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

Abstract

Provided are a measurement device, an optical axis conversion unit, a measurement method, and a storage medium, the measurement device having: a telescope section capable of transmitting or receiving light along a collimation axis; and an optical axis conversion unit having a The optical member whose optical axis is shifted in the radial direction relative to the collimation axis can rotate the shifted conversion optical axis about 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 technique

In a surveying device such as a total station, a measurement target is aligned to measure an angle, and the distance from the measurement device to the measurement target is measured by irradiating the measurement target with distance measuring light. As a measurement method when there is an obstacle between the measurement device and the measurement object, for example, Patent Document 1 discloses that a plurality of measurement devices are used to bypass the obstacle and measure the position of the measurement object relative to a known point. technology.

prior art literature

patent documents

Patent Document 1: Japanese Patent Laid-Open No. 2011-247677

Contents of the invention

The problem to be solved by the invention

In construction and civil engineering work sites, etc., mesh-shaped nets are sometimes installed to prevent objects from falling. In the case of measuring through an obstacle like a net, the measuring device will receive a missing light image from the measurement object that is partially covered by the obstacle, so it is difficult to obtain the center of gravity position of the light image, and it is also difficult to obtain the measurement value. The correct position of the object (eg horizontal angle, vertical angle). In the technique described in Patent Document 1, the measurement object is measured while bypassing obstacles, but the overall configuration of the system becomes complicated in this method.

The present disclosure has been made to solve such a problem, and an object thereof is to provide a measurement device, an optical axis conversion unit, a measurement method, and a storage device storing a measurement program capable of eliminating the influence of obstacles on measurement with a simple structure. medium.

means of solving problems

In order to achieve the above object, the measuring device of the present disclosure has: a telescope section capable of transmitting or receiving light along a collimation axis; A radially offset optical member of the collimation axis enables rotation of said offset conversion optical axis about said collimation axis.

In order to achieve the above objects, the optical axis conversion unit of the present disclosure has an optical member detachably formed on a telescope portion capable of transmitting and receiving light, and directing light along the optical path of the collimation axis of the telescope portion. The axis is offset in a radial direction relative to the collimation axis, and the offset conversion optical axis is arranged to be rotatable about the collimation axis.

In order to achieve the above object, in the measurement method of the present disclosure, the measurement device has a telescope part capable of transmitting or receiving light along the collimation axis and the optical axis of the optical path along the collimation axis is opposite to the An optical component radially displaced from a collimation axis, the measurement method comprising the steps of: rotating the shifted converted optical axis around the collimation axis, and rotating the optical component around the collimation axis The measuring device receives the light guided from the measurement object at different rotational positions.

In order to achieve the above object, the storage medium storing the measurement program of the present disclosure causes the computer to execute the following steps: the optical axis having the optical axis of the optical path along the collimating axis with the telescope part capable of transmitting or receiving light along the collimating axis In a measuring device for an optical component radially offset relative to said collimation axis, said offset conversion optical axis is rotated around said collimation axis, and in said optical component around said collimation axis For different rotational positions of the shaft, the measuring device receives the light guided from the measuring object.

The effect of the invention

According to the measurement device, the optical axis conversion unit, the measurement method, and the storage medium storing the measurement program of the present disclosure utilizing the above means, the influence of obstacles on measurement can be removed with a simple structure.

Description of 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 showing the optical axis conversion unit of the embodiment of the present disclosure.

FIG. 3 is a control block diagram of the measuring device according to the embodiment of the present disclosure.

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

FIG. 5 is a diagram illustrating a state in which the measuring device rotates the optical axis conversion unit while pointing at the measurement object.

FIG. 6A is an image of a measurement object captured by the measurement device in FIG. 1 .

FIG. 6B is an image obtained by photographing a measurement object by the measurement device in FIG. 5 .

FIG. 7 is a flowchart illustrating a measurement method of a modified example of the embodiment of the present disclosure.

FIG. 8A is an image obtained by photographing a measurement object in a modified example, and is a diagram illustrating a positional relationship of a plurality of photographed optical images.

FIG. 8B is an image of a measurement target captured in a modified example, and is a diagram illustrating how correction is performed so that one of the references is superimposed on the other of a plurality of captured optical images.

FIG. 8C is an image obtained by imaging a measurement object in a modified example, and is a diagram showing a synthesized optical image.

