CN115494474A - Measuring device, optical axis conversion unit, measuring method, and storage medium - Google Patents

Abstract

Provided are a measuring apparatus, an optical axis conversion unit, a measuring method, and a storage medium, the measuring apparatus having: a telescope unit capable of transmitting or receiving light along a collimation axis; and an optical axis conversion unit having an optical member that shifts an optical axis of the optical path along the collimation axis in a radial direction with respect to the collimation axis, the shifted conversion optical axis being rotatable around the collimation axis.

Description

Measuring device, optical axis conversion unit, measuring method, and storage medium

Technical Field

The present disclosure relates to a measuring device, an optical axis conversion unit, a measuring method, and a storage medium storing a measuring program.

Background

In a surveying instrument such as a total station, a distance from the surveying instrument to a measurement target is measured by collimating and measuring an angle of the measurement target and irradiating a distance measuring light to the measurement target. As a measurement method in a case where an obstacle exists between a measurement device and a measurement target, for example, patent document 1 discloses a technique of measuring a position of the measurement target with respect to a known point by using a plurality of measurement devices to bypass the obstacle.

Documents of the prior art

Patent document

Patent document 1: japanese unexamined patent publication No. 2011-247677

Disclosure of Invention

Problems to be solved by the invention

In construction and civil engineering work sites, a mesh net is sometimes provided to prevent objects from falling down. When measurement is performed with an obstacle such as a net interposed therebetween, the measurement device receives a light image which is partially blocked and missing by the obstacle from the measurement object, and therefore it is difficult to determine the position of the center of gravity of the light image and to determine the correct position (for example, the horizontal angle or the vertical angle) of the measurement object. In the technique described in patent document 1, the measurement target is measured while bypassing the obstacle, but the overall configuration of the system becomes complicated in this method.

The present disclosure has been made to solve the above-described problems, and an object of the present disclosure is to provide a measuring apparatus, an optical axis conversion unit, a measuring method, and a storage medium storing a measuring program, which are capable of removing an influence of an obstacle on measurement with a simple configuration.

Means for solving the problems

In order to achieve the above object, a measuring device of the present disclosure includes: the optical axis conversion device includes a telescope unit capable of transmitting or receiving light along a collimation axis, and an optical axis conversion unit having an optical member that shifts an optical axis of an optical path along the collimation axis in a radial direction with respect to the collimation axis, the shifted conversion optical axis being rotatable around the collimation axis.

In order to achieve the above object, an optical axis conversion unit according to the present disclosure includes an optical member that is detachably formed in a telescope unit capable of transmitting and receiving light, and that shifts an optical axis of an optical path along a collimation axis of the telescope unit in a radial direction with respect to the collimation axis, and that is provided so as to be rotatable about the collimation axis.

In order to achieve the above object, a measurement method of the present disclosure is a measurement method in which a measurement device includes a telescope unit capable of transmitting or receiving light along a collimation axis and an optical member that shifts an optical axis of an optical path along the collimation axis in a radial direction with respect to the collimation axis, the measurement method including: the offset conversion optical axis is rotated about the collimation axis, and the measuring device receives light guided from the measurement object at different rotational positions of the optical member about the collimation axis.

In order to achieve the above object, a storage medium storing a measurement program according to the present disclosure causes a computer to execute: in a measuring device having a telescope portion capable of transmitting or receiving light along a collimation axis and an optical member that shifts an optical axis along an optical path of the collimation axis in a radial direction with respect to the collimation axis, the shifted conversion optical axis is rotated about the collimation axis, and the measuring device receives light guided from an object of measurement at different rotational positions of the optical member about the collimation axis.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the measuring apparatus, the optical axis conversion unit, the measuring method, and the storage medium storing the measuring program of the present disclosure using the above-described means, the influence of the obstacle on the measurement can be removed with a simple configuration.

Drawings

Fig. 1 is an overall configuration diagram of a measurement system according to an embodiment of the present disclosure.

Fig. 2A is a side view schematically showing an optical axis conversion unit of an embodiment of the present disclosure.

Fig. 2B is a front view schematically illustrating an optical axis conversion unit of an embodiment of the present disclosure.

Fig. 3 is a control block diagram of the measurement device of the embodiment of the present disclosure.

Fig. 4 is a flowchart showing a measurement method in the measurement system.

Fig. 5 is a diagram showing a state in which the measuring apparatus rotates the optical axis conversion unit while pointing to the measurement target.

Fig. 6A is an image of the measurement object captured by the measurement device of fig. 1.

Fig. 6B is an image of the measurement object captured by the measurement device of fig. 5.

Fig. 7 is a flowchart illustrating a measurement method according to a modification of the embodiment of the present disclosure.

Fig. 8A is an image obtained by imaging a measurement object in a modification, and is a diagram showing a positional relationship between a plurality of captured optical images.

Fig. 8B is a diagram showing a case where the image of the measurement target captured in the modification is corrected so that one of the captured optical images is superimposed on the other of the captured optical images.

