the intersection of the Greenwich meridian and the equator, the y-axis at the intersection of the 90 ° east longitude line and the equator, and the z-axis at the rotation axis in the North Pole direction. The communication device 20b transmits the coordinates of the measuring device measured by the GPS receiver 20a to the total station 1, and the survey start switch 24
Is transmitted to the total station 1 as a survey start signal.

The staff member in charge of this point measuring device first installs the point measuring device correctly on the measuring point. This installation is performed by using a swinging motion or an optical centripetal device which is well known in the related art. After that, the reflecting prism 20 is directed to the origin device, and after the measurement conditions are satisfied, the survey start switch 24 is turned on. The turn-on of the start switch 24 is transmitted to the origin device as a survey start signal via the communication device 20b. Upon receiving this survey start signal, the total station 1 starts the survey operation.

The total station 1 is installed horizontally on the origin so that the direction set in the apparatus coincides with the actual direction. Total station 1
Is an arch-shaped main body 1 installed on the horizontal drive unit 15.
0 and a movable portion 11 provided inside the arch-shaped main body 10 so as to be rotatable in the vertical direction. The movable portion 11 is rotatably supported by the main body portion 10 by the vertical drive portion 16. Therefore, the movable unit 11 can be oriented in any direction by the horizontal drive unit 15 and the vertical drive unit 16. Here, the azimuth means a solid angle including horizontal and vertical elevation and depression angles. A telescope 12 is provided at the front end of the movable part 11. It is assumed that the telescope 12 is equipped with an autofocus mechanism. Behind the telescope 12,
A light emitting section 31a, light receiving sections 31b and 31c, and an optical system control section 32 are provided (see FIG. 3). Also, the main body 1
A GPS antenna 13 is provided at the upper end of 1, and a communication antenna 14 is provided at the lower part of the front surface. The GPS antenna 13 coincides with the machine center. The communication antenna 14 is installed on the side of the point measuring device 2 so as not to obstruct the view of the GPS antenna 13.

Inside the main body 10, as shown in FIG. 3, a microcomputer 30, a GPS receiver 33, and a communication device 3 are provided.
4, a drive control unit 35 is provided. GPS receiver 3
Reference numeral 3 analyzes the GPS signal received by the GPS antenna 13 to independently measure its own position. The communication device 34 receives the signal sent from the point measuring device 2. The signals sent from the point measuring device 2 include the GPS receiver 2 of the point measuring device 2.
0a is the coordinate of the point measuring device which is independently positioned, and the survey start signal accompanying the turning on of the survey start switch 24. GP
Origin device coordinates measured by the S receiver 33 and the communication device 3
The coordinates of the point measuring device received by 4 are input to the capture azimuth calculation unit 43. Since the capture calculation unit 43 is realized by the capture calculation program in the microcomputer 30, the capture calculation program storage area of the memory and the CPU correspond to the capture calculation unit 43 as the capture calculation unit. The capture calculation unit subtracts the coordinate of the origin device measured by itself from the coordinate of the received device to obtain a temporary baseline vector from the origin device to the survey device. Since the origin device and the point measuring device are installed at a maximum distance of several kilometers, both GPS receivers 33 and 20a perform GPS positioning under the same conditions, and it is considered that the resulting positioning error is the same. The error caused by GPS positioning is canceled out in the vector, and the position of the point measuring device can be obtained with an accuracy of 10 m at the worst and about 1 m if it is performed accurately. Further, the capture calculation unit 43 performs coordinate conversion from the GPS coordinate system having the center of the earth as the origin to the survey coordinate system having the ground surface as the XY plane. Either of the coordinate conversion and the calculation of the baseline vector may be performed first. The capture azimuth calculation unit 43 transmits the azimuth (capture azimuth) of the point measuring device thus calculated to the drive control unit 35 via the interface 44. Drive controller 3
Reference numeral 5 drives the horizontal drive unit 15 and the vertical drive unit 16 so that the azimuth of the telescope 12 becomes the capturing azimuth.

On the other hand, the light emitting portion 31a and the light receiving portion 31b
Is installed on the optical axis of the telescope 12 branched by the half mirror behind the telescope 12. Light emitting part 31a
Irradiates light modulated at a predetermined frequency forward (toward the point measuring device 2) through the telescope 12. This light is converted into a beam by the telescope 12. This light is reflected by the reflecting prism 21 of the point measuring device 2 and again enters the telescope 12, and the reflected light is received by the light receiving section 31b. The optical system controller 32 measures the phase of the modulation signal carried on the received reflected light and determines the phase difference from the transmitted modulation signal. This phase difference is input to the survey calculation unit 40. Surveying operation unit 40
Measures the distance to the point measuring device 2 based on this phase difference. At the same time, from the drive control unit 35, the telescope 12 at that time
The azimuth is input, and this azimuth and distance are taken as one measurement result, and the result is input to the data collector 17 via the interface 41.

Here, if the light beam is modulated at 50 kHz,
Since one wavelength is 6km, 6km or 3k for round trip
Distances up to m can be measured without cycle slip. In addition, after measuring a rough distance at a modulation frequency of 50 kHz and then using light modulated at a higher frequency, highly accurate surveying can be performed.