Explanation of reference signs:

1: Measuring system,

2: Measuring device,

3: Measurement object,

4: image,

5: Obstacles,

21: Leveling Department,

22: base part,

23: main body,

24, 24’, 24”: telescope department,

24a: Telescope,

25: optical axis conversion unit,

26, 26’, 26”: instrument points,

41 (41A, 41B): light image,

42: Shadow,

43: center position,

201: Ministry of Communications,

202: Storage Department,

203: display unit,

204: Operation Department,

205: Distance Measurement Department,

206: Tracking Light Sending Department,

207: tracking light receiving unit,

208: horizontal rotation drive unit,

209: vertical rotation drive unit,

210: optical axis rotation drive unit,

211: horizontal angle detection unit,

212: plumb angle detection unit,

213: rotation detection unit,

214: Rotate reference sensor,

215: Department of Control,

241: Telescope side opening face,

251: rotating part,

251a: opening,

252: first retroreflective member,

252a: first opening face,

252b: reflection part,

253: Second retroreflective member,

253a: second opening face,

253b: reflection part,

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

412: average center of gravity position,

413: center of gravity position,

A0: collimation axis,

A1: first optical axis,

A2: second optical axis,

B1: optical axis,

B2: optical axis,

H: horizontal axis,

L1: light,

L2: light,

O: Measuring direction axis,

V: vertical axis,

X ₁₁ , X ₁₂ , X ₂₁ , X ₂₂ : distance,

θ ₁₁ , θ ₁₂ , θ ₂₁ , θ ₂₂ : angles.

detailed description

Embodiments of the present disclosure will be described below based on the drawings.

FIG. 1 is an overall configuration diagram of a measurement system 1 according to an embodiment of the present disclosure. In addition, FIG. 2 is a control block diagram of the measurement device 2 . Hereinafter, the overall configuration and control system of the measurement system 1 according to the embodiment will be described using these FIG. 1 and FIG. 2 . In addition, each device and arrangement|positioning relationship are shown schematically, and are shown in scale different from actual scale for convenience of explanation.

The measurement system 1 includes a measurement device 2 and a measurement object 3 (target). The measuring device 2 is, for example, a total station, and is installed on a leg of a tripod (not shown) or the like, and can perform measurement by measuring an angle and a distance to the measurement object 3 . The measuring device 2 has a leveling part 21 detachable from the above-mentioned leg for leveling, a base part 22 provided on the leveling part 21, and a main body part provided so as to be rotatable around a vertical axis V of the base part 22. 23 and a telescope portion 24 provided on the main body portion 23 so as to be rotatable about a horizontal axis H. Therefore, the telescope unit 24 is provided so as to be rotatable about the horizontal axis H and the vertical axis V relative to the base unit 22 . Leveling can be performed manually by the operator by adjusting the feet, or it can be automatically leveled. In addition, the measuring device 2 has a computer (not shown) for controlling the measuring device 2 .

FIG. 3 is a control block diagram of the measurement device 2 . The communication unit 201 is configured to be able to communicate with an external device, and is, for example, a wireless communication unit such as Bluetooth (registered trademark). In addition, the communication unit 201 may function as a wired communication unit via a connection terminal.

The storage unit 202 is configured to be able to store various programs such as a tracking program or a measurement program related to a measurement method, measurement data, GPS time, the size (height, width, depth, etc.) various data such as the image 4 (see FIG. 6A and FIG. 6B ). The storage unit 202 can be realized by, for example, various storage media such as HDD (Hard Disk Drive), SSD (Solid State Drives), and flash memory.

The display unit 203 can display the image 4 and the like received and captured by the tracking light receiving unit 207 (light receiving unit), and is provided, for example, at the rear of the main body unit 23 . The operation unit 204 is an operation unit capable of inputting various operation instructions and settings. For example, the operation instruction includes ON (on) and OFF (off) switching of a power supply, a trigger to start measurement, switching of a measurement mode, setting of a measurement cycle, and the like. In addition, the operation unit 204 may include arbitrary operation devices and input devices such as switches, buttons, and dials. When the display unit 203 is a touch panel, the display unit 203 and the operation unit 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 measuring object 3 after being irradiated with the distance measuring light from the light transmitting unit. The distance measuring unit 205 measures the distance (oblique distance) from the measurement device 2 to the measurement object 3 by, for example, emitting distance measurement light as pulsed laser light and receiving the reflected light reflected by the measurement object 3 . In addition, the distance measurement method is not limited to such a pulse method, and for example, a well-known method such as a so-called phase difference method that performs distance measurement based on the number of laser waves can be applied.