Fig. 8C is an image obtained by imaging the measurement object in the modification, and is a diagram showing a combined optical image.

Description of the reference numerals:

1: the measurement system is used for measuring the temperature of the sample,

2: a measuring device for measuring the position of the object,

3: the object of measurement is measured by a measuring unit,

4: the image(s) of the image(s),

5: the position of the obstacle is determined by the distance between the two adjacent obstacles,

21: a leveling part for leveling the surface of the workpiece,

22: a base part, a first fixing part and a second fixing part,

23: a main body part,

24. 24', 24": a telescope part, a lens part and a lens part,

24a: a telescope is arranged on the front end of the shell,

25: an optical axis converting unit for converting the optical axis of the optical pickup,

26. 26', 26": the instrument point is arranged on the base plate,

41 (41A, 41B): the light pattern is then formed by the light source,

42: the shadow is shown in the figure,

43: the central position of the central position is,

201: a communication unit for communicating with the communication unit,

202: a storage part for storing the data of the storage part,

203: a display part for displaying the display position of the display part,

204: an operation part for controlling the operation of the motor,

205: a distance measuring part for measuring the distance of the object,

206: the tracking light-sending part is provided with a tracking light-sending part,

207: the light receiving section is tracked,

208: a horizontal rotation driving part which is used for driving the horizontal rotation,

209: a vertical rotation driving part for driving the rotation of the rotary body,

210: an optical axis rotation driving part for driving the optical axis to rotate,

211: a horizontal angle detecting part for detecting the horizontal angle,

212: a vertical angle detection unit for detecting the vertical angle of the object,

213: a rotation detecting part for detecting the rotation of the rotating shaft,

214: the reference sensor is rotated in such a manner that,

215: a control part for controlling the operation of the display device,

241: the side opening surface of the telescope is provided with a hole,

251: a rotating part which is used for rotating the rotating part,

251a: an opening part is arranged at the bottom of the shell,

252: a first retroreflective member having a first retroreflective layer and a second retroreflective layer,

252a: the first opening surface is provided with a first opening surface,

252b: a reflection part for reflecting the light emitted from the light source,

253: a second retroreflective member comprising a second retroreflective layer and a second retroreflective layer,

253a: the second opening surface is arranged on the first opening surface,

253b: a reflection part for reflecting the light emitted from the light source,

411. 411a, 411b: the position of the center of gravity,

412: the position of the center of gravity is averaged,

413: the position of the center of gravity,

a0: the alignment axis is aligned with the direction of the axis,

a1: the first optical axis is a first optical axis,

a2: the second optical axis is set to be a second optical axis,

b1: an optical axis of the optical element is formed,

b2: an optical axis of the light source is formed,

h: the horizontal axis is a horizontal axis,

l1: the light is emitted from the light source,

l2: the light is emitted from a light source,

o: the direction axis is measured and the direction axis is measured,

v: a vertical axis of the lead is arranged on the bottom of the groove,

X ₁₁ 、X ₁₂ 、X ₂₁ 、X ₂₂ : the distance between the first and second electrodes,

θ ₁₁ 、θ ₁₂ 、θ ₂₁ 、θ ₂₂ : and (4) an angle.

Detailed Description

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

Fig. 1 is an overall configuration diagram of a measurement system 1 according to an embodiment of the present disclosure. Fig. 2 is a control block diagram of the measuring apparatus 2. The overall configuration and control system of the measurement system 1 according to the embodiment will be described below with reference to fig. 1 and 2. Note that each device and the arrangement relationship are schematically illustrated, and for convenience of explanation, the device and the arrangement relationship are illustrated differently from the actual scale.

The measurement system 1 includes a measurement device 2 and a measurement object 3 (target). The surveying instrument 2 is, for example, a total station, is provided at a leg of a tripod or the like, not shown, and is capable of measuring an angle and a distance to the measuring object 3 to perform surveying. The measuring device 2 includes a leveling portion 21 that is attachable to and detachable from the leg portion and levels the leg portion, a base portion 22 provided on the leveling portion 21, a main body portion 23 provided rotatably about a vertical axis V of the base portion 22, and a telescope portion 24 provided rotatably about a horizontal axis H on the main body portion 23. Therefore, the telescope portion 24 is provided so as to be rotatable about the horizontal axis H and the vertical axis V with respect to the base portion 22. The leveling may be performed manually by an operator by adjusting the leg portions, or may be performed automatically. The measuring apparatus 2 includes a computer (not shown) for controlling the measuring apparatus 2.

Fig. 3 is a control block diagram of the measuring apparatus 2. The communication unit 201 is configured to be able to communicate with an external device, and is a wireless communication means such as Bluetooth (registered trademark). The communication unit 201 may function as a wired communication unit via a connection terminal.