Further, the light receiving section 31c is composed of a plurality of light receiving elements provided around the optical axis of the telescope 12.
When the beam of reflected light is deviated from the optical axis of the telescope 12, the balance of the amount of light received by the plurality of light receiving elements is lost. Therefore, the direction and degree of the displacement of the telescope 12 should be detected based on this imbalance. You can Light receiving part 31c
The plurality of received light amounts of are converted into electric signals (digital signals) and input to the tracking calculation unit 42. The tracking calculation unit 42 determines the deviation between the received reflected light and the optical axis, and calculates a correction amount for correcting this. This correction amount is transmitted to the drive control unit 35 via the interface 44. When the correction amount is input from the tracking calculation unit 42, the drive control unit 35 drives the horizontal drive unit 15 and the vertical drive unit 16 in response to the correction amount, and the telescope so that the axis of the reflected light coincides with the central axis of the lens. Correct the 12 bearings. Note that when the telescope 12 captures the reflected light and the tracking calculation unit 42 starts to output the correction amount, the capture direction calculation unit 43 stops its operation.

The surveying calculation section 40 and the tracking calculation section 4
2 is also realized by the program processing of the microcomputer 30 similarly to the acquisition direction calculation unit 43, and therefore the surveying calculation unit 40 and the tracking calculation unit 42 include the surveying calculation program storage area of memory, the tracking calculation program storage area, and the CPU of the microcomputer 30. Corresponds to these.

The operation of the total station 1 having the above configuration will be described. First, when a staff member who installs the surveying device 2 at a surveying station turns on a survey start signal, a surveying ON signal is transmitted from the surveying device 2 to the total station 1. The total station 1, which has been suspended until then, starts operating by this surveying ON signal. First, GPS
The origin device coordinates are fetched from the receiver 33, the measuring device coordinates are received by the communication device 34, and the capture azimuth calculation unit 43 calculates the capture azimuth. This capturing direction is input to the drive control unit 35 so that the telescope 12 (movable unit 11) is moved to the point measuring device 2.
The optical system control unit 32 causes the light emitting unit 31a to emit light. Since this light emission is for tracking, it does not need to be modulated, but it is preferable to modulate it at a specific frequency in order to distinguish it from other disturbance light. By driving the horizontal drive unit 15 and the vertical drive unit 16 toward the capturing direction, the telescope 12 is moved to the approximate point measuring device 2.
The light reflected from the light emitting portion 31a → the reflecting prism 21 enters the light receiving portion 31c. As a result, the tracking calculation unit 42 starts to output the correction amount, and the acquisition direction calculation unit 43 stops operating. As a result of tracking, when the beam of the reflected light and the optical axis of the telescope 12 match, the survey calculation unit 40 executes the survey operation to determine the azimuth and distance to the survey point,
This is recorded in the data collector 17.

As described above, until the clerk of the point measuring device turns on the survey start switch 24, the total station 1 consumes less power than the one that keeps tracking because the light emission and the tracking function of the light emitting section 31a are stopped. Can be reduced. Note that it is also possible to keep the acquisition function and the tracking function always operating.

If the point measuring device 2 cannot be captured even when the telescope 12 is aimed at the capturing direction because the accuracy of GPS positioning has deteriorated due to a disturbance or the like, the vicinity of the direction calculated by the capturing direction calculating unit is detected. It is also possible to search for the point measuring device 12 by swinging the telescope 12 or the like.

In the above embodiment, the coordinates of the measuring device are transmitted from the measuring device 2 to the total station 1.
The so-called raw data such as the phase angle data of the C / A code and the phase integrated value of the carrier wave output by the GPS receiver 20a of the point measuring device 2 may be directly transmitted to the total station 1. When the raw data is transmitted, the total station 1 can perform relative positioning based on the raw data of both devices to calculate the azimuth with higher accuracy.

[0024]

As described above, according to the present invention, the GPS
The differential positioning of the origin device allows the origin device to accurately grasp the position of the point device, so even if the position device is out of the field of view of the telescope, it can be quickly captured, and the origin device It can contribute to unmanned operation.

[Brief description of drawings]

FIG. 1 is a diagram illustrating a usage state of a surveying instrument that is an embodiment of the present invention.

FIG. 2 is a diagram showing an outline of the appearance of the surveying instrument.

FIG. 3 is a block diagram of an origin device of the surveying device.

[Explanation of symbols]

 1-total station (origin device), 2-point measuring device 13,22-GPS antenna, 43-capture direction calculator

Claims (1)

[Claims] 1. A point measuring device installed at a measuring point and provided with a reflecting prism, and a light emitting / receiving section installed at an origin, radiating light toward said reflecting prism, and receiving the reflected light. A surveying device comprising an origin device for measuring the azimuth and distance between an origin and a measuring point, wherein the GPS device receives GPS signals and outputs measuring device position information indicating the position of the measuring device. A receiver is provided, and a communication device for transmitting the position information of the point measuring device to the origin device is provided, and the origin device receives the GPS signal from the driving unit that changes the direction of the light emitting / receiving unit, and the origin. A GPS receiver that outputs origin device position information indicating the position of the device, a communication device that receives the position measuring device position information sent from the point measuring device, and the origin device position information and the position measuring device position information. Self based An azimuth calculation means for calculating the azimuth to the point measuring device and a drive control means for driving the drive part so that the light emitting / light receiving part faces the azimuth calculated by the azimuth calculation means are provided. Surveying equipment.