The tracking light transmitter 206 is a light source capable of radiating tracking light toward the measurement object 3 . In addition, the tracking light receiving unit 207 receives part of the tracking light reflected by the measuring object 3 , and can use, for example, a light receiving element such as an image sensor (CCD sensor, CMOS sensor, etc.) that converts it into an electrical signal. The tracking light transmitter 206 emits tracking light having a diverging angle. Therefore, there is a characteristic that 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 measurement object 3 by controlling the horizontal rotation drive unit 208 , the vertical rotation drive unit 209 , and the optical axis rotation drive unit 210 so that the tracking light receiving unit 207 continues to receive the tracking light from the tracking light transmission unit 206 . tracking function.

The horizontal rotation driving unit 208 controls the main body unit 23 so as to be able to rotate in the horizontal direction about the vertical axis V relative to the base unit 22 . The vertical rotation drive unit 209 controls the telescope unit 24 so as to be able to rotate in the vertical direction about the horizontal axis H relative to the main body unit 23 .

The optical axis rotation drive 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.

In addition, a horizontal angle detection unit 211 (horizontal encoder) and a vertical angle detection unit 212 (vertical encoder) are provided inside the main body 23, and the horizontal angle detection unit 211 detects the rotation angle of the main body 23 in the horizontal direction ( That is, the rotation angle around the vertical axis V), and the vertical angle detection unit 212 detects the rotation angle of the telescope unit 24 in the vertical direction (ie, the rotation angle around the horizontal axis H). The telescope unit 24 internally has a telescope 24 a including an optical system capable of collimating the measurement object 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 shares 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 described above is guided and emitted from the object side of the telescope 24 a coaxially with the collimation axis A0 . In addition, the light received from the outside via the optical axis conversion unit 25 is guided onto 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 of the rotation position (for example, rotation angle) and the rotation amount of the first retroreflective member 252 and the second retroreflective member 253 included in the optical axis conversion unit 25 around the collimation axis A0. or both. The rotation detection unit 213 can be formed by 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 and reception sensor or the like that detects one rotation of the rotation part 251 .

In addition, the control unit 215 is provided, for example, in the main body unit 23 of the measurement device 2 . The control unit 215 performs the angle (horizontal angle and vertical angle) detected by the horizontal angle detection unit 211 and the vertical angle detection unit 212, the distance (oblique distance) measured by the distance measuring unit 205, and the image captured by the tracking light receiving unit 207. Acquisition, storage, calculation, etc. of various information such as image 4, and display the acquisition result and calculation result on the display unit 203, for example. In addition, the control unit 215 performs drive control and the like of each unit based on the operation of the operation unit 204 or calculation results.

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 detachable from the telescope unit 24 . In addition, the rotating part 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 this embodiment are corner-cube prisms, and their shapes are schematically shown in FIG. 2A and the like. The first retroreflective member 252 and the second retroreflective member 253 have opening surfaces (first opening surface 252 a and second opening surface 253 a ) serving as light incident surfaces and emission surfaces, respectively, and reflection portions 252 b and 253 b capable of reflecting light. In the first retroreflective member 252 and the second retroreflective member 253, the reflective portion 252b and the reflective portion 253b each have three orthogonal reflective surfaces and are formed in an inner angle shape surrounded in three directions (details not shown).

The first retroreflective member 252 has a first opening surface 252 a facing the telescope-side opening surface 241 of the telescope unit 24 and is arranged offset in a direction perpendicular to the collimation axis A0 of the telescope unit 24 . Therefore, the collimation axis A0 and the optical axis B1 (the top connected by the three reflection surfaces, the axis orthogonal to the first opening surface 252a) which is the central axis of the reflection part 252b are in the orthogonal direction with respect to the collimation axis A0. It is arranged offset with respect to the collimation axis A0. In addition, the second retroreflective member 253 has a second opening surface 253 a facing the first opening surface 252 a of the first retroreflective member 252 and is arranged 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 connected by three reflective surfaces, the axis perpendicular to the second opening surface 253a) are in the direction perpendicular to the collimation axis A0, that is, to the The first retroreflective members 252 are arranged offset in substantially the same direction as the offset directions.