The storage unit 202 is configured to be capable of storing various programs such as a tracking program and a measurement program related to a measurement method, measurement data, GPS time, the size (height, width, depth, and the like) of the measurement device 2, and various data such as an image 4 (see fig. 6A and 6B) captured by the tracking light-receiving unit 207. The storage unit 202 can be realized by various storage media such as an HDD (Hard Disk Drive), an SSD (Solid State Drive), and a flash memory.

The display unit 203 is capable of displaying the image 4 or the like captured by the tracking light receiving unit 207 (light receiving unit), and is provided, for example, at the rear of the main body 23. The operation unit 204 is an operation unit capable of inputting various operation instructions and settings. For example, the operation instruction includes switching of ON (OFF) and ON (OFF) of the power supply, a trigger to start measurement, switching of a measurement mode, setting of a measurement cycle, and the like. The operation unit 204 may include any operation device or input device such as a switch, a button, and a dial. When the display portion 203 is a touch panel, the display portion 203 and the operation portion 204 may be formed integrally.

The distance measuring unit 205 includes a light transmitting unit that emits distance measuring light and a light receiving unit that receives reflected light reflected by the measurement object 3 upon being irradiated with the distance measuring light from the light transmitting unit. The distance measuring unit 205 measures the distance (pitch) from the measuring device 2 to the measuring object 3 by, for example, emitting distance measuring light as pulse laser light and receiving reflected light reflected by the measuring object 3. The distance measurement method is not limited to the pulse method, and a known method such as a so-called phase difference method, for example, which measures a distance based on the number of waves of the laser beam, can be applied.

The tracking light transmitting unit 206 is a light source that can emit tracking light toward the measurement object 3. The tracking light receiving unit 207 receives a part of the tracking light reflected by the measurement object 3, and for example, a light receiving element such as an image sensor (CCD sensor, CMOS sensor, or the like) that converts the tracking light into an electric signal can be used. The tracking light transmitting unit 206 irradiates tracking light having an divergent angle. Therefore, the spatial region of the tracking light irradiation range becomes wider as the distance from the measuring device 2 becomes longer. The control unit 215 can control the tracking function of the measurement object 3 by controlling the horizontal rotation driving unit 208, the vertical rotation driving unit 209, and the optical axis rotation driving unit 210 so that the tracking light receiving unit 207 continuously receives the tracking light from the tracking light transmitting unit 206.

The horizontal rotation driving unit 208 controls the main body 23 to be rotatable about the vertical axis V in the horizontal direction with respect to the base portion 22. The vertical rotation driving unit 209 controls the telescope unit 24 to be rotatable in the vertical direction about the horizontal axis H with respect to the main body unit 23.

The optical axis rotation driving unit 210 can control the optical axis conversion unit 25 to rotate around the collimation axis A0 of the telescope unit 24, and can be composed of a motor and gears.

Further, a horizontal angle detection unit 211 (horizontal encoder) and a vertical angle detection unit 212 (vertical encoder) are provided inside the main body 23, the horizontal angle detection unit 211 detects a rotation angle in the horizontal direction of the main body 23 (i.e., a rotation angle about the vertical axis V), and the vertical angle detection unit 212 detects a rotation angle in the vertical direction of the telescope unit 24 (i.e., a rotation angle about the horizontal axis H). The telescope unit 24 includes therein a telescope 24a including an optical system capable of collimating the measurement target 3. The telescope unit 24 incorporates a distance measuring unit 205 including a distance measuring optical system, and a part of the optical path of the distance measuring optical system of the distance measuring unit 205 is shared with a part of the optical system of the telescope 24a. The light emitted from the distance measuring unit 205 or the tracking light transmitting unit 206 is guided and emitted from the object side of the telescope 24a coaxially with the collimation axis A0. Further, light received from the outside via the optical axis conversion unit 25 is guided to the collimation axis A0 and received by the distance measuring unit 205 or the tracking light receiving unit 207.

The rotation detection unit 213 is configured to be able to detect one or both of the rotational position (for example, the rotational angle) and the rotational amount around the collimation axis A0 of the first retroreflective member 252 and the second retroreflective member 253 included in the optical axis conversion unit 25. The rotation detecting unit 213 may be formed of a sensor for detecting one rotation, an encoder, an acceleration sensor, or the like. The rotation reference sensor 214 is formed of a light projection receiving sensor or the like that detects one rotation of the rotating portion 251.

The control unit 215 is provided in the main body 23 of the measuring apparatus 2, for example. The control unit 215 acquires, stores, and calculates various information such as the angle (horizontal angle and vertical angle) detected by the horizontal angle detection unit 211 and the vertical angle detection unit 212, the distance (slope) measured by the distance measurement unit 205, and the image 4 captured by the tracking light-receiving unit 207, and displays the acquisition result and the calculation result on the display unit 203, for example. The control unit 215 performs drive control of each unit based on an operation performed on the operation unit 204 or based on the calculation result.

As shown in fig. 2, the optical axis conversion unit 25 has a rotating portion 251 that is rotatable about the collimation axis A0 of the telescope portion 24. The optical axis conversion unit 25 is formed to be attachable to and detachable from the telescope unit 24. In addition, the rotating portion 251 has a first retroreflective member 252 and a second retroreflective member 253. The first retroreflective member 252 and the second retroreflective member 253 of the present embodiment are corner-cube prisms (corner-cube prisms), and the shapes thereof are schematically shown in fig. 2A and the like. The first retroreflective member 252 and the second retroreflective member 253 have opening surfaces (a first opening surface 252a and a second opening surface 253 a) as an incident surface and an emission surface of light, respectively, and reflection portions 252b and 253b capable of reflecting light. In the first retroreflective member 252 and the second retroreflective member 253, the reflecting portion 252b and the reflecting portion 253b each have three reflecting surfaces that are orthogonal to each other, and are formed into an inside corner shape that is surrounded in 3 directions (details are not shown).

The first retroreflection member 252 has a first opening surface 252a facing the telescope-side opening surface 241 of the telescope unit 24 and is disposed offset in the orthogonal direction with respect to the collimation axis A0 of the telescope unit 24. Therefore, the collimation axis A0 and an optical axis B1 (a top portion connected by three reflection surfaces, an axis orthogonal to the first opening surface 252 a) as a central axis of the reflection portion 252B are arranged offset from the collimation axis A0 in a direction orthogonal to the collimation axis A0. The second retroreflective member 253 has a second opening surface 253a facing the first opening surface 252a of the first retroreflective member 252, and is disposed offset from the telescope unit 24 and the first retroreflective member 252. Therefore, the optical axis B1 and the optical axis B2 of the second retroreflective member 253 (the top portion connected by the three reflective surfaces and the axis orthogonal to the second opening surface 253 a) are arranged so as to be offset in the direction orthogonal to the collimation axis A0, that is, in the substantially same direction as the offset direction of the first retroreflective member 252.

When light L1 such as tracking light or distance measuring light is emitted from the telescope unit 24, the light L1 is guided to the first retroreflection member 252 side with the collimation axis A0 of the telescope unit 24 as the optical axis. The light L1 guided from the telescope unit 24 enters the first opening surface 252a and is internally reflected by the reflection unit 252b of the first retroreflective member 252. The light L1 reflected by the reflection portion 252b is guided along the first optical axis A1, which is an optical axis of an optical path symmetrical to the light L1 on the collimation axis A0, and is emitted from the first opening surface 252a toward the second retro-reflective member 253. The light L1 guided from the first retroreflective member 252 side enters the second opening surface 253a and is internally reflected by the reflection portion 253b of the second retroreflective member 253. The light L1 reflected by the reflection portion 253b is guided along the second optical axis A2, which is an optical axis of an optical path symmetrical to the light L1 on the first optical axis A1, and is emitted from the second opening surface 253 a. Then, the light L1 emitted from the second opening surface 253a is emitted toward the measurement object 3 through the opening 251a provided with a through hole or a translucent member.

The second optical axis A2 is formed parallel to the first optical axis A1 and the collimation axis A0. Therefore, the light L1 emitted from the second opening surface 253a is emitted in parallel to and in the same direction as the light L1 emitted from the telescope unit 24, and is offset from the collimation axis A0. When the telescope unit 24 in fig. 2B is viewed from the light emission side, the collimation axis A0, the first optical axis A1, and the second optical axis A2 are arranged on a straight line orthogonal to the collimation axis A0. In the rotational position of the optical axis conversion unit 25 toward 12 points shown in fig. 2B, the collimation axis A0, the first optical axis A1, and the second optical axis A2 are positioned so as to overlap the vertical axis V.

The measurement object 3 of the present embodiment is illustrated as a prism as a retroreflective member provided on a pole (pin pole) or the like. The measurement object 3 may be configured by combining a plurality of retroreflective prisms so as to enable measurement from various directions. The measurement object 3 is not limited to the retroreflective member, and may be provided with another reflective member (for example, a reflective sheet, a target plate, a wall, or the like) that can reflect the light irradiated from the measurement device 2 and can reflect the light with an intensity to such an extent that the measurement device 2 can detect the reflected light.

Fig. 1 shows an example in which the obstacle 5 is located between the measuring device 2 and the measurement object 3. The obstacle 5 is a net for preventing falling at a construction site or the like, and is formed in a mesh shape of about 10 to 15mm square. The diameter of the net string forming the net is, for example, about 2mm to 3 mm.

The measurement object 3 irradiated with the light L1 is reflected in a direction opposite to the incident direction. The light L2 reflected by the object to be measured 3 enters the second opening surface 253a of the second retroreflective member 253 and is internally reflected by the reflecting portion 252 b. The light L2 reflected by the reflection portion 253b is guided along the first optical axis A1 and is emitted from the second opening surface 253a toward the first retroreflective member 252. The light L2 guided from the second retroreflective member 253 enters the first opening surface 252a and is internally reflected by the reflecting portion 252 b. The light L1 reflected by the reflection portion 252b is guided along the collimation axis A0 and enters the telescope portion 24. The distance measuring unit 205 or the tracking light receiving unit 207 receives the light L2 incident into the telescope unit 24.