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 retroreflective member 252 side with the collimation axis A0 of the telescope unit 24 as the optical axis. The light L1 guided from the telescope portion 24 enters the first opening surface 252 a and is internally reflected by the reflection portion 252 b of the first retroreflection member 252 . The light L1 reflected by the reflection portion 252b is guided along the first optical axis A1, which is the optical axis of the optical path symmetrical with respect to the light L1 on the collimation axis A0, from the first opening surface 252a to the second retroreflective member 253 side. shoot. The light L1 guided from the first retroreflective member 252 side enters the second opening surface 253 a and is internally reflected by the reflection portion 253 b of the second retroreflective member 253 . The light L1 reflected by the reflection part 253b is guided along the second optical axis A2 which is an optical axis symmetrical to the optical path of the light L1 on the first optical axis A1, and exits from the second opening surface 253a. Then, the light L1 emitted from the second opening surface 253 a is emitted toward the measuring object 3 side through the opening 251 a 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 aperture surface 253 a is parallel to and in the same direction as the light L1 emitted from the telescope unit 24 , and is emitted with a shift from the collimation axis A0 . In addition, when viewing the telescope unit 24 in FIG. 2B from the outgoing side, the collimation axis A0 , the first optical axis A1 , and the second optical axis A2 are arranged on a straight line perpendicular to the collimation axis A0 . In the rotational position of the optical axis conversion unit 25 toward 12 o'clock 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. As shown in FIG.

The measurement object 3 of the present embodiment is shown as a prism as a retroreflective member installed on a pin pole or the like. In addition, the measurement object 3 can be configured by combining a plurality of retroreflective prisms so that measurement from various directions can be performed. In addition, the measurement object 3 is not limited to retroreflective members, and other reflective members (such as reflective sheets, target plates or walls, etc.) can also be arranged. The intensity of the degree to which reflected light is detected to reflect.

In addition, FIG. 1 shows an example in which an obstacle 5 is located between the measurement device 2 and the measurement object 3 . The obstacle 5 is, for example, a net used to prevent falling at a construction site and the like, and is formed in a mesh shape of about 10 to 15 mm square. The diameter of the net rope which forms a net is about 2 mm - 3 mm, for example.

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 measuring object 3 enters the second opening surface 253 a of the second retroreflective member 253 and is internally reflected by the reflecting portion 252 b. The light L2 reflected by the reflective portion 253b is guided along the first optical axis A1, and exits from the second opening surface 253a toward the first retroreflective member 252 side. The light L2 guided from the side of the second retroreflective member 253 enters the first opening surface 252a and is internally reflected by the reflection portion 252b. The light L1 reflected by the reflection portion 252 b 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 measuring method of the measuring device 2 will be described with reference to FIG. 4 and the like. First, as step S01, the measurement object 3 is collimated by the telescope 24a. When the measurement object 3 is located approximately in the center of the field of view of the telescope 24a, the measurement object 3 is approximately located on the second optical axis A2. The control unit 215 acquires the image 4 (see FIG. 6A ) including the optical image 41 of the measurement object 3 , and obtains the center-of-gravity position 411 of the optical image 41 . The control unit 215 automatically tracks the angle of the telescope unit 24 so that the center of gravity position 411 coincides with the collimation center position 43 . Specifically, the rotating part 251 connected to the telescope part 24 is configured so that during the rotation process of the first retroreflecting member 252 and the second retroreflecting member 253, the measuring object 3 can be positioned at the position of the first retroreflecting member 252 and the second retroreflecting member 253. The second retroreflective member 253 rotates around the horizontal axis H and the vertical axis V relative to the base portion 22 so as to be on the second optical axis A2 , which is the converted optical axis. 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 side so that the intersection point of the second optical axis A2 and the measurement direction axis O is located at the side of the measurement object 3. nearby. Since the center of gravity position 411 is obtained from the light image 41 , it may differ from the actual center position of the measurement object 3 when there is an influence of the shadow 42 of the obstacle 5 .

As step S02 , the control unit 215 rotates the rotation unit 251 of the optical axis conversion unit 25 around the collimation axis A0 through the optical axis rotation driving unit 210 . FIG. 5 shows a state in the 6 o'clock direction when the optical axis conversion unit 25 of the measurement device 2 shown in FIG. 1 is rotated 180 degrees and is positioned below the collimation axis A0 , that is, viewed from the front. Also in the measuring device 2 of FIG. 5 , as in the state of FIG. 1 (the state in which the optical axis switching unit 25 faces 12 o’clock), during the rotation of the optical axis switching unit 25, the second optical axis A2 is controlled to be directed toward the measurement direction axis. O side. Therefore, the intersection point of the second optical axis A2 and the measurement direction axis O can be located in the vicinity of the measurement object 3 .

As step S03, a plurality of images 4 including the optical image 41 of the measurement object 3 are acquired, and the center-of-gravity position 411 of each optical image 41 is continuously obtained at an arbitrarily set interval. In addition, the control unit 215 performs distance measurement and angle measurement according to the rotation angle of the optical axis conversion unit 25 when each image 4 is acquired, and corresponds to each acquired image 4 , distance, and angle (including horizontal angle and vertical angle). Instead, it is stored in the storage unit 202 .

Specifically, the control unit 215 collimates the measuring object 3 from the virtual shifted telescope unit 24 ′ shown by the dashed-two dotted 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 through the horizontal angle detection unit 211 and the vertical angle detection unit 212 . The detected horizontal angle and vertical angle can be obtained as values (angle θ ₁₁ ) when measuring the angle by collimating the measuring object 3 from the shifted telescope unit 24 ′. In addition, the control unit 215 obtains the distance from the measuring device 2 to the measurement object 3 through the distance measuring unit 205 . The offset amount of the instrument point 26' is known, and the position of the opening 251a relative to the instrument point 26 is also known, so 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 subtract the distance from the instrument point 26 to the opening 251 a and add the distance from the instrument point 26 ′ to the opening 251 a from the value measured by the distance measuring unit 205 to obtain the distance from the instrument point 26 ′ to the opening 251 a. 26' to the distance X ₁₁ of the measurement object 3 . In addition, the positions of the instrument point 26 and the instrument point ₂₆ ' are known, and the distance X11 and angle _θ11 (horizontal angle and vertical angle) of the measurement object 3 observed from the instrument point 26' can be obtained, Therefore, the control unit 215 can also obtain the distance _X12 and the angle _θ12 (angle with respect to the measurement direction axis O) of the measurement object 3 viewed from the instrument point 26. Therefore, the measurement device 2 can obtain the position (horizontal angle, vertical angle, and oblique distance) from the instrument point 26 to the measurement object 3 using the optical axis conversion unit 25 .

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

For acquisition of image 4 , for example, as shown in FIG. 1 , the tracking light receiving section 207 acquires image 4 shown in FIG. 6A in a case where the optical axis conversion unit 25 is located above. The image 4 includes a light image 41A ( 41 ) corresponding to the light reflected by the measuring object 3 . The optical image 41A is formed in a substantially circular shape. However, in FIG. It is located slightly above the entire light image 41A.

On the other hand, as shown in FIG. 5 , in the case where the optical axis conversion unit 25 is located 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 light reflected by the measuring object 3 . In FIG. 5 , the obstacle 5 is arranged near the upper part of the second optical axis A2, so that a part of the upper part of the optical image 41B is blocked by the shadow 42, and the center of gravity position 411 of the optical image 41B is slightly lower than the entire optical image 41B.

In this way, during the rotation process of the optical axis conversion unit 25, the tracking light transmitter 206 emits the tracking light, and the tracking light receiving unit 207 receives the reflected tracking light, so that the control unit 215 can obtain the tracking light passing through a plurality of different angular positions (rotation) position) collimates a plurality of light images 41 in which the range of the position of the shadow 42 of the obstacle 5 is different for the measuring object 3 , and stores them in the storage unit 202 .

In addition, the control unit 215 can acquire the plurality of optical images 41 while the optical axis conversion unit 25 rotates within a rotation angle range of less than one rotation or while the rotation angle range exceeds one rotation. In addition, the control unit 215 can also acquire a plurality of optical images 41 during a plurality of rotations of two weeks or more.

As 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 from one rotation to a plurality of rotations. As step S05, the control unit 215 averages the positions obtained by a plurality of measurements (the positions obtained from the distance, horizontal angle, and vertical angle from the instrument point 26 or a known point where the measuring device 2 is installed). , and obtain the average center-of-gravity 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 able to rotate around the collimation axis A0, the influence of the obstacle 5 can be removed, and the measurement object 3 can be obtained. the correct measurement value.