Here, each step of the measurement method of the measurement device 2 will be described with reference to fig. 4 and the like. First, in step S01, the measurement target 3 is collimated by the telescope 24a. When the measurement target 3 is positioned at the approximate center of the field of view of the telescope 24a, the measurement target 3 is positioned approximately on the second optical axis A2. The control unit 215 acquires the image 4 (see fig. 6A) including the light image 41 of the measurement object 3, and obtains the center of gravity position 411 of the light image 41. The control unit 215 automatically tracks the angle of the telescope unit 24 so that the center of gravity position 411 matches the center position 43 of collimation. Specifically, the rotating section 251 connected to the telescope section 24 is configured to be capable of rotating about the horizontal axis H and the vertical axis V with respect to the base section 22 so that the measurement object 3 is positioned on the second optical axis A2, which is the conversion optical axis converted by the first retroreflective member 252 and the second retroreflective member 253, during the rotation of the first retroreflective member 252 and the second retroreflective member 253. Therefore, the optical axis conversion unit 25 performs control such that the second optical axis A2 is always oriented toward the measurement direction axis O and the intersection of the second optical axis A2 and the measurement direction axis O is located in the vicinity of the measurement object 3. Since the center of gravity position 411 is obtained from the light image 41, when there is an influence of the shadow 42 of the obstacle 5, the position may be different from the actual center position of the measurement object 3.

In step S02, the control unit 215 rotates the rotating unit 251 of the optical axis conversion unit 25 about the collimation axis A0 by the optical axis rotation driving unit 210. Fig. 5 shows a state in which the optical axis conversion unit 25 of the measuring apparatus 2 shown in fig. 1 is rotated 180 degrees to be located at the lower side with respect to the collimation axis A0, i.e., in the 6-point direction when viewed from the front. In the measuring apparatus 2 of fig. 5, similarly to the state of fig. 1 (the state in which the optical axis conversion unit 25 faces 12 points), the second optical axis A2 is controlled to face the measuring direction axis O side during the rotation of the optical axis conversion unit 25. Therefore, the intersection of the second optical axis A2 and the measurement direction axis O can be positioned near the measurement object 3.

In step S03, a plurality of images 4 including the optical images 41 of the measurement object 3 are acquired, and the barycentric position 411 of each optical image 41 is continuously obtained at arbitrarily set intervals. The control unit 215 measures distance and angle in accordance with the rotation angle of the optical axis conversion unit 25 at the time of acquiring each image 4, and stores the distance and angle (including the horizontal angle and the vertical angle) in the storage unit 202 in accordance with each acquired image 4.

Specifically, the control unit 215 collimates the measurement object 3 from the virtually displaced telescope unit 24' shown by the two-dot chain line in fig. 1 to obtain a measurement value. First, the control unit 215 detects the horizontal angle and the vertical angle of the measurement object 3 by the horizontal angle detection unit 211 and the vertical angle detection unit 212. The detected horizontal angle and vertical angle can be values (angle θ) obtained when the measurement object 3 is collimated from the offset telescope unit 24' and measured ₁₁ ) And then the result is obtained. The control unit 215 obtains the distance from the measuring device 2 to the measurement object 3 by the distance measuring unit 205. Since the offset amount of the instrument point 26 'is known and the position of the opening 251a with respect to the instrument point 26 is also known, the distance from the instrument point 26' to the opening 251a can be obtained in advance. In addition, the distance (optical path length) from the instrument point 26 to the opening 251a is also known. Therefore, the control unit 215 can obtain the distance X from the instrument point 26 'to the measurement object 3 by subtracting the distance from the instrument point 26' to the opening 251a, and the like from the value measured by the distance measuring unit 205 ₁₁ . The positions of the instrument point 26 and the instrument point 26 'are known, and the distance X of the measurement object 3 observed from the instrument point 26' is known ₁₁ And an angle theta ₁₁ Since the horizontal angle and the vertical angle can be obtained, the control unit 215 can also obtain the distance X of the measurement object 3 as viewed from the instrument point 26 ₁₂ And an angle theta ₁₂ (angle with respect to the measuring direction axis O). Therefore, the measurement device 2 can obtain the position (horizontal angle, vertical angle, and pitch) from the instrument point 26 to the measurement object 3 using the optical axis conversion unit 25.

Further, for example, measurement by angle measurement and distance measurement and acquisition of the image 4 are performed at 50msec intervals while the optical axis conversion unit 25 rotates about 1 cycle for 1 second.

For the acquisition of the image 4, for example, as shown in fig. 1, the tracking light receiving section 207 acquires the image 4 shown in fig. 6A with the optical axis conversion unit 25 located above. The image 4 includes a light image 41A (41) corresponding to the light reflected by the measurement object 3. Although the optical image 41A is formed in a substantially circular shape, in fig. 1, the obstacle 5 is disposed in the vicinity below the second optical axis A2, and therefore, a part below the optical image 41A is shielded by the shade 42, and the center of gravity position 411 of the optical image 41A is slightly above the entire optical image 41A.

On the other hand, as shown in fig. 5, with the optical axis conversion unit 25 positioned below, the tracking light-receiving section 207 acquires the image 4 shown in fig. 6B. The image 4 includes a light image 41B (41) corresponding to the light reflected by the measurement object 3. In fig. 5, since the obstacle 5 is disposed near the upper side of the second optical axis A2, a part of the upper side of the light image 41B is shielded by the shade 42, and the barycentric position 411 of the light image 41B is slightly lower than the entire light image 41B.

As described above, during the rotation of the optical axis conversion unit 25, the tracking light transmission unit 206 emits the tracking light and the tracking light reception unit 207 receives the reflected tracking light, so that the control unit 215 can acquire a plurality of light images 41 having different ranges of positions of the shadow 42 of the obstacle 5 by collimating the measurement target 3 at a plurality of different angular positions (rotational positions) and store them in the storage unit 202.

Further, the control section 215 can acquire the plurality of light images 41 while the optical axis conversion unit 25 is rotating within a rotation angle range of less than one rotation, or while rotating within a rotation angle range of one or more rotations. The control unit 215 may acquire the plurality of light images 41 during a plurality of rotations of two or more weeks.

In step S04, the control unit 215 stops the rotation of the optical axis conversion unit 25 driven by the optical axis rotation driving unit 210 after 1 rotation to a plurality of rotations. In step S05, the control unit 215 averages the positions obtained by the plurality of measurements (positions obtained from the distance from the known point where the instrument point 26 or the measuring device 2 is installed, the horizontal angle, and the vertical angle), and obtains the average barycentric position 412 as the center position of the measurement object 3. As described above, in the present embodiment, since the shifted conversion optical axis (second optical axis A2) is configured to be rotatable around the collimation axis A0, the influence of the obstacle 5 can be removed, and an accurate measurement value of the measurement object 3 can be obtained.

Next, a modified example of the present embodiment will be explained. Fig. 7 shows respective steps of the measuring method of the measuring apparatus 2 according to the present modification. First, in step S11, the measurement target 3 is collimated by the telescope 24a. The control unit 215 automatically tracks the angle of the telescope unit 24 so that the center of gravity position 411 matches the center position 43 of collimation, as in step S01 described above. In step S12, the control section 215 rotates the rotating section 251 of the optical axis conversion unit 25 about the collimation axis A0 by the optical axis rotation driving section 210. At this time, the rotating portion 251 connected to the telescope portion 24 is controlled to rotate about the horizontal axis H and the vertical axis V with respect to the base portion 22 so that the measurement object 3 is positioned on the second optical axis A2, which is the conversion optical axis converted by the first retroreflective member 252 and the second retroreflective member 253, during the rotation of the first retroreflective member 252 and the second retroreflective member 253.

In step S13, the control unit 215 emits the light L1 as the tracking light from the tracking light transmission unit 206 and irradiates the measurement object 3 with the light. The light L2 reflected by the measurement object 3 is received by the tracking light receiving unit 207 in the telescope unit 24. The control unit 215 includes the light L2 received by the tracking light receiving unit 207 in the image 4 as the light image 41, and stores data of the image 4 in the storage unit 202. The control unit 215 measures distance and angle in accordance with the rotation angle of the optical axis conversion unit 25 at the time of acquiring each image 4, and corresponds to each acquired image 4 and the distance X of the measurement object 3 from the instrument point 26 ₁₁ Angle theta ₁₁ (including the horizontal angle and the vertical angle) is stored in the storage unit 202.

In step S14, the control unit 215 sets the distance X to the instrument point 26 ₁₁ And an angle theta ₁₁ Converted into a distance X relative to the actual instrument point 26 of the measuring device 2 ₁₂ And an angle theta ₁₂ . Then, in step S15, the control unit 215 sets the center position of the image 4 acquired in step S13 (more specifically, during collimation)Heart position 43) as the angle θ viewed from the instrument point 26 ₁₂ Are associated with each other and stored in the storage unit 202.

In step S16, the control unit 215 acquires the distance X from step S13 ₁₁ Angle theta ₁₁ And a rotational position around the collimation axis A0 (for example, the position of the optical axis conversion unit 25 in fig. 5) different from the rotational position of the optical axis conversion unit 25 in the image 4, receives the light from the measurement object 3, and performs the same processing as the processing from step S13 to step S15. The control unit 215 continuously acquires a plurality of images 4 including the optical image 41 of the measurement object 3 at arbitrarily set intervals. For example, when the optical axis conversion unit 25 is in the state of fig. 5, the control unit 215 measures the distance X from the instrument point 26 ″ ₂₁ And an angle theta ₂₁ The distance X from the instrument point 26 of the image 4 including the light image 41 is determined ₂₁ And an angle theta ₂₁ . Therefore, the control unit 215 determines the distance X from the instrument point 26 "(or the instrument point 26') after distance shift from the shifted observation points at a plurality of different positions while setting the instrument point 26 as a common point ₂₁ And an angle theta ₂₁ The image 4 including the light image 41 and the distance X from the instrument point 26 can be obtained ₂₂ And an angle theta ₂₂ . The control unit 215 acquires the image 4 and the distance X from the instrument point 26 ₂₂ And an angle theta ₂₂ And is stored in correspondence with the storage unit 202.