Next, a modified example of the present embodiment will be described. FIG. 7 shows each process of the measuring method of the measuring device 2 of this modification. First, as step S11, the measurement object 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 coincides with the collimation center position 43 , similarly to the above-mentioned step S01 . As step S12 , the control unit 215 rotates the rotation unit 251 of the optical axis conversion unit 25 around the collimation axis A0 through the optical axis rotation driving unit 210 . At this time, the rotating part 251 connected to the telescope part 24 is controlled so that, during the rotation process of the first retroreflecting member 252 and the second retroreflecting member 253, the measuring object 3 is positioned at the position of the first retroreflecting member 252 and the second retroreflecting member 253. The converted optical axis converted by the two retroreflective members 253 , that is, the second optical axis A2 , rotates around the horizontal axis H and the vertical axis V relative to the base portion 22 .

As step S13 , the control unit 215 emits the light L1 as the tracking light through the tracking light transmitting unit 206 , and irradiates the object 3 to be measured. The light L2 reflected by the measuring 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 the data of the image 4 in the storage unit 202 . In addition, the control unit 215 performs distance measurement and angle measurement according to the rotation angle of the optical axis conversion unit 25 when each image 4 is acquired, and corresponds to each acquired image 4 and the distance X of the measurement object 3 from the instrument point 26 ′. ₁₁ . The angle θ ₁₁ (including the horizontal angle and the vertical angle) is stored in the storage unit 202 .

As step S14 , the control unit 215 converts the distance X ₁₁ and the angle θ ₁₁ relative to the instrument point 26 ′ into a distance X ₁₂ and an angle θ ₁₂ relative to the actual instrument point 26 of the measurement device 2 . Then, in step S15, the control unit 215 associates the central position of the image 4 acquired in step S13 (more specifically, the collimated central position 43) as the position _of the angle θ12 observed from the instrument point 26. are associated and stored in the storage unit 202.

As step S16, the control unit 215 sets a rotational position around the collimation axis A0 different from the rotational position of the optical axis conversion unit 25 when acquiring the distance X ₁₁ , angle θ ₁₁ , and image 4 in step S13 (for example, the optical axis A0 in FIG. 5 ). The position of the axis conversion unit 25), 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 shown in FIG. 5 , the control unit 215 measures the distance X ₂₁ and the angle θ ₂₁ from the instrument point 26″, and obtains the image 4 including the optical image 41, and the distance from the instrument point 26. distance X ₂₁ and angle θ ₂₁ . Therefore, the control unit 215 measures the distance from the shifted instrument point 26" (or instrument point 26 ') distance X ₂₁ and angle θ ₂₁ , the image 4 including the light image 41 , the distance X ₂₂ from the instrument point 26 and the angle θ ₂₂ can be obtained. The control unit 215 stores the acquired image 4 , the distance X ₂₂ from the instrument point 26 and the angle θ ₂₂ in association with the storage unit 202 .

As step S17 , the control unit 215 performs brighter synthesis of 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 dotted line) in such a way that the center of gravity position 411 a of the light image 41A and the center of gravity position 411 b of the light image 41B coincide. Image 41A is the optical image acquired by measuring device 2 when the optical axis conversion unit 25 is located above the collimation axis A0 in FIG. The light image acquired by measuring device 2 in the case below. In addition, the optical images 41A and 41B in FIGS. 8A to 8C and the optical images 41A and 41B in FIGS. 6A and 6B respectively show images of the same measurement object 3, but in FIGS. Illustration of hatching of areas of high brightness.

The light image 41A and the light image 41B show light reflected from the same measuring object 3, but the distance X ₁₂ and the angle θ ₁₂ measured for the center of gravity position 411a of the light image 41A and the distance measured for the center of gravity position 411b of the light image 41B X ₂₂ and angle θ ₂₂ are different. In this modified example, the optical image 41B is corrected by shifting the position of the optical image 41B by the number of pixels corresponding to the difference Δθ from the angle θ ₂₂ −angle θ ₁₂ (see FIG. 8B ). The amount of movement of the optical image 41B with respect to the difference Δθ can be obtained by previously associating the image 4 with a solid angle that can be captured. Thereby, the optical image 41B can make the contours of the image substantially coincide with the optical image 41A regardless of the presence or absence of the shadow 42 and its position.