In step S17, the control unit 215 performs bright combining on the light image 41 based on the image 4 acquired at the reference offset observation point. As an example, fig. 8A shows a light image 41A (shown by a solid line) and a light image 41B (shown by a broken line) in such a manner that a barycentric position 411A of the light image 41A and a barycentric position 411B of the light image 41B coincide, the light image 41A being a light image acquired by the measuring apparatus 2 in the case where the light axis conversion unit 25 is located above the collimation axis A0 in fig. 1, and the light image 41B being a light image acquired by the measuring apparatus 2 in the case where the light axis conversion unit 25 is located below the collimation axis A0 in fig. 5. Although the light images 41A and 41B in fig. 8A to 8C and the light images 41A and 41B in fig. 6A and 6B show the same image of the measurement object 3, the hatching showing the high-luminance region is omitted in fig. 8A to 8C for the sake of simplicity.

The optical images 41A and 41B show the light reflected from the same measurement object 3, but the distance X measured at the center of gravity position 411A of the optical image 41A ₁₂ And an angle theta ₁₂ And a distance X for measuring the position 411B of the center of gravity of the light image 41B ₂₂ And an angle theta ₂₂ Different. In the present modification, the position of the light image 41B is shifted by the angle θ ₂₂ Angle theta ₁₂ The light image 41B is corrected by the number of pixels of the difference Δ θ (see fig. 8B). The amount of movement of the optical image 41B with respect to the difference Δ θ can be obtained by correlating the image 4 with a solid angle that can be imaged in advance. Thus, the light image 41B can make the contour of the image substantially uniform regardless of the presence or absence or position of the shadow 42 with respect to the light image 41A.

Then, the control unit 215 brightly combines the light image 41A and the light image 41B in the superimposed state. The bright composition is an image composition method in which pixels at the same position in a plurality of images are compared with each other and a composite image is generated using the bright pixels. Therefore, when the light image 41 and the light image 41B are combined brightly, the light image 41C (see fig. 8C) from which the influence of the shadow 42 of the obstacle 5 is removed can be obtained. Then, the control unit 215 obtains the center of gravity position 413 of the optical image 41C, and can obtain an angle corresponding to the center of gravity position 413 as an accurate angle to the measurement object 3.

Further, as the distance of the light image 41C, the distance X from the center of gravity position 411a may be used ₁₂ Distance X from the position 411b of the center of gravity ₂₂ The average was obtained. The angle (horizontal angle, vertical angle) and distance of the light image 41C are not limited to the calculation method shown in the present modification example, and may be obtained by any other calculation method.

Thereafter, in step S18, the control unit 215 stops the rotation of the optical axis conversion unit 25, and ends the measurement of the measurement object 3.

As described above, in the present embodiment, the description has been given of the configuration in which the measuring apparatus 2 includes the telescope unit 24 capable of transmitting or receiving light along the collimation axis A0 and the optical axis conversion unit 25 including the optical members (the first retroreflective member 252 and the second retroreflective member 253) for shifting the optical axis along the optical path of the collimation axis A0 in the radial direction with respect to the collimation axis A0, and the shifted conversion optical axis is rotatable about the collimation axis A0. With such a configuration, the measuring apparatus 2 can collimate the measurement target at different angles, and therefore, the measuring apparatus 2, the optical axis conversion unit 25, the measuring method, and the storage medium storing the measuring program, which can remove the influence of the obstacle 5 on the measurement, can be configured with a simple configuration.

Further, since the first retroreflective member 252 and the second retroreflective member 253 can reflect light incident on the first opening surface 252a and the second opening surface 253a, respectively, in directions parallel to and opposite to the incident light, high mounting accuracy is not required when the first retroreflective member 252 and the second retroreflective member 253 are mounted on the telescope unit 24. Therefore, the measuring device 2 can easily switch the optical axis.

Further, since the optical axis conversion unit 25 is formed to be detachable from the telescope unit 24, when measurement is performed in an environment without the obstacle 5, the optical axis conversion unit 25 can be detached and the measurement target 3 can be measured by a normal measurement method. The measurement device 2 can be switched between a mode in which measurement is performed by switching the optical axis and a mode in which normal measurement is performed without switching the optical axis, depending on the state in which the optical axis switching unit 25 is attached and detached.

The above description has been made of the embodiments of the present disclosure, but the form of the present disclosure is not limited to the embodiments.

For example, in the above-described embodiment, the example in which the control unit 215 stops the rotation of the optical axis conversion unit 25 in step S04 and then obtains the average barycentric position 412 in step S05 has been described, but the present invention is not limited to these measurement methods. For example, the control unit 215 may calculate the average barycentric position 412 from a predetermined number of light images 41, correct the angles and synchronization of the rotational operation of the optical axis conversion unit 25 and the rotational operation of the telescope unit 24 about the horizontal axis H and the vertical axis V so that the average barycentric position 412 coincides with the center position of the light receiving element (the center position 43 of collimation), and stop the rotation of the optical axis conversion unit 25 when it is determined that the average barycentric position 412 and the center position of the light receiving element (the center position 43 of collimation) stably coincide.

The first retroreflective member 252 and the second retroreflective member 253 may be integrally provided such that the first open surface 252a and the second open surface 253a are in contact with each other, or may be separately provided such that they are separated from each other. The first retroreflective member 252 and the second retroreflective member 253 are not limited to corner cube prisms, and may be formed of other optical members having retroreflective properties.

The optical member for shifting the optical axis of the optical path along the collimation axis A0 in the radial direction with respect to the collimation axis A0 is not limited to the retroreflective member, and may be configured by one or more reflective members capable of shifting the optical axis by combining multiple reflections. For example, the reflecting member may be a prism having a plurality of reflecting surfaces, or may be a combination of a plurality of reflecting mirrors. As a configuration capable of shifting the optical axis, two or three or more reflecting surfaces may be combined to form a periscope.

In the determination of the average barycentric position 412, the control unit 215 may acquire the plurality of optical images 41 in accordance with a predetermined rotational position by detecting the rotational position of the optical axis conversion unit 25 by the rotation detection unit 213, or may acquire the plurality of optical images 41 regardless of the rotational position of the optical axis conversion unit 25 by omitting the rotation detection unit 213. In the case where the rotation detecting unit 213 is omitted, a stepping motor may be used as the motor of the optical axis rotation driving unit 210.

Claims (11)

1. A measuring apparatus, comprising:

a telescope part capable of transmitting or receiving light along an alignment axis, an

And an optical axis conversion unit having an optical member that shifts an optical axis of an optical path along the collimation axis in a radial direction with respect to the collimation axis, the shifted conversion optical axis being rotatable about the collimation axis.

2. A measuring device according to claim 1,

the optical member has:

a first retroreflective member having a first opening surface facing the telescope-side opening surface of the telescope unit and being disposed offset from the telescope unit,

a second retroreflective member having a second open surface facing the first open surface and disposed offset from the telescope unit and the first retroreflective member, an

And a rotating unit configured to rotate the first retroreflective member and the second retroreflective member around the collimation axis while directing a conversion optical axis of the second retroreflective member to a measurement object.

3. The measuring device of claim 2,

the optical axis rotation driving part is provided and can control the rotation of the rotating part.

4. The measuring device of claim 1,

the optical member is provided with a rotation detection portion capable of detecting one or both of a rotational position and a rotational amount of the optical member around the collimation axis.

5. The measuring device of claim 1,

the optical axis conversion unit is formed to be attachable to and detachable from the telescope unit.

6. A measuring device according to claim 1,

the telescope portion is connected to the base portion so as to be rotatable about a horizontal axis and a vertical axis,

the optical axis conversion unit is configured to be rotatable about the horizontal axis and the vertical axis with respect to the base portion so that the measurement object is positioned on the conversion optical axis converted by the optical member during the rotation.

7. A measuring device according to claim 6,

the device is provided with a control unit which obtains an average barycentric position of the light images from a plurality of light images received from the measuring object at different rotational positions of the optical member around the collimation axis.

8. A measuring device according to claim 1,

the optical member is a corner cube prism.

9. An optical axis conversion unit is characterized in that,

the optical member is detachably formed on a telescope unit which can transmit and receive light, and an optical axis of an optical path along a collimation axis of the telescope unit is shifted in a radial direction with respect to the collimation axis,

the offset conversion optical axis is arranged to be rotatable about the collimation axis.

10. A measuring method for a measuring apparatus, characterized in that,

the measuring device has:

a telescope part capable of transmitting or receiving light along an alignment axis, an

An optical member that shifts an optical axis of an optical path along the collimation axis in a radial direction with respect to the collimation axis;

the measuring method comprises the following steps:

rotating the offset conversion optical axis about the collimation axis, an

The measuring device receives light guided from an object of measurement at different rotational positions of the optical member about the collimation axis.

11. A storage medium storing a measurement program, characterized in that,

the measurement program is for causing a computer to execute:

in a measuring apparatus having a telescope portion capable of transmitting or receiving light along an alignment axis and an optical member that shifts an optical axis of an optical path along the alignment axis in a radial direction with respect to the alignment axis, the shifted conversion optical axis is rotated around the alignment axis, and

the measuring device receives light guided from an object of measurement at different rotational positions of the optical member about the collimation axis.

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