After that, the control unit 215 combines the light image 41A and the light image 41B in a superimposed state to be relatively bright. Brighter composition is an image composition method that compares pixels at the same position in a plurality of images, and uses brighter pixels to generate a composite image. Therefore, when light image 41 and light image 41B are combined relatively brightly, light image 41C from which the influence of shadow 42 of obstacle 5 is removed can be obtained (see FIG. 8C ). 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 .

In addition, as the distance of the optical image 41C, the distance _X12 of the center-of-gravity position 411a and the distance _X22 of the center-of-gravity position 411b may be averaged and calculated|required. The angle (horizontal angle, vertical angle) and distance of the optical image 41C are not limited to the calculation method shown in this modification, and may be obtained by any other calculation method.

Thereafter, as 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 configuration in which the measuring device 2 has the telescope unit 24 capable of transmitting or receiving light along the collimation axis A0 and the optical axis conversion unit 25 has been described. 25 has an optical member (the first retroreflective member 252 and the second retroreflective member 253) that shifts the optical axis of the optical path along the collimation axis A0 in the radial direction relative to the collimation axis A0, so that the shifted converted light The shaft can rotate about the collimation axis A0. With such a structure, the measuring device 2 can collimate the measurement object at different angles, so the measuring device 2, the optical axis conversion unit 25, and the measuring method capable of removing the influence of the obstacle 5 on the measurement can be configured with a simple structure. and a storage medium storing the measurement program.

In addition, the first retroreflective member 252 and the second retroreflective member 253 can respectively reflect the light incident on the first opening surface 252a and the second opening surface 253a in a direction parallel to and opposite to the incident light, so that in the first retroreflective member When the reflection member 252 and the second retroreflection member 253 are attached to the telescope unit 24, high attachment accuracy is not required. Therefore, the measurement device 2 can easily switch the optical axis.

In addition, the optical axis conversion unit 25 is formed to be detachable with respect to the telescope unit 24, therefore, in the case of measurement in an environment without obstacles 5, the optical axis conversion unit 25 can be detached and the measurement object can be measured by a normal measurement method. 3. The measurement device 2 can switch between a mode in which the optical axis is switched for measurement and a mode in which the optical axis is not switched and normal measurement is performed in accordance with the attachment and detachment state of the optical axis switching unit 25 .

The above is the end of the description of the embodiment of the present disclosure, but the aspect of the present disclosure is not limited to the embodiment.

For example, in the above embodiment, an example was described in which the control unit 215 obtains the average center-of-gravity position 412 in step S05 after stopping the rotation of the optical axis conversion unit 25 in step S04, but the measurement method is not limited to these. For example, the control unit 215 may obtain the average center-of-gravity position 412 from a preset number of optical images 41 so that the average center-of-gravity position 412 coincides with the center position (collimation center position 43 ) of the light receiving element. The angle and synchronization between the rotation of the optical axis conversion unit 25 and the rotation of the telescope part 24 around the horizontal axis H and the vertical axis V are corrected, and when it is determined that the average center of gravity position 412 is the same as the center position of the light receiving element (quasi When the straight central position 43) is stably matched, the rotation of the optical axis conversion unit 25 is stopped.

In addition, the first retroreflective member 252 and the second retroreflective member 253 may be provided integrally so that the first opening surface 252a and the second opening surface 253a are in contact, or may be separately provided so as to be separated. In addition, the first retroreflective member 252 and the second retroreflective member 253 are not limited to corner cubes, and may be formed of other optical members having retroreflective properties.

In addition, as an optical member that shifts the optical axis of the optical path along the collimation axis A0 in the radial direction relative to the collimation axis A0, it is not limited to a retroreflective member, and it may be possible to shift by combining multiple reflections. The optical axis is composed of one or more reflective members. For example, as the reflection member, a prism having a plurality of reflection surfaces may be used, or a plurality of reflection mirrors may be combined. As a configuration capable of shifting the optical axis, two or more reflective surfaces may be combined to form a periscope.

In addition, when obtaining the average center-of-gravity position 412, the control unit 215 may detect the rotational position of the optical axis conversion unit 25 through the rotational detection unit 213 to acquire a plurality of optical images 41 corresponding to the predetermined rotational position, or may omit the rotational position. The detection unit 213 acquires a plurality of optical images 41 regardless of the rotational position of the optical axis conversion unit 25 . In the case where the configuration of the rotation detection unit 213 is omitted, a stepping motor may be used as the motor of the optical axis rotation drive 